Software version : V2.10
Document version : V2.2
Original instructions(en_US)

Reference manual(V2.10)

M0609 | M0617 | M1013 | M1509 | H2017 |H2515 A0509 | A0509S | A0912 | A0912S© 2022 Doosan Robotics Inc.

Table of Contents
1

Preface .......................................................................................... 5

1.1

Copyright .................................................................................................... 5

1.2

Open Source Software License Information (OSS)........................................... 52

Workcell Item ................................................................................. 6

2.1

Workcell Item Summary ............................................................................... 6

2.1.1

Workcell Item Common Setting Options ...........................................................................6

2.2

End Effector ................................................................................................ 6

2.2.1

Gripper ..........................................................................................................................6

2.2.2

Tool ...............................................................................................................................8

2.2.3

Screwdriver (Screwdriver: Tool Category) ........................................................................8

2.3

Machine ...................................................................................................... 9

2.3.1

Press Machine.................................................................................................................92.3.2

Turning Center ............................................................................................................. 10

2.3.3

Molding Machine........................................................................................................... 12

2.4

Peripherals ............................................................................................... 13

2.4.1

Pallet ........................................................................................................................... 13

2.4.2

Bolt Feeder................................................................................................................... 14

2.5

Additional Workcell Items........................................................................... 15

2.5.1

Common Setting Options............................................................................................... 15

2.5.2

Additional Workcell Item List ......................................................................................... 17

3

Task Programming Commands and Templates ................................ 37

3.1

Skill Command .......................................................................................... 37

3.1.1

Skill Command Summary .............................................................................................. 37

3.1.2

Understanding Basic Principles of Skill Commands.......................................................... 37

3.1.3

Compliance Control and Contact Check .......................................................................... 42

3.1.4

Common Skill Screen Layout ......................................................................................... 44

3.1.5

Skill Command List ....................................................................................................... 46

3.2

Task Template ........................................................................................... 91-2-

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3.2.1

Part Handling ............................................................................................................... 91

3.2.2

CNC Machine Tending.................................................................................................... 92

3.2.3

Press Machine Tending .................................................................................................. 94

3.2.4

Injection Molding Machine Tending ................................................................................ 95

3.2.5

Screw Drive template.................................................................................................... 95

3.2.6

Gluing template............................................................................................................ 95

3.2.7

Deburring template ...................................................................................................... 96

3.2.8

Polishing template........................................................................................................ 96

3.2.9

Insert template............................................................................................................. 96

4

Smart Video Module ...................................................................... 97

4.1

Precautions Before Use (SVM) ..................................................................... 97

4.2

Setting with Workcell Manager ................................................................... 97

4.2.1

Testing the Camera Connection ..................................................................................... 98

4.2.2

Vision Job > Manage Job.............................................................................................. 101

4.2.3

Vision Job > Set Image................................................................................................. 103

4.2.4

Vision Job > Edit Job ................................................................................................... 114

4.2.5

Vision Job > Test ......................................................................................................... 134

4.3

Programming ...........................................................................................135

4.3.1

Vision Command Setting Options ................................................................................. 136

4.3.2

Task Builder: Using Vision in Skill Commands................................................................ 137

4.3.3

Task Writer: Using Vision in Motion Commands ............................................................. 139

4.3.4

Vision Skill: Installing the Vision Skill ........................................................................... 140

4.3.5

Vision Skill: Using the Shoot Pose skill .......................................................................... 147

4.3.6

Vision Skill: Using the Landmark skill ........................................................................... 159

4.3.7

Vision Skill: Using the Barcode Skill .............................................................................. 168

4.3.8

Vision Skill: Utilizing IF statements .............................................................................. 177

4.4

Product Specifications ..............................................................................180

4.4.1

Measurement Distance ................................................................................................ 180

4.4.2

Size and Height of Measuring Items .............................................................................. 180

4.4.3

Measuring Item and Background .................................................................................. 181

5Conveyor Tracking...................................................................... 182

5.1

Precautions Before Use .............................................................................182-3-

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5.2

Settings with Workcell Manager (WCI) ........................................................182

5.2.1

External Encoder Settings ........................................................................................... 183

5.2.2

Conveyor Tracker Settings .......................................................................................... 186

5.3

Programming (TB/TW)...............................................................................193

5.3.1

Conveyor Coordinates................................................................................................. 195

5.3.2

Conveyor Tracking ...................................................................................................... 197

5.4

Other Items to Note ..................................................................................199

5.4.1

Pick & Place (One Conveyor) ........................................................................................ 200

5.4.2

Pick & Place (Two Conveyors) ...................................................................................... 200

5.4.3

Multiple Workpiece Handling ....................................................................................... 201-4-Reference manual(V2.10)

Preface

1 PrefaceThis manual is composed of four parts. Part 1 describes Workcell Item Setting options, part 2 describes Task
program commands and Template Setting options, part 3 describes the operation and use of the Smart Vision
module, and part 4 describes how to operate conveyor tracking.
The contents of this manual are current as of the date the manual was written, and product-related information
may be modified without prior notification to the user.

