This is a skill for operating the gripper and releasing the target when the robot moves to a point instructed on the machine chuck or approaches and contacts the chuck.
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Recommended Default WCI: Gripper (GripperDA, GripperSA), Machine (TurningCenter, PressMachine, MoldingMachine)
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Create Skill: TaskBuilder → Add Gripper and Machine (Skill Type: End-Effector & Machine)
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Optional Features: Approach Pose and Retract Pose setting, Compliance Control, Contact Sensing
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Confirm Condition:Select a Gripper and Machine and press the Set button.Save Teaching Pose
Default Motion Sequence
Move to Approach Pose → Move to Teaching Pose → Chuck Motion (Chuck Close (INTLK_On)) → Gripper Motion (Release) → Move to Retract Pose
Definition of Skill Screen
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Item |
Description |
Default Value and Input Range |
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Basic Setting |
Gripper |
I/O test available upon gripper selection |
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Machine |
I/O test available upon machine selection |
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Reference Pose |
Teaching Pose - This is the point where the workpiece on a machine chuck is released from a gripper. |
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Task Setting |
Task Velocity |
This is the velocity from the approach pose to teaching pose. |
100 mm/s [0.001 ~ 8000] |
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Task Acceleration |
This is the acceleration from the approach pose to teaching pose. |
0.1 m/s2 [0.001 ~ 20] |
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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] |
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Gripper Wait Time |
Standby time after release motion. |
0.5 s [0 ~ 10000] |
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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. |
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Machine Setting |
Check Machine Ready (Option) |
Select machine ready signal standby status |
False [True, False] |
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Machine Wait Time |
Standby time after machine ready signal completion |
0.5 s [0 ~ 10000] |
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Chuck Wait Time |
Standby time after chuck close motion |
0.5 s [0 ~ 10000] |
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Chuck Open (Option) |
Select chuck open status before INTLK place motion |
True [True, False] |
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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] |
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Velocity for App. Pose |
This is the motion velocity to the approach pose. |
250 mm/s [0.001 ~ 8000] |
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Acceleration for App. Pose |
This is the motion acceleration to the approach pose. |
0.25 m/s2 [0.001 ~ 20] |
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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] |
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Blending Radius for App. Pose |
This is the blending radius connecting the movement between the approach pose and the teaching pose. - If a blending radius of greater than 0 is entered, all optional items (Set TCP / Check Machine Ready / Compliance Control / Contact Sensing Setting) must be set as False. |
0 mm [0 ~ 1000] |
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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] |
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Velocity for Ret. Pose |
This is the motion velocity to the retract pose. |
100 mm/s [0.001 ~ 8000] |
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Acceleration for Ret. Pose |
This is the motion acceleration to the retract pose. |
0.1 m/s2 [0.001 ~ 20] |
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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] |
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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] |
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Compliance Control Setting |
Compliance control (Option) |
Select Compliance Control Status |
False [True, False] |
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Stiffness |
Stiffness Setting |
x=y=z= 3000 N/m [0 ~ 20000] rx=ry=rz= 200 Nm/rad [0 ~ 1000] |
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Contact Sensing Setting (Option) |
Task Direction |
Orientation setting during force control - Orientation is based on Tool Coordinates. |
Z [X, Y, Z] |
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Contact Margin |
Margin for contact sensing section setting - The contact sensing section is configured by adding the +/- contact sensing margin from the teaching point. |
2 mm [0 ~ 100] |
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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). |
12 N [-1200 ~ 1200] |
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Contact Force |
This is the reference force for contact sensing. |
10 N [0 ~ 1200] |
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Timeout |
This is the contact sensing time. |
10 s [0 ~ 10000] |
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