Interlock Pick | V3-manual

This is a command for operating the gripper and picking up the target when the robot moves to a point instructed in the machine chuck or approaches and contacts a target held by the chuck.

Basic Information

Item	Description
Recommended Device	GripperDA, Gripper SA TurningCenter, PressMachine, MoldingMachine
Optinal Features	Approach Pose / Retract Pose Setting Compliance Control Setting Contact Sensing Setting
Command Completion Condition	Setting [End Effector] Setting [Machine] Setting [Reference Pose]
Support Robot Series	E, A, AS, M, H

Default Motion Sequence

Move to [Approach Pose] → Move to [Reference Pose] → [Grasp] action of [End Effector] → Chuck Open Motion ([INTLK_Off]) → Move to [Retract Pose]

Definition of Screen

Item		Description	Default Value and Input Range
Basic Setting	End Effector	I/O test available upon gripper selection
	Machine	I/O test available upon machine selection
	Reference Pose	Teaching Pose This is the point where the workpiece on a machine chuck is grasped with a gripper
Task Setting	Task Velocity	This is the velocity from the approach pose to teaching pose.	100 mm/s [0.001 ~ 8000]
Task Setting	Task Acceleration	This is the acceleration from the approach pose to teaching pose.	0.1 m/s² [0.001 ~ 20]
Gripper Setting	Set TCP (Option)	Select TCP	Not Used [TCP items set in robot parameter]
	Set Tool Weight (Option)	Select Tool Weight If a workpiece is grasped, apply the weight information.	Not Used [Tool Weight items set in robot parameter]
	Set Tool Shape (Option)	Select Tool Shape	Not Used [Tool Shape items set in robot parameter]
	Release Before Picking (Option)	Select whether to perform the gripper [Release] before [Grasp] Perform the gripper release motion after moving to the approach Pose and before moving to the teaching pose	True [True, False]
	Post-Gripper Wait Time	This is the standby time after a [Release] or [Grasp] action.	0.5 s [0 ~ 10000]
Machine Setting	Check Machine Ready (Option)	Select machine ready signal standby status	False [True, False]
	Post-Check Wait Time	Standby time after machine ready signal completion	0.5 s [0 ~ 10000]
	Post-Chuck Wait Time	Standby time after chuck open motion	0.5 s [0 ~ 10000]
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 a motion time of 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, [Release Before Picking], [Check Machine Ready], [Compliance Control Setting] and [Contact Sensing Setting] 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 [-99999.999 ~ 99999.999]
	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 a motion time of 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]
Contact Sensing Setting (Option)	Use	Select whether to use the Contact Sensing	False [True, False]
	Task Direction	Orientation setting during force control Orientation is based on Tool Coordinates.	Z [X, Y, Z]
	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]
	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]
	Contact Force	This is the reference force for contact sensing.	10 N [0 ~ 1200]
	Timeout	This is the contact sensing time.	10 s [0 ~ 10000]
	Offset Margin	This is the fine retract distance after contact sensing.	0.5 mm [0 ~ 100]