1.1 CopyrightThe copyright and intellectual property rights of the contents of this manual are held by Doosan Robotics. It istherefore prohibited to use, copy, or distribute the contents without written approval from Doosan Robotics. In
the event of abuse or modification of the patent rights, the user will be solely responsible for the consequences.
While the information in this manual is reliable, Doosan Robotics will not be held responsible for any damage
that occurs due to errors or typos. The contents of this manual may be modified according to productimprovement without prior notification.
This manual is a detailed manual for a specific software version of the robot. For details on updated manuals,
refer to the Robot LAB website.
• [Robot LAB] https://robotlab.doosanrobotics.com/© 2022 Doosan Robotics Inc., All rights reserved

1.2 Open Source Software License Information (OSS)
The software installed in this product was developed based on free/open source software.
Details about the free/open source software license can be found on the OSS use page on the Doosan Robotics
website.
• [OSS use page] https://www.doosanrobotics.com/en/oss/license
For related inquires, contact the Marketing Department of Doosan Robotics.

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Workcell Item

2 Workcell Item
2.1 Workcell Item Summary
Workcell Item refers to the robot and all peripherals used together with the robot.
Workcell items can be configured in the Workcell Manager screen before use. Also, the Workcell Manager can set
commands for peripherals and can configure commands for the robot to perform certain patterns and actions.
This manual describes the Workcell Item Setting options in the Workcell Manager for the end effector, machineand peripherals.

Item

Description

End Effector

End effectors can be added to the robot, and the added end effector is displayed.

MachineMachines compatible with the robot can be added, and the added machine is displayed.

Peripherals

Peripherals connected to the robot can be added, and the added peripheral is displayed.

2.1.1 Workcell Item Common Setting Options
Common setting options for Workcell Items are as follows:
Item

Description

Output Signal

It selects the output signal type.

Input Signal

It selects the input signal type.

2.2 End Effector
2.2.1 Gripper
There are double-action and single-action grippers. If the gripper is equipped with a sensor that checks input
signals, input signal check is available. The standard gripper WCI can only be operated using the flange IO.

Double-Action Gripper (Gripper DA)
This is a gripper that operates with two digital IO signals.

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Item

Description

out_Grasp

This sets the output signal for grasping the target. A motion is executed when thegrasp output signal is on and the release output signal is off.

out_Release

This sets the output signal for releasing the target. A motion is executed when therelease output signal is on and the grasp output signal is off.

Grasp_in

This configures an input signal that checks whether the grasping of the target iscomplete. This item is optional.

Release_inThis configures an input signal that checks whether the releasing of the target iscomplete. This item is optional.

This is a test function for the double-action gripper WCI.
Test Function

Description

Grasp[Mandatory Action] It performs a grasp motion with the out_Grasp signal on and theout_Release signal off.

Release[Mandatory Action] It performs a release motion with the out_Release signal on andthe out_Grasp signal off.

Single-Action Gripper (Gripper SA)
This is a gripper that operates with one digital IO signal.
Item

Description

out_Grasp

This sets the output signal for grasping the target. A grasp motion is executed when thesignal is on and a release motion is executed when the signal is off.

Grasp_in

This configures an input signal that checks whether the grasping of the target iscomplete. This item is optional.

This is a test function for the single-action gripper WCI.
Test Function

Description

Grasp[Mandatory Action] It performs a grasp motion with the out_Grasp signal on.

Release[Mandatory Action] It performs a release motion with the out_Grasp signal off.

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2.2.2 Tool
This is a tool that operates with a single-action digital IO signal. If the tool is equipped with a sensor that checks
input signals, input signal check is available. The standard tool WCI can only be operated using the flange IO.
Item

Description

out_RunThis configures the signal that turns the tool on and off. The tool operates when a signal
is received, and it does not operate when a signal is not received.

