Pick

Recommended Device

GripperDA, Gripper SA

Optinal Features

• Pattern

• Approach Pose / Retract Pose Setting

• Compliance Control Setting

• Contact Sensing Setting

Command Completion Condition

• Setting [End Effector]

• Setting [Reference Pose]

• If set [Pattern], setting [Repeact Condition] in [Task Setting]

Support Robot Series

E, A, AS, M, H, P

Basic Setting

End Effector

I/O test available upon gripper selection

Pattern

Select if a pattern is used

Reference Pose

Teaching Pose

• This is the point where the workpiece is grasped with the gripper.

• [Reference Pose] changes to [Referencing Pattern Position] during pattern setting.

Task Setting

Repeat Condition

Select Repeat Index

• The [Repeat Condition] is used as the pattern index when [Pattern] is used.

Task Velocity

This is the velocity from the approach pose to teaching pose.

• During [Pattern] use, [Task Velocity] is the velocity until each pattern point.

100 mm/s

[0.001 ~ 8000]

Task Acceleration

This is the acceleration from the approach pose to teaching pose.

• During [Pattern] use, [Task Acceleration] is the velocity until each pattern point.

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]

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

• During [Pattern] setting, the [Approach Distance] set in the Pallet device is applied.

[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], [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

• During [Pattern] setting, the [Retract Distance] set in the Pallet device is applied.

[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]

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]