In this exercise, we create WCI and Skill for single-acting tool.
[WCI]: Single-Acting Tool
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Communication Type: Digital I/O (Controller Port)
[Skill]: Tool-related Skill
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Example Skill: Gluing/EndTask
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Robot Motion + I/O Action
Doosan Robotics provides a Sample for this exercise on the App Builder website. You can easily create WCI and Skill for single-acting tool by copying the following Sample.
WCI Writer
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Sample_DIO_Tool
Skill Writer
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Sample_EndTask
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Sample_Gluing
Specific details of WCI and Skill described by this exercise and Sample may differ depending on the version of the Sample.
1) Gripper
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The schematic diagram of Workcell Manager UI is as follows.
2) Gluing
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EndTask: The schematic diagram of Task Builder UI is as follows.
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Property: The schematic diagram of Task Builder UI is as follows.