On_Off_in

This configures the input signal that checks whether the tool is being operated. This item
is optional.

These are test functions of tool WCI.
Test Function

Description

Run[Mandatory Action] It operates the tool with out_Run signal on.

Stop[Mandatory Action] It stops the tool with out_Run signal off.

2.2.3 Screwdriver (Screwdriver: Tool Category)This is a tool that tightens bolts. If the tool supports reverse mode, it is possible to perform bolt removal tasks. If
the tool supports a vacuum function, it can receive bolts supplied from an external feeder. If the tool has anauto-tightening torque check function, the successful tightening status is delivered via electrical signals. The
standard screwdriver WCI can only be operated using the controller IO.
Item

Description

out_RunThis configures the signal that operates the screwdriver tool. The tool operates
when a signal is received, and it does not operate when a signal is not received.

out_Reverse_Mode

This configures the reverse mode signal of tools that support reverse mode withexternal signals.

out_Vacuum_On

This configures the vacuum on signal to pick up a screw when a screw is supplied
from an external feeder if a separate vacuum tool is installed.

out_Vacuum_Off

This configures the vacuum off signal to pick up a screw when a screw is supplied
from an external feeder if a separate vacuum tool is installed.

Torque_OK_in

This configures the input signal of the tightening torque OK status if the tool has
an auto tightening torque check function.

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This is a test function for the screwdriver WCI.
Test Function

Description

Run[Mandatory Action] It operates the tool with out_Run signal on.

Stop[Mandatory Action] It stops the tool with out_Run signal off.

Reverse_Mode_On

It enables reverse mode with the out_Reverse_Mode signal on.

Reverse_Mode_Off

It disables reverse mode with the out_Reverse_Mode signal off.

Vacuum_On

It operates the vaccum with the out_Vacuum_On signal on and theout_Vacuum_Off signal off.

Vacuum_Off

It stops the vaccum with the out_Vacuum_On signal off and the out_Vacuum_Off
signal on.

Check_TorqueOK_Input

It waits for an input signal related to reaching the target torque (end task).
(Timeout = 10 seconds)

2.3 Machine
2.3.1 Press MachineThis is a press machine, which is generally a device that compresses a flat material to form desired shapes. If themachine is equipped with a sensor that checks input signals, input signal check is available. The standard
machine WCI can only be operated with the controller IO.
Item

Description

out_Machine_Start

This configures the output signal for starting the press machine.

Machine_Ready_inThis configures the input signal for authorizing press machine operation.

This is a test function for the press machine WCI.
Test Function

Description

Machine_Start

It operates the machine with the out_Machine_Start signal on.

Reset_IO

It is a function that turns off an output signal that is turned on.

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Test Function

Description

Check_Machine_Input

It waits for the machine ready input signal. (Timeout = 10 seconds)

2.3.2 Turning Center
This is type of machine tool that turns cylindrical material to allow the material to be cut to the desired form
using a tool turret. If the machine is equipped with a sensor that checks input signals, input signal check isavailable. The standard machine WCI can only be operated with the controller IO.
Item

Description

out_INTLK_On

This sets the output signal for grasping the target.

out_INTLK_Off

This sets the output signal for releasing the target.

out_Machine_Start

This configures the output signal for starting the machine tool.

out_Door_Open

This configures the output signal for opening the door of the machine tool.

out_Door_Close

This configures the output signal for closing the door of the machine tool.

out_Machine_ResetThis configures the output signal for resetting the machine tool.

out_Robot_Online

This configures the output signal for the robot connection initialization signal
sent to the machine tool.

out_Workpiece_Clean

This configures the output signal for operating the air blow device installed on
the machine tool to clean the workpiece.

out_TS_Forward

This configures the output signal for moving the machine tool’s tailstock forward.

out_TS_Backward

This configures the output signal for moving the machine tool’s tailstock
backward.

out_SR_Unclamp

This configures the output signal for opening the steady rest.

out_SR_Clamp

This configures the output signal for closing the steady rest.

Machine_Ready_inThis configures the input signal for authorizing the machine tool operation.

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Item

Description

Chuck_Open_in

This configures the input signal for checking whether the chuck is properly
closed.

Chuck_Close_inThis configures the input signal for checking whether the chuck is properly
opened.

Door_Open_in

This configures the input signal for checking whether the door is properly closed.

Door_Close_inThis configures the input signal for checking whether the door is properly
opened.

Workpiece_Clean_inThis configures the input signal for checking whether the air blow device installedon the machine tool has completed its operation.

