Door_OpenClose
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.)
- Recommended Default WCI: None
- Create Skill: TaskBuilder → No Add WCI (Skill Type: Basic)
- Optional Features: Approach pose and retract pose setting, Compliance Control, robot motion direction (Open or Close) selection
- Confirm Condition:
- Save 2 Teaching Poses
Default Motion Sequence
Move to Approach Pose → Move to Start Pose → Move to End Pose → Move to Retract Pose
Definition of Skill 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. |
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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) | Approach Distance | Distance from the teaching pose in x, y and z directions - The approach distance must be entered in a 1 x 3 array (i.e. [x, y, z]). | [0, 0, -100] mm [Individually -1000 ~ 1000] |
Velocity for App. Pose | This is the motion velocity to the approach pose. | 250 mm/s [0.001 ~ 8000] | |
Acceleration for App. Pose | This is the motion acceleration to the approach pose. | 0.25 m/s2 [0.001 ~ 20] | |
Motion Time for App. Pose | 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 for App. Pose | 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) | Retract Distance | Distance from the teaching pose in x, y and z directions - The retract distance must be entered in a 1 x 3 array (i.e. [x, y, z]). | [0, 0, -100] mm [Individually -1000 ~ 1000] |
Velocity for Ret. Pose | This is the motion velocity to the retract pose. | 100 mm/s [0.001 ~ 8000] | |
Acceleration for Ret. Pose | This is the motion acceleration to the retract pose. | 0.1 m/s2 [0.001 ~ 20] | |
Motion Time for Ret. Pose | 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 for Ret. Pose | This is the blending radius connecting the movement between the teaching pose and the retract pose. | 0 mm [0 ~ 1000] | |
Compliance Control Setting | Compliance control (Option) | Select Compliance Control Status | False [True, False] |
Stiffness | Stiffness Setting | x=y=z= 3000 N/m [0 ~ 20000] rx=ry=rz= 200 Nm/rad [0 ~ 1000] | |
Item | Description |
Motion Start Pose | This configures the start pose of the motion for opening/closing the door. |
Motion End Pose | This configures the end pose of the motion for opening/closing the door. |
Note
- To use the Door_OpenClose skill, an external handle (protruding) must be present on the machine door at a position the robot can grab. There must be no obstacles present in the surrounding area when the door is opened/closed.