Skill - Try Pick & Place samples

OPTIONAL NORMAL 20 MIN

This sample is created in the Task Builder. The Task Writer does not support the skill function.

Caution

• Before trying the sample, make sure to read and follow Precautions for Use. For more information, refer to PART 1. Safety Manual.

1. Select the Task Builder from the bottom menu.
2. Select the Select Workcell Item > Gripper icon.
3. Select the gripper registered as a Workcell Item. This sample cannot be tried if there is no gripper registered as a Workcell Item.
4. Press the > button to register the Workcell Item as the selected Workcell Item.
5. Press the Next button.
6. Enter the task name.
7. Press Confirm.
   

   

   
   
   
8. Select the MainSub command from the second line of the task list. A new command is added to the next line of the selected line.
9. Add the Pick skill command.
10. Add the Place skill command.
11. Select the Pick command from the third line of the task list.
12. Select the Property tab.
13. Press the Workcell Item Action to expand the menu. If the gripper Workcell Item is selected, gripper action can be tested during Workcell Item action.
    

    

    
    
    
14. To test the gripper, press the Grasp button and perform grasp motion.
15. To test the gripper, press the Release button and perform release motion.
    

    

    
    
    
16. In case of light workpieces, place the workpiece in the gripper and press the Grasp button to make the robot hold the workpiece. Performing teaching while the gripper is holding a workpiece can help establish an accurate position.
    • However, having the robot hold a workpiece during teaching is not mandatory but an example.
    • In the case of heavy workpieces, dangerous situations can occur as the gripper can lose the workpiece.
    • In the case of heavy workpieces, the Tool Weight of the Tool Settings must include the tool weight and the workpiece weight.
17. Use direct teaching to move the robot to the point where Pick will be performed.
    • Press and hold the hand guiding button in the cockpit to move the robot.
18. Press the Get Pose button of the Picking Pose.
19. Press the Confirm button.
    

    

    
    
    
20. Use direct teaching to move the robot to the point where Place will be performed.
21. Press the Get Pose button of the Placing Pose.
22. To release the workpiece from the gripper, press the Release button.
23. Press the Confirm button.
    

    

24. To set detailed settings of Pick and Place skill commands, select the Pick command in the third line of the task list.
25. Press the Advanced Option to expand the menu and set as following: Use default values for items not described below.
    1. Entry Direction: Z-axis
       • It sets the direction for entering the Pick position.
    2. Approach Distance: 100 mm
       • It sets the distance right before the robot approaches the Pick position. It secures sufficient approach distance.
    3. Retract Distance: 100 mm
       
       • It sets the distance after the robot retracts in the set direction from the Pick position. It secures sufficient retract distance.
    4. Approach Speed: 100 mm/s
       • It sets the approach speed lower than the default value when the robot approaches an object.
    5. Compliance Control: Enabled (green)
    6. Sensing Contact: Enabled (green)
       • It enables Compliance Control and contact detection functions.
       • Contact Force: 10N
       • Contact Tolerance: 10 mm
       • Force: 15N
       • Scratch Offset: 2mm
    7. Release Gripper Before Picking: Enabled (green)
       • It sets the gripper in the Release state before approaching the pick location.
    8. Tool Weight: None
       • If the workpiece is not light, the workpiece weight and tool weight must be summed, be added as a Tool Weight Workcell Item, and be selected.
26. Press the Confirm button.
27. Select the Place command from the fourth line of the task list.
28. Press the Advanced Option to expand the menu and set as following: Use default values for items not described below.
    1. Entry Direction: Z-axis
    2. Approach Distance: 100 mm
    3. Retract Distance: 100 mm
    4. Approach Speed: 100 mm/s
    5. Compliance Control: Enabled (green)
    6. Sensing Contact: Enabled (green)
       • It enables Compliance Control and contact detection functions.
       • Contact Force: 10N
       • Contact Tolerance: 10 mm
       • Force: 15N
    7. Tool Weight: None
29. Press the Confirm button.
    

    

    
    
    
30. Use direct teaching to move the robot to the point where Pick&Place will start.
31. Move a workpiece to the Pick location.
32. Select the Play tab.
33. Enable the Real Mode toggle button.
34. Adjust the speed slide bar to 10-30%.
    • This speed slide bar adjusts the set speed of all commands to the selected %.
    • When a task is executed for the first time after its creation, executing it at a low speed may prevent unexpected risks.
35. Press the Play button.
36. If the task is completed without issues, adjust the speed back to the default, 100%, and test again.