INTLK_Place
This is a skill for operating the gripper and releasing the target when the robot moves to a point instructed on the machine chuck or approaches and contacts the chuck.
- Recommended Default WCI: Gripper (GripperDA, GripperSA), Machine (TurningCenter, PressMachine, MoldingMachine)
- Create Skill: TaskBuilder → Add Gripper and Machine (Skill Type: End-Effector & Machine)
- Optional Features: Approach Pose and Retract Pose setting, Compliance Control, Contact Sensing
- Confirm Condition:
- Select a Gripper and Machine and press the Set button.
- Save Teaching Pose
Default Motion Sequence
Move to Approach Pose → Move to Teaching Pose → Chuck Motion (Chuck Close (INTLK_On)) → 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 |
|
Machine | I/O test available upon machine selection | ||
Reference Pose | Teaching Pose - This is the point where the workpiece on a machine chuck is released from a gripper. | ||
Task Setting | Task Velocity | This is the velocity from the approach pose to teaching pose. | 100 mm/s [0.001 ~ 8000] |
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 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. | ||
Machine Setting | Check Machine Ready (Option) | Select machine ready signal standby status | False [True, False] |
Machine Wait Time | Standby time after machine ready signal completion | 0.5 s [0 ~ 10000] | |
Chuck Wait Time | Standby time after chuck close motion | 0.5 s [0 ~ 10000] | |
Chuck Open (Option) | Select chuck open status before INTLK place motion | 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] | |
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, all optional items (Set TCP / Check Machine Ready / Compliance Control / Contact Sensing Setting) 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] | |
Contact Sensing Setting (Option) | 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 10N(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] | |