This skill operates the gripper and picks up the target when the robot moves to a specific point or approaches and contacts a target.
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Recommended Default WCI: Gripper (GripperDA, GripperSA)
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Create Skill: TaskBuilder → Add Gripper (Skill Type: End-Effector & Pattern)
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Optional Features: Add pattern, approach pose and retract pose settings, Compliance Control and Contact Sensing functions
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Confirm Condition:Select Gripper and Pattern and press the Set button (Pattern selection can be omitted).Save Teaching PoseEven if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Default Motion Sequence
Move to Approach Pose → Move to Teaching Pose (if a pattern is added, move to Pattern Calculation Pose) → Gripper Motion (Grasp) → 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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Pattern |
Select if a pattern is used |
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Reference Pose |
Teaching Pose - This is the point where the workpiece is grasped with the gripper. - Reference Pose changes to Position Referenced during pattern setting. |
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Task Setting |
Repeat Condition |
Select Repeat Index - The repeat condition is used as the pattern index when a pattern is used. |
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Task Velocity |
This is the velocity from the approach pose to teaching pose. - During pattern use, Task Velocity is the velocity until each pattern point. |
100 mm/s [0.001 ~ 8000] |
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Task Acceleration |
This is the acceleration from the approach pose to teaching pose. - During pattern use, Task Acceleration is the velocity until each pattern point. |
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 |
This is the standby time after a release or grasp motion. |
0.5 s [0 ~ 10000] |
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Tool Weight |
If a workpiece is grasped, 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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Gripper Release (Option) |
Select Gripper Release Status before Pick Motion - Use the Gripper Release option to perform the gripper release motion after moving to the approach Ppse and before moving to the teaching pose. (Applies on Gripper Wait Time as well.) |
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]). - During pattern setting, the approach distance set in the pallet UI is applied. |
[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. |
250 mm/s^2 [0.001 ~ 20000] |
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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 / Gripper Release / 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]). - During pattern setting, the retract distance set in the pallet UI is applied. |
[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. |
100 mm/s^2 [0.001 ~ 20000] |
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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 10 N(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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Offset Margin for Contact |
This is the fine retract distance after contact sensing. |
0.5 mm [0 ~ 100] |
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