TS_Forward_inThis configures the input signal for checking whether the tailstock forward
movement is complete.

TS_Backward_inThis configures the input signal for checking whether the tailstock backward
movement is complete.

SR_Unclamp_in

This configures the input signal for checking whether the steady rest is opened.

SR_Clamp_in

This configures the input signal for checking whether the steady rest is closed.

This is a test function for turning the center WCI.
Test Function

Description

INTLK_On[Mandatory Action] It performs a chuck close motion with the out_INTLK_On
signal on and the out_INTLK_Off signal off.

INTLK_Off[Mandatory Action] It performs a chuck open motion with the out_INTLK_On
signal off and the out_INTLK_Off signal on.

Machine_Start

It operates the machine with the out_Machine_Start signal on.

Door_OpenIt performs a door open motion with the out_Door_Open signal on.

Door_Close

It performs a door close motion with the out_Door_Close signal on.

Machine_Reset

It resets the machine with the out_Machine_Reset signal on.

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Test Function

Description

Robot_Online

It performs a robot online motion with the out_Robot_Online signal on.

Workpiece_Clean

It performs a workpiece clean motion with the out_Workpiece_Clean signal on.

Tailstock_Forward

It performs a tailstock forward motion with the out_TS_Forward signal on.

Tailstock_Backward

It performs a tailstock backward motion with the out_TS_Backward signal on.

Steady_Rest_Unclamp

It performs a steady rest unclamp motion with the out_SR_Unclamp signal on.

Steady_Rest_Clamp

It performs a steady rest clamp motion with the out_SR_Clamp signal on.

Reset_IO

It is a function that turns off an output signal that is turned on.

Check_Machine_Input

It waits for the machine ready input signal. (Timeout = 10 seconds)

2.3.3 Molding Machine
The molding machine is a device that molds shapes by injecting materials such as plastic into a mold. If themachine is equipped with a sensor that checks input signals, input signal check is available. The standard
machine WCI can only be operated with the controller IO.
Item

Description

out_Machine_Start

This configures the output signal for starting the injection molding machine.

Machine_Ready_inThis configures the input signal for authorizing injection molding machine
operation.

This is a test function for the molding machine WCI.
Test Function

Description

Machine_Start

It operates the machine with the out_Machine_Start signal on.

Reset_IO

It is a function that turns off an output signal that is turned on.

Check_Machine_Input

It waits for the machine ready input signal. (Timeout = 10 seconds)- 12 -

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Workcell Item

2.4 Peripherals
2.4.1 Pallet
This is a type of cradle that allows the target to be placed in a set formation. All targets on a pallet can behandled with minimum (4-point) instructions. Workpieces can be approached sequentially by entering the row,column, stack and thickness.

No.

Item

Description

1

Pallet Row/Column/Stack/Thickness

This is for entering the number of the row/column/stack andthe stack height.
Row: default 3 / range 1-200
Column: default 4 / range 1-200
Stack: default 1 / range 1-9999
Thickness: default 0 / range 0-10000 [mm]2

Select/Operate Gripper

This is used to select and operate the gripper to be used on
the pallet.

3

Save Pose

This selects a reference coordinate and saves a reference
point.
The pattern starts in the direction of Point 1->Point 2.
(If necessary, Point 1/2 can be swapped)
Point 3 and Point 4 do not affect the order.

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No.

Item

Description

4

Pallet PatternThis selects the robot’s movement pattern.
Snake, zigzag, rhombus snake, rhombus zigzag

5

Approach/Retract DistanceThis is for entering the approach/retract distance in x, y andz values from the tool.
In general, to retract 100 mm in the z-direction, “0, 0, -100”
must be entered.

6

Release Offset

This enters the offset values to apply to the points createdbased on the 4 poses (positions).
This value can be used to prevent friction between theworkpiece and pallet wall during release pallet teaching.

7

Pallet Point Test

Generate can be used to check the created pallet point.
Reset can be used to reset modified values.
Enter/select the count or select the point to check using < or>. The order of points is created based on the selected
pattern information.
Use the Approach Pose button to move to the approachpose.
Use the Retract Pose button to move to the retract pose.
Use the Move To button to move to the calculated pallet
point.
Use the Get Pose button to load the current position.
Use the Save button to save the position loaded using the
get pose (including the cockpit) or manually enteredposition information in the current count.

