Creating WCI&Skill for single-acting tool

In this exercise, we create WCI and Skill for single-acting tool.

[WCI]: Single-Acting Tool

• Communication Type: Digital I/O (Controller Port)

[Skill]: Tool-related Skill

• Example Skill: Gluing/EndTask 
• Robot Motion + I/O Action

Doosan Robotics provides a Sample for this exercise on the App Builder website. You can easily create WCI and Skill for single-acting tool by copying the following Sample.

WCI Writer

• Sample_DIO_Tool

Skill Writer

• Sample_EndTask
• Sample_Gluing

Specific details of WCI and Skill described by this exercise and Sample may differ depending on the version of the Sample.

1) Gripper

• The schematic diagram of Workcell Manager UI is as follows.

2) Gluing

• EndTask: The schematic diagram of Task Builder UI is as follows.

• Property: The schematic diagram of Task Builder UI is as follows.