Tutorial on How to Produce Gripper WCI&Skill

About this tutorial

This tutorial is about producing WCI (workcell Item) and skill. In this tutorial, It explains how to create a double-acting gripper using digital I/O by WCI and how to add skill.

1. Create Gripper WCI
2. Create Gripper Skill

You can learn how to do the following from this tutorial:

1. Create WCI using WCI Writer
2. Create Global functions and variables using Global Function & Variable Writer
3. Create skill using Skill Writer
4. Create WCI/Skill setup file (*.dr3) that can be used in the Workcell Manager at Teach Pendant.

This manual include not only tutorial for double-acting gripper, but also example of 'Creating a single-acting tool WCI&Skill'.

• Creating WCI&Skill for single-acting tool

Tutorial on how to create gripper WCI

Create a double-acting gripper by WCI that can be connected to the flange by digital I/O communication method.

1. Enter the basic information of the gripper.
2. Register the digital I/O communication method and configure the UI screen.
3. Add ‘Grasp’ and ‘Release’, which are the essential actions of the gripper.
4. You can create a gripper WCI with the result. The UI of the gripper WCI will be shown as below on Teach Pendant.
   

   

   
   

Tutorial on how to create gripper skill(Pick&Place)

Create pick and place skill of the gripper.

1. Enter the basic information of the skill.
2. Add pick/place skill.
3. Create and add a robot motion.
4. Create and add an I/O action.
5. You can create a gripper WCI with the result. The UI of the gripper WCI skill will be shown as below on Teach Pendant.
   

   

   
   
   

   

Doosan Robotics provides a sample for this tutorial on the App Builder web page. You can create a double-acting gripper WCI and Pick&Place skill simply by copying the following sample.

WCI Writer

• Sample_DIO_Gripper

Skill Writer

• Sample_Pick_v2
• Sample_Place_v2

Depending on the version of the sample, the description of this example and the contents of WCI and skill provided as a sample may not be the same.