Insert
This is a skill that finds the target point by searching with a spiral motion near the target point when the workpiece must be inserted into a hole and inserts it with a periodic search motion when a stuck condition occurs. Insert skill requires contact with external forces, so it requires Compliance Control by default.
- The spiral search motion and periodic search motion for finding holes must be configured.
- Spiral Search Motion options, Spiral Interval, Max. Radius, Velocity and Acceleration can be configured.
- For the periodic search motion, amplitude, period and repeat can be configured.
- The user can configure timeout as a method for notifying failures of the two motions.
- Recommended Default WCI: Gripper (GripperDA, GripperSA)
- Create Skill: TaskBuilder → Add Gripper (Skill Type: End-Effector)
- Optional Features: Approach pose and retract pose settings, Compliance Control (must be set as True), hole search motion settings (spiral search motion & periodic search motion)
- Confirm Condition:
- Select a gripper and press the Set button.
- Save Teaching Pose
Default Motion Sequence
Move to Approach Pose → Move to Hole Surface (Pose excluding Hole Depth + Contact Margin at Teaching Pose) → External Force Sensing → Hole Search Motion → Insert → Gripper Motion (Release) → Move to Retract Pose
Definition of Skill Screen
Item | Description | Default Value and Input Range | |
Basic Setting | Gripper | I/O test available upon gripper selection |
|
Reference Pose | Teaching Pose - This is the point where the gripper grasps a workpiece and inserts it in a hole. | ||
Task Setting | Hole Depth | This is the depth of the hole. | 20 mm [0 ~ 200] |
Insert Velocity | This is the velocity at the final insert. | 30 mm/s [0.001 ~ 8000] | |
Insert Acceleration | This is the acceleration at the final insert. | 0.03 m/s2 [0.001 ~ 20] | |
Task Velocity | This is the velocity from the approach pose to the hole surface. | 100 mm/s [0.001 ~ 8000] | |
Task Acceleration | This is the acceleration from the approach pose to the hole surface. | 0.1 m/s2 [0.001 ~ 20] | |
Gripper Setting | Set TCP (Option) | Select TCP Setting Status - When Set TCP is set to True, it configures the TCP of the End-Effector used by the skill. | True [True, False] |
Gripper Wait Time | Standby time after release motion. | 0.5 s [0 ~ 10000] | |
Tool Weight | If a workpiece is released, apply the weight information. - To apply tool weight to a skill, save the tool weight with a workpiece grasped under the WCM Tool Weight. | ||
Gripper Release (Option) | Select Gripper Release Status after insert completion - If the gripper release option is not used, the gripper does not perform the gripper release motion and moves to the retract pose after insert completion. | True [True, False] | |
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] | |
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 | True [True, False] |
Stiffness | Stiffness Setting | x=y= 500 N/m, z = 1500 N/m [0 ~ 20000] x=ry=rz= 50 Nm/rad [0 ~ 1000] | |
Force Control Setting | 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. | 3 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 10N(In the case of A series, there is no limit to the desired force value). | 15 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] | |
Spiral Motion Setting (Option) | Spiral Interval | Spiral Interval | 0.5 mm [0 ~ 100] |
Maximum Radius | Max Radius | 10 mm [0 ~ 200] | |
Velocity of Spiral Motion | Spiral Search Motion Velocity | 12 mm/s [0.001 ~ 8000] | |
Acceleration of Spiral Motion | Spiral Search Motion Acceleration | 0.012 m/s2 [0.001 ~ 20] | |
Periodic Motion Setting (Option) | Maximum Amplitude | Max Distance - Rotation angle of the orientation - Rx, Ry and Rz values are applied depending on the orientation during Force Control. The default orientation is Z, so the default direction of Max Distance is Rz. | 5 deg [0 ~ 360] |
Maximum Period | Max Period | 2 s [0 ~ 10000] | |
Maximum Repeat Value | Max Repeat Count | 10 [0 ~ 10000] | |
Note
- The insert skill is influenced by the workpiece, hole and the deviation between the two, so it is difficult to select a setting that can succeed in all cases. The stiffness, force and margin values must be adjusted according to the environment, and the settings must be adjusted considering search motion information.
Version : A Series
- If A-Series is not installed with FTS, the Insert skill cannot be used.