Door Open Close | V3-manual

This is a command that manually opens/closes the door with a direct robot motion.

Teach the start pose and end pose to perform a door open/close motion.
The default setting is [Open] and if [Close] is selected, the teaching poses of the [Start Pose] and [End Pose] change.
However, the teaching pose change is not reflected in the UI.

Basic Information

Item	Description
Recommended Device	None
Optinal Features	Approach Pose / Retract Pose Setting Output Setting: [Single Type] 또는 [Double Type] Input Setting
Command Completion Condition	Setting [Start Pose] and [End Pose]
Support Robot Series	E, A, AS, M, H

Default Motion Sequence

Move to [Approach Pose] → Move to [Start Pose] → Move to [End Pose] → Move to [Retract Pose]

Definition of Screen

Item		Description	Default Value and Input Range
Basic Setting	Start Pose	Teaching Pose This is the pose the open/close door motion starts (ends) in.
Basic Setting	End Pose	Teaching Pose This is the pose the open/close door motion ends (starts) in.
Task Setting	Select Task (Option)	Select Orientation If [Close] is selected, the start pose and end pose change. (No change in the UI)	Open [Open, Close]
	Wait Time	This is the standby time before moving to the start pose and after moving to the end pose.	0.5 s [0 ~ 10000]
	First Velocity	This is the velocity from the approach pose to the first teaching pose.	100 mm/s [0.001 ~ 8000]
	First Acceleration	This is the acceleration from the approach pose to the first teaching pose.	0.1 m/s² [0.001 ~ 20]
	Second Velocity	This is the velocity from the approach pose to the second teaching pose.	100 mm/s [0.001 ~ 8000]
	Second Acceleration	This is the acceleration from the approach pose to the second teaching pose.	0.1 m/s² [0.001 ~ 20]
Approach Pose Setting (Option)	Use	Select whether to use Approach Pose	True [True, False]
	Approach Distance	Distance from the teaching pose in x, y and z directions	[0, 0, -100] mm [-99999.999 ~ 99999.999]
	Velocity	This is the motion velocity to the approach pose.	250 mm/s [0.001 ~ 8000]
	Acceleration	This is the motion acceleration to the approach pose.	0.25 m/s² [0.001 ~ 20]
	Motion Time	This is the motion time to the approach pose. If greater than 0 is entered, the Velocity/Acceleration values are ignored.	0 s [0 ~ 10000]
	Blending Radius	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, the optional item (Compliance Control) must be set as False.	0 mm [0 ~ 1000]
Retract Pose Setting (Option)	Use	Select whether to use Retract Pose	True [True, False]
	Retract Distance	Distance from the teaching pose in x, y and z directions	[0, 0, -100] mm [Individually -1000 ~ 1000]
	Velocity	This is the motion velocity to the retract pose.	100 mm/s [0.001 ~ 8000]
	Acceleration	This is the motion acceleration to the retract pose.	0.1 m/s² [0.001 ~ 20]
	Motion Time	This is the motion time to the retract pose. If greater than 0 is entered, the Velocity/Acceleration values are ignored.	0 s [0 ~ 10000]
	Blending Radius	This is the blending radius connecting the movement between the teaching pose and the retract pose.	0 mm [0 ~ 1000]
Compliance Control Setting (Option)	Use	Select whether to use the Compliance Control	False [True, False]
Compliance Control Setting (Option)	Stiffness	Stiffness Setting	x=y=z 3000 N/m [0 ~ 20000] rx=ry=rz 200 Nm/rad [0 ~ 1000]