2.4.2 Bolt Feeder
This is a device that supplies bolts. It supports pick-up and shooting types. In the case of a shooting bolt feeder,
the bolt shooting signal can be configured. If the bolt feeder is equipped with a sensor that checks input signals,
input signal check is available.
Item

Description

out_Bolt_ShootingThis configures the bolt shooting signal.

Bolt_Ready_inThis selects the input signal for checking whether a bolt is prepared in the bolt feeder.

This is a test function for the bolt feeder WCI.

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Test Function

Description

Bolt_Shooting

It performs a bolt shooting motion with the out_Bolt_Shooting signal on.

Reset_IO

It is a function that turns off an output signal that is turned on.

Check_Feeder_Input

It waits for the bolt ready input signal. (Timeout = 10 seconds)

2.5 Additional Workcell Items
Additional Workcell Items provided by Doosan Robots will no longer be updated. Instead, companies and users
can create various Workcell Items using the App Builder. The created Workcell Items are registered in the
Doosan Robotics Developer LAB and can be easily downloaded and installed (Workcell Items created using the
App Builder can be installed and used on Software version V2.7.3 or higher). For more information, refer to the
Doosan Robotics Developer LAB.
• [Developer LAB] https://devlab.doosanrobotics.com1

2.5.1 Common Setting Options
Additional common setting options for Workcell Items are as follows:
Item

Description

Output Signal

It selects the output signal type.

Input Signal

It selects the input signal type.

Flange Serial Setting
When the communication component of the Workcell Item in the App Builder is created with a flange serial, thecorresponding Workcell Item Setting screen appears as follows:

1 https://devlab.doosanrobotics.com/- 15 -

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Workcell Item

No.

Item

Description

1

Port TypeA different type cannot be set for the flange serial.

2

Communication Speed

Sets the communication speed.

3

Byte Size

Sets the byte size.

4

Parity Bit

Sets the parity bit.

5

Stop Bit

Sets the stop bit.

6

Signal Name

Sets the name of the signal to exchange.

7

Output Value

Sets the flange serial output value.
Only a hexadecimal value can be entered.

8

Signal Transmission

Transmits the entered output value to the connected equipment.

9

Input Value

Displays the input value from the equipment.

10

Add Signal

Adds a signal to output.

11

Delete Signal

Deletes an I/O signal.

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Workcell Item

2.5.2 Additional Workcell Item List
Note
• Additional Workcell Items provided by Doosan Robots will no longer be updated. Instead,companies and users can create various Workcell Items using the App Builder.
• The created Workcell Items are registered in the Doosan Robotics Developer LAB and can beeasily downloaded and installed.
• Workcell Items created using the App Builder can be installed and used on Software version
V2.7.3 or higher.
• For more information, refer to the Doosan Robotics Developer LAB.
• [Developer LAB] https://devlab.doosanrobotics.com

Schmalz - FXCB
Item

Description

Type

This selects the gripper type. Normally Open / Normally Close (must check the current gripper
option)SuctionOn/OffThis sets the output signal for turning the vacuum on/off.
- Normally Open: Pressing the Off button creates a vacuum.
- Normally Close: Pressing the On button creates a vacuum. This selects the input signal type.

Vent On/
OffThis sets the output signal for turning on/off the air. This item is optional. This configures aninput signal that checks whether grasping of the target has been performed. This item is
optional. This sets the output signal for turning on/off the air. This item is optional.

Gripper
Close
SensorThis configures an input signal that checks whether the grasping of the target has been
performed. This item is optional.

This Workcell item is a vacuum gripper operated with digital I/Os. The following list contains skills andcommands that can be used in conjunction .
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet- 17 -

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Workcell Item

Schmalz – ECBPi (CobotPump)
Item

Description

Grasp

It configures the output signal for grasping the target.

ReleaseIt configures the output signal for releasing the target.

Gripper Close
SensorIt configures an input signal that checks whether the grasping of the target is performed.
This item is optional.

Gripper Open
SensorIt configures an input signal that checks whether the releasing of the target is performed.
This item is optional.

This Workcell item is a vacuum gripper operated with digital I/Os. The following list contains skills andcommands that can be used in conjunction .
• Grasp• Release• Pick• Place• Destacking• Stacking• Pick Pallet / Line / Pallet(Rhombus)• Place Pallet / Line / Pallet(Rhombus)• Destacking Pallet / Line / Pallet(Rhombus)• Stacking Pallet / Line / Pallet(Rhombus)

Schunk - PGN
Item

Description

Grasp

It configures the output signal for grasping the target.

