Add DRL Component

Mandatory WCI Action

• Mandatory function gripper related to WCI → Grasp/Release

• It is the default setting: The contents of the Grasp/Release functions vary according to the WCI selected.

Global Function

Add 3 functions to skill after registering as a global function and connect each user input value to the ‘Parameter’ values.

1. CaloffsetPos()
2. MoveFn()
3. AppRet_Motion_v2()

1. Add a Global Function.
   
   
   

2. Click ‘...’ button of Select Global Function in Property of Global Function.
   
   

3. Select ‘CaloffsetPos’ from Global Function List and click Confirm button.
   
   
   

4. Connect the user input value to the ‘Parameter’ of the selected Global Function.

   • When changing the Global Function, the connection between 'Parameter' and user input is initialized and must be reconnected.

     • When editing the Global Function code, the Global Function previously registered in the DRL Component is maintained with the previous version code, and the 'Parameter' values ​​are also maintained
       
       

   • To apply changes to the previously registered Global Function, reload the Global Function.
     
      If you press the '…' button, a popup to select a global function is displayed.If you select Global Function again in the pop-up, it is updated with the changed Global Function.

   

   1. ref_Pos: Move L > ref_Pos

   2. offset_Dist: Line Edit > app_ret_Dist

   3. offset_Frame: DR_TOOL(Can be input after checking the check box)

   4. Move L > ref_Frame
      
      

5. After adding the Global Function, select ‘MoveFn’ from the Global Function List in the same way as in No. 2~3 and click Confirm button.
   
   

6. Connect the user input value to the ‘Parameter’ of the selected Global Function.
   
   mType: "movel”(Can be input after checking the check box)ref_Pos: Move L > ref_Posref_Vel: Move L > ref_Velref_Acc: Move L > ref_Accref_Time: Move L > ref_Timeref_Radius: Move L > ref_Radiusref_Frame: Move L > ref_Frameref_Mod: Move L > ref_Modref_Ractive: Move L > ref_Ractiveref_Apptype: None(Can be input after checking the check box)ref_Sol: None(Can be input after checking the check box)sync_Mode: "sync”(Can be input after checking the check box)

7. After adding the Global Function, select 'AppRet_Motion' from the Global Function List in the same way as in No. 2~3 and click Confirm button.
   
   

8. Connect the user input value to the ‘Parameter’ of the selected Global Function. Set the Component Name of all 'Parameter' to 'None'.

   In the case of a global function in which all arguments are connected in the user function corresponding to the main function, it is okay to enter all as ‘None’ after checking the check box.
   

   

User Function

Fill out the main function of ‘Sample_Pick’ in the User Function. The Pick function planned in Skill Planning is implemented as a User Function.

1. Basically, It is needed to add a User Function settings.
   
   
   
   

2. Enter the ‘User Function Name’ in Property.
   
   User Function Name: Sample_Pick

3. Click ‘Edit Parameter & Return’ button.
   
   

4. Click ‘Add New Parameter’ button.
   
   
   

5. Enter ‘Parameter’ values as the following and click the Confirm button.

   • In the case of parameter connected to UI component (such as TCP_Name), connection is possible only when the Variable Name of the UI component is set. For details, see Skill Setting.

   • The name of the parameter and the variable name of the UI component do not have to be the same.

   • The global function must be connected to the parameter of the user function in the same way as the user input value (refer to 'AppRet_Motion', 'MoveFn' in the figure below).

   • It is recommended to keep the value set as the default value (Select) for the Variable Type of the parameter.

   

