Insert | V2-manual

This is a skill that finds the target point by searching with a spiral motion near the target point when the workpiece must be inserted into a hole and inserts it with a periodic search motion when a stuck condition occurs. Insert skill requires contact with external forces, so it requires Compliance Control by default.

The spiral search motion and periodic search motion for finding holes must be configured.
Spiral Search Motion options, Spiral Interval, Max. Radius, Velocity and Acceleration can be configured.
For the periodic search motion, amplitude, period and repeat can be configured.
The user can configure timeout as a method for notifying failures of the two motions.

Recommended Default WCI: Gripper (GripperDA, GripperSA)
Create Skill: TaskBuilder → Add Gripper (Skill Type: End-Effector)
Optional Features: Approach pose and retract pose settings, Compliance Control (must be set as True), hole search motion settings (spiral search motion & periodic search motion)
Confirm Condition:Select a gripper and press the Set button.Save Teaching Pose

Default Motion Sequence

Move to Approach Pose → Move to Hole Surface (Pose excluding Hole Depth + Contact Margin at Teaching Pose) → External Force Sensing → Hole Search Motion → Insert → Gripper Motion (Release) → Move to Retract Pose

Definition of Skill Screen

Item		Description	Default Value and Input Range
Basic Setting	Gripper	I/O test available upon gripper selection
Basic Setting	Reference Pose	Teaching Pose - This is the point where the gripper grasps a workpiece and inserts it in a hole.
Task Setting	Hole Depth	This is the depth of the hole.	20 mm [0 ~ 200]
	Insert Velocity	This is the velocity at the final insert.	30 mm/s [0.001 ~ 8000]
	Insert Acceleration	This is the acceleration at the final insert.	0.03 m/s² [0.001 ~ 20]
	Task Velocity	This is the velocity from the approach pose to the hole surface.	100 mm/s [0.001 ~ 8000]
	Task Acceleration	This is the acceleration from the approach pose to the hole surface.	0.1 m/s² [0.001 ~ 20]
Gripper Setting	Set TCP (Option)	Select TCP Setting Status - When Set TCP is set to True, it configures the TCP of the End-Effector used by the skill.	True [True, False]
	Gripper Wait Time	Standby time after release motion.	0.5 s [0 ~ 10000]
	Tool Weight	If a workpiece is released, apply the weight information. - To apply tool weight to a skill, save the tool weight with a workpiece grasped under the WCM Tool Weight.
	Gripper Release (Option)	Select Gripper Release Status after insert completion - If the gripper release option is not used, the gripper does not perform the gripper release motion and moves to the retract pose after insert completion.	True [True, False]
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	True [True, False]
Compliance Control Setting	Stiffness	Stiffness Setting	x=y= 500 N/m, z = 1500 N/m [0 ~ 20000] x=ry=rz= 50 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]
Spiral Motion Setting (Option)	Spiral Interval	Spiral Interval	0.5 mm [0 ~ 100]
	Maximum Radius	Max Radius	10 mm [0 ~ 200]
	Velocity of Spiral Motion	Spiral Search Motion Velocity	12 mm/s [0.001 ~ 8000]
	Acceleration of Spiral Motion	Spiral Search Motion Acceleration	0.012 m/s² [0.001 ~ 20]
Periodic Motion Setting (Option)	Maximum Amplitude	Max Distance - Rotation angle of the orientation - Rx, Ry and Rz values are applied depending on the orientation during Force Control. The default orientation is Z, so the default direction of Max Distance is Rz.	5 deg [0 ~ 360]
	Maximum Period	Max Period	2 s [0 ~ 10000]
	Maximum Repeat Value	Max Repeat Count	10 [0 ~ 10000]

The insert skill is influenced by the workpiece, hole and the deviation between the two, so it is difficult to select a setting that can succeed in all cases. The stiffness, force and margin values must be adjusted according to the environment, and the settings must be adjusted considering search motion information.

If A-Series is not installed with FTS, the Insert skill cannot be used.