ReleaseIt configures the output signal for releasing the target.

Gripper Close Sensor

It configures an input signal that checks whether the grasping of
the target is performed. This item is optional.

Gripper Open Sensor

It configures an input signal that checks whether the releasing of
the target is performed. This item is optional.

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Workcell Item

This Workcell item is a pneumatic gripper operated with digital I/Os. The gripper closed/open sensor can beused after connecting a separate sensor. The following list contains skills and commands that can be used inconjunction.
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet• Insert• Destacking• Stacking• Pick Pallet / Line / Pallet(Rhombus)• Place Pallet / Line / Pallet(Rhombus)• Destacking Pallet / Line / Pallet(Rhombus)• Stacking Pallet / Line / Pallet(Rhombus)

Schunk - Co-act EGP-C
Item

Description

Grasp

It configures the output signal for grasping the target.

ReleaseIt configures the output signal for releasing the target.

Gripper Close Sensor

It configures an input signal that checks whether the grasping of
the target is performed. This item is optional.

Gripper Open Sensor

It configures an input signal that checks whether the releasing of
the target is performed. This item is optional.

This Workcell item is an electric gripper operated with digital I/Os. The following list contains skills andcommands that can be used in conjunction .
• Grasp• Release• Pick• Place• Insert• Destacking• Stacking• Pick Pallet / Line / Pallet(Rhombus)• Place Pallet / Line / Pallet(Rhombus)• Destacking Pallet / Line / Pallet(Rhombus)- 19 -

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Workcell Item

• Stacking Pallet / Line / Pallet(Rhombus)

Zimmer - GEP2000
Item

Description

Grasp

It configures the output signal for grasping the target.

ReleaseIt configures the output signal for releasing the target.

This Workcell item is an electric gripper operated with digital I/Os. The following list contains skills andcommands that can be used in conjunction .
• Grasp• Release• Pick• Place• Insert• Destacking• Stacking• Pick Pallet / Line / Pallet(Rhombus)• Place Pallet / Line / Pallet(Rhombus)• Destacking Pallet / Line / Pallet(Rhombus)• Stacking Pallet / Line / Pallet(Rhombus)

Zimmer - HCR03
Item

Description

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by theuser for the Modbus slave equipment are displayed. To add new items, go to Setting >Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test
gripper motion are activated.

Initialize

This performs gripper reset.

Teaching Pose

The gripper position when the corresponding workpiece is grasped. It can be configured
from a minimum of 0.00 mm to a maximum of 20.00 mm.

Tolerance

This is the teaching pose tolerance deviation. It can be configured from a minimum of
0.00 mm to a maximum of 2.55 mm.

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Item

Description

ForceThis is the force the gripper applies to grasp an item. It can be configured from Lv1 up to
Lv4.

Device Mode

This is the pose when the gripper grasps an item. Select one from inward, outward anduniversal.

Actual Position

It is the area displaying the current position measured through the gripper’s grasp/
release motion tests.

Add New
Workpiece

A new workpiece can be added. Up to 32 workpieces can be added.

Gripper Status

This is the input signal for the gripper’s status code. The following are the meanings ofeach status code.
0x06: Gripper PLC Active, 0x08: Base Position, 0x09: Teach Position, 0x0a: Work Position,
0x0b: Undefined Position, 0x0c: Data transfer ok, 0x0d: ControlWord 0x100, 0x0e:
ControlWord 0x200, 0x0f: Error

Diagnosis

This is the input signal for the gripper’s diagnosis code.

This Workcell item is an electric gripper operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction .
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet• Insert

Robotiq - 2F-85
Item

Description

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by theuser for the Modbus slave equipment are displayed. To add new items, go to Setting >Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test
gripper motion are activated.

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Workcell Item

Item

Description

Auto Release
OptionIt selects the gripper’s release option during a robot undergoing emergency stop. The
definition of each option is as follows:
Auto Release Close: Gripper closes to maximum upon robot emergency stop
Auto Release Open: Gripper opens to maximum upon robot emergency stop.

Initialize

It sends an initialization signal to the gripper to perform gripper initialization.

Grasp

The gripper position when the corresponding workpiece is grasped.

ReleaseThe gripper position when the corresponding workpiece is released.

Velocity

Gripper movement speed.

Force

The gripper’s force.

Current Position

It is the area displaying the current position measured through the gripper’s grasp/
release motion tests.

