This is a skill for moving a target distance after reaching the teaching pose or stopping movement if an external force is sensed during Force Control movement. The contact skill requires force control in a specific direction, so it requires the Compliance Control by default.
-
Recommended Default WCI: None
-
Create Skill: TaskBuilder → No Add WCI (Skill Type: Basic)
-
Optional Features: Approach pose and retract pose setting, Compliance Control, select stop method (force or distance)
-
Confirm Condition:Save Teaching Pose
Default Motion Sequence
-
Force Setting
Move to Approach Pose → Move to Teaching Pose (position excluding Contact Margin) → Move with Force Control until External Force occur → Move to Retract Pose
-
"Distance" Setting
Move to Approach Pose → Move to Teaching Pose → Move Maximum Distance value with Force Control while checking External Force → Move to Retract Pose
Definition of Skill Screen
|
Item |
Description |
Default Value and Input Range |
|
|
Basic Setting |
Reference Pose |
Teaching Pose - This is a random position. |
|
|
Task Setting |
Select Task (Option) |
Select Check Method (Force or Distance) |
“Force” [“Force”, ”Distance”] |
|
Maximum Distance |
Max Distance - This is applied only with the Distance setting. |
50 mm [0 ~ 5000] |
|
|
Wait Time |
Standby time before/after move to teaching pose |
0.5 s [0 ~ 10000] |
|
|
Task Velocity |
This is the velocity from the approach pose to teaching pose. |
100 mm/s [0.001 ~ 8000] |
|
|
Task Acceleration |
This is the acceleration from the approach pose to teaching pose. |
0.1 m/s2 [0.001 ~ 20] |
|
|
Approach Pose Setting (Option) |
Approach Distance |
Distance from the teaching pose in x, y and z directions - The approach distance must be entered in a 1 x 3 array (i.e. [x, y, z]). |
[0, 0, -100] mm [Individually -1000 ~ 1000] |
|
Velocity for App. Pose |
This is the motion velocity to the approach pose. |
250 mm/s [0.001 ~ 8000] |
|
|
Acceleration for App. Pose |
This is the motion acceleration to the approach pose. |
0.25 m/s2 [0.001 ~ 20] |
|
|
Motion Time for App. Pose |
This is the motion time to the approach pose. - If a motion time of greater than 0 is entered, the Velocity/Acceleration values are ignored. |
0 s [0 ~ 10000] |
|
|
Retract Pose Setting (Option) |
Retract Distance |
Distance from the teaching pose in x, y and z directions - The retract distance must be entered in a 1 x 3 array (i.e. [x, y, z]). |
[0, 0, -100] mm [Individually -1000 ~ 1000] |
|
Velocity for Ret. Pose |
This is the motion velocity to the retract pose. |
100 mm/s [0.001 ~ 8000] |
|
|
Acceleration for Ret. Pose |
This is the motion acceleration to the retract pose. |
0.1 m/s2 [0.001 ~ 20] |
|
|
Motion Time for Ret. Pose |
This is the motion time to the retract pose. - If a motion time of greater than 0 is entered, the Velocity/Acceleration values are ignored. |
0 s [0 ~ 10000] |
|
|
Blending Radius for Ret. Pose |
This is the blending radius connecting the movement between the teaching pose and the retract pose. |
0 mm [0 ~ 1000] |
|
|
Compliance Control Setting |
Compliance control (Option) |
Select Compliance Control Status |
False [True, False] |
|
Stiffness |
Stiffness Setting |
x=y=z= 3000 N/m [0 ~ 20000] rx=ry=rz= 200 Nm/rad [0 ~ 1000] |
|
|
Force Control Setting |
Task Direction |
Orientation setting during force control - Orientation is based on Tool Coordinates. |
Z [X, Y, Z] |
|
Contact Margin |
Margin for contact sensing section setting - The contact sensing section is configured by adding the +/- contact sensing margin from the teaching point. |
3 mm [0 ~ 100] |
|
|
Desired Force |
Target Force Value - Target force must be greater than the sense value, and the absolute value must be greater than 10N(In the case of A series, there is no limit to the desired force value). |
15 N [-1200 ~ 1200] |
|
|
Contact Force |
This is the reference force for contact sensing.
|
10 N [0 ~ 1200] |
|
|
Timeout |
This is the contact sensing time. |
10 s [0 ~ 10000] |
|
-
If an A-series is not installed with FTS, the contact skill cannot be used.