This is a skill for picking up a bolt placed in a specific position by the bolt feeder using a screwdriver. If the screwdriver supports a vacuum, it can ensure stable bolt pick up.
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Recommended Default WCI: Tool (ScrewDriver), Feeder (BoltFeeder)
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Create Skill: TaskBuilder → Add ScrewDriver and BoltFeeder (Skill Type: End-Effector & Feeder)
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Optional Features: Approach Pose and Retract Pose setting, Compliance Control
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Confirm Condition:Select a ScrewDriver and BoltFeeder and press the Set button.Save Teaching Pose
Default Motion Sequence
Move to Approach Pose → Move to Teaching Pose → ScrewDriver Motion (in the case of a Vacuum Type, Vacuum_On) (in the case of ScrewDriver, no separate motion) → 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 |
Tool |
I/O test available upon screwdriver selection |
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Feeder |
I/O test available upon bolt feeder selection |
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Reference Pose |
Teaching Pose - This is the position in which the screwdriver picks up a bolt |
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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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Tool 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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Vacuum Type (Option) |
Select Vacuum Support Status |
False [True, False] |
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Tool Wait Time |
Standby time after tool run motion. |
0.5 s [0 ~ 10000] |
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Feeder Setting |
Check Bolt ready (Option) |
Select Bolt Ready signal standby |
False [True, False] |
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Bolt Wait Time |
Standby time after bolt ready signal completion |
0.5 s [0 ~ 10000] |
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Feeder Type (Option) |
Select Feeder type |
“PickUP” [“PickUP”, “Shooting”] |
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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 [각각: -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 / Compliance Control / Check Bolt ready) 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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