Add New Motion

A new motion can be added. Up to eight motions can be added.

Grasp Status
Sensing

This is the input signal for the gripper’s status.

Fault Status
Sensing

This is the input signal for the gripper’s error status.

Requested Position
Sensing

This is the input signal for the position value sent to the gripper.

Current Position
Sensing

This is the input signal for the current position of the gripper.

Current Sensing

This is the input signal for the current current value of the gripper.

This Workcell item is an electric gripper operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction .
• Grasp• Release• Pick• Place• Pick Pallet- 22 -

Reference manual(V2.10)

Workcell Item

• Place Pallet• Insert

Robotiq - 2F-140
Item

Description

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by theuser for the Modbus slave equipment are displayed. To add new items, go to Setting >Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test
gripper motion are activated.

Auto Release
OptionIt selects the gripper’s release option during a robot undergoing emergency stop. The
definition of each option is as follows:
Auto Release Close: Gripper closes to maximum upon robot emergency stop
Auto Release Open: Gripper opens to maximum upon robot emergency stop.

Initialize

It sends an initialization signal to the gripper to perform gripper initialization.

Grasp

The gripper position when the corresponding workpiece is grasped.

ReleaseThe gripper position when the corresponding workpiece is released.

Velocity

Gripper movement speed.

Force

The gripper’s force.

Current Position

It is the area displaying the current position measured through the gripper’s grasp/
release motion tests.

Add New Motion

A new motion can be added. Up to eight motions can be added.

Grasp Status
Sensing

This is the input signal for the gripper’s status.

Fault Status
Sensing

This is the input signal for the gripper’s error status.

Requested
Position Sensing

This is the input signal for the position value sent to the gripper.

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Reference manual(V2.10)

Workcell Item

Item

Description

Current Position
Sensing

This is the input signal for the current position of the gripper.

Current Sensing

This is the input signal for the current current value of the gripper.

This Workcell item is an electric gripper operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction. Refer to each skill’s manual for the operation of the skill.
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet• Insert

Robotiq - Hand-E
Item

Description

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by theuser for the Modbus slave equipment are displayed. To add new items, go to Setting >Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test
gripper motion are activated.

Auto Release
OptionIt selects the gripper’s release option during a robot undergoing emergency stop. The
definition of each option is as follows:
Auto Release Close: Gripper closes to maximum upon robot emergency stop
Auto Release Open: Gripper opens to maximum upon robot emergency stop.

Initialize

It sends an initialization signal to the gripper to perform gripper initialization.

Grasp

The gripper position when the corresponding workpiece is grasped.

ReleaseThe gripper position when the corresponding workpiece is released.

Velocity

Gripper movement speed.

Force

The gripper’s force.

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Reference manual(V2.10)

Workcell Item

Item

Description

Current Position

It is the area displaying the current position measured through the gripper’s grasp/
release motion tests.

Add New Motion

A new motion can be added. Up to eight motions can be added.

Grasp Status
Sensing

This is the input signal for the gripper’s status.

Fault Status
Sensing

This is the input signal for the gripper’s error status.

Requested
Position Sensing

This is the input signal for the position value sent to the gripper.

Current Position
Sensing

This is the input signal for the current position of the gripper.

Current Sensing

This is the input signal for the current current value of the gripper.

This Workcell item is an electric gripper operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction .
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet• Insert

Robotiq - 3-Finger
Item

Description

ModbusAddress

It selects the predefined Modbus address. The IP address and name configured by the user
for the Modbus slave equipment are displayed. To add new items, go to Setting > Network> Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test gripper
motion are activated.

Initialize

It sends an initialization signal to the gripper to perform gripper initialization.

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Reference manual(V2.10)

Workcell Item

Item

Description

Grasp

The gripper position when the corresponding workpiece is grasped.

ReleaseThe gripper position when the corresponding workpiece is released.

Mode

Selects the gripper’s operation mode. Select one from Basic Mode, Pinch Mode, Wide
Mode and Scissor Mode.

Velocity

Gripper movement speed.

Force

The gripper’s force.

Current
Position

It is the area displaying the current position measured through the gripper’s grasp/releasemotion tests.

Add New
MotionA new motion can be added. Up to eight motions can be added.

Finger A
Position

This is the input signal for the position of gripper finger A.

Finger B
Position

This is the input signal for the position of gripper finger B.

Finger C
Position

This is the input signal for the position of gripper finger C.

Scissor Position

This is the input signal for the position of the gripper scissor.

Finger A
Current

This is the signal for the present current value of gripper finger A.

Finger B
Current

This is the signal for the present current value of gripper finger B.

Finger C
Current

This is the signal for the present current value of gripper finger C.

Scissor Current

This is the input signal for the current current value of the gripper scissor.

Gripper Status

This is the input signal for the gripper’s status.

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Workcell Item

Item

Description

Item Status

This is the input signal for the item detected by the gripper.

Defect Status

This is the input signal code for the gripper defect status.

This Workcell item is an electric gripper operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction.
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet• Insert

Doosan - Lynx Series
Item

Description

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by theuser for the Modbus slave equipment are displayed. To add new items, go to Setting >Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test
gripper motion are activated.

MotionIt sends the signal of the corresponding output.

Robot Online

It sends the Robot Online status to MC. The interface signal operates normally only if
this signal is on.

Robot in theinside of machine

It goes on when the Robot Arm enters the equipment interior.

Open M/C Door

Front or Top Door opens automatically.

Close M/C Door

Front or Top Door closes automatically.

Start program

When the corresponding signal is On, the MC starts the NC-program.

Open chuck#1 (LH
Spindle)When the corresponding signal is On, the MC unclamps the Chuck.

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Workcell Item

Item

Description

Close chuck#1 (LH
Spindle)When the corresponding signal is On, the MC clamps the Chuck.

Clean LH spindle

When the corresponding signal is On, the MC air blows the Spindle.

LH Chuck loaded

When the corresponding signal is On, the MC finishes the load signal and executes thenext block.

LH Chuck
unloaded

When the corresponding signal is On, the MC finishes the Service M-code request signal
and executes the next block.

Tailstock forward

When the corresponding signal is On, the MC finishes the Service M-code request signal
and executes the next block.

Tailstockbackward

When the corresponding signal is On, the MC finishes the Service M-code request signal
and executes the next block.

Machine Online

When Serve & MC Ready is set in MEM Mode, it outputs this signal through the Robot.

Permission toRobot

It is the signal allowing Robot arm approach, and the signal is outputted under thefollowing conditions:- MC Home position- Spindle stop
- Robot uses
- MEM Mode
- No Machine lock
- Door open

Cycle onThis signal is outputted when the NC-program is in auto operation.

M/C Door opened

This signal is outputted when the Robot Approach Door is opened.

M/C Door closed

This signal is outputted when the Robot Approach Door is closed.

Program end

When processing is complete, M02 or M30 is executed and then this signal is outputted.
This signal is maintained until NC is reset, auto mode changes to manual mode, or auto
operation begins.

Open chuck#1 (LH
Spindle)It is the Main Chuck unclamp check signal.

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Workcell Item

Item

Description

Close chuck#1 (LH
Spindle)It is the Main Chuck clamp check signal.

Clean LH spindle

It is the Spindle air blow completion signal.

Load LH Chuck

It is the Robot arm approach request signal for new workpiece approach. The signal
must be outputted under the following conditions:- MC Home position- Spindle stop
- Robot uses
- MEM Mode
- No Machine lock
- Door open
- No Robot alarm

Unload LH Chuck

It is the Robot arm approach request signal for new workpiece discharge. The signal
must be outputted under the following conditions:- MC Home position- Spindle stop
- Robot uses
- MEM Mode
- No Machine lock
- Door open
- No Robot alarm

Tailstock forward

It is the Tailstock forward/backward completion signal.

Tailstockbackward

It is the Tailstock forward/backward completion signal.

This Workcell item is a turning center operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction.
• Open TC Door
• Close TC Door
• Open TC Chuck• Close TC Chuck• Start TC• Check TC Ready• Robot Online- 29 -

Reference manual(V2.10)

Workcell Item

• Workpiece Clean• Tailstock Forward• Tailstock Backward• Pick TC Chuck• Place TC Chuck

Doosan - Puma Series
Item

Description

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by theuser for the Modbus slave equipment are displayed. To add new items, go to Setting >Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test
gripper motion are activated.

MotionIt sends the signal of the corresponding output.

Robot Online

It sends the Robot Online status to MC. The interface signal operates normally only if thissignal is on.

Robot in theinside of machine

It goes on when the Robot Arm enters the equipment interior.

Open M/C Door

Front or Top Door opens automatically.

Close M/C Door

Front or Top Door closes automatically.

Start program

When the corresponding signal is On, the MC starts the NC-program.

Open chuck#1(