   1. Parameter Name: ref_PosVariable Type: PoseUI Component: Move L > ref_Pos

   2. Parameter Name: ref_VelVariable Type: VariableUI Component: Move L > ref_Vel

   3. Parameter Name: ref_AccVariable Type: VariableUI Component: Move L > ref_Acc

   4. Parameter Name: ref_TimeVariable Type: VariableUI Component: Move L > ref_Time

   5. Parameter Name: ref_RadiusVariable Type: VariableUI Component: Move L > ref_Radius

   6. Parameter Name: ref_ModVariable Type: VariableUI Component: Move L > ref_Mod

   7. Parameter Name: ref_RactiveVariable Type: VariableUI Component: Move L > ref_Ractive

   8. Parameter Name: ref_FrameVariable Type: VariableUI Component: Move L > ref_Frame

   9. Parameter Name: ReleaseBefore_PickVariable Type: VariableUI Component: Toggle Switch > ReleaseBefore_Pick

   10. Parameter Name: gripper_wait_TimeVariable Type: VariableUI Component: Line Edit > gripper_wait_Time

   11. Parameter Name: App_Ret_Setting_FlagVariable Type: VariableUI Component: Accordion Toggle > App_Ret_Setting_Flag

   12. Parameter Name: app_ret_DistVariable Type: ArrayUI Component: Line Edit > app_ret_Dist

   13. Parameter Name: app_ret_VelVariable Type: VariableUI Component: Line Edit > app_ret_Vel

   14. Parameter Name: app_ret_AccVariable Type: VariableUI Component: Line Edit > app_ret_Acc

   15. Parameter Name: AppRet_MotionVariable Type: Select(선택 없음)UI Component: Global Function > AppRet_Motion_v2

   16. Parameter Name: MoveFnVariable Type: Select(선택 없음)UI Component: Global Function > MoveFn

   17. Parameter Name: TCP_Setting_FlagVariable Type: VariableUI Component: Toggle Switch > TCP_Setting_Flag

   18. Parameter Name: TCP_NameVariable Type: ArrayUI Component: Workcell Item Selection > wci_name

6. Parameter is registered as below.
   
   
   

7. Generate the function automatically by clicking the 'Generate DRL Code' button.
   
   
   

8. Enter DRL ‘Sample_Pick’ Code in ‘Enter DRL Code’ input window as below.

   Python

   # Sample Pick Skill 
   def Sample_Pick(ref_Pos, ref_Vel, ref_Acc, ref_Time, ref_Radius, ref_Mod, ref_Ractive, ref_Frame, ReleaseBefore_Pick, gripper_wait_Time, TCP_Setting_Flag, TCP_Name, App_Ret_Setting_Flag, app_ret_Dist, app_ret_Vel, app_ret_Acc, AppRet_Motion, MoveFn):
       # Initial setting
       if TCP_Setting_Flag == True:
           set_tcp(TCP_Name)
       app_ret_Time = ref_Time
       app_ret_Radius = ref_Radius
       ref_Apptype = None 
       ref_Sol = None
       if App_Ret_Setting_Flag == False:
           app_ret_Dist = [0, 0, 0] 
           app_ret_Vel = ref_Vel
           app_ret_Acc = ref_Acc
       # Approach/Retract Motion Setting
       if App_Ret_Setting_Flag == True: 
           AppRet_Motion(app_ret_Dist, ref_Pos, app_ret_Vel, app_ret_Acc, app_ret_Time, app_ret_Radius, ref_Frame, ref_Mod, ref_Ractive, CaloffsetPos, MoveFn)
       # ReleaseBefore_Pick Setting
       if ReleaseBefore_Pick == True:
           Release()
           wait(gripper_wait_Time)
       # Pick Motion
       MoveFn(mType, ref_Pos, ref_Vel, ref_Acc, ref_Time, ref_Radius, ref_Frame, ref_Mod, ref_Ractive, ref_Apptype, ref_Sol, sync_Mode)
       Grasp()
       wait(gripper_wait_Time)
       # Retract/Retract Motion Setting
       if App_Ret_Setting_Flag == True:
           AppRet_Motion(app_ret_Dist, ref_Pos, app_ret_Vel, app_ret_Acc, app_ret_Time, app_ret_Radius, ref_Frame, ref_Mod, ref_Ractive, CaloffsetPos, MoveFn)
   
   

   
   

User Defined Workcell Item Action (Optional) 

You can add option functions related to the WCI with User Defined Workcell Item Action. The next example demonstrate how to add Rest+IO function, a special function of gripper.

1. Add a User Defined Workcell Item Action.
   
   
   

2. Click ‘...’ button in Property.
   
   
   

3. Select 'Reset I/O’ and click Confirm button.
   
   
   

4. User Defined Workcell Item Action is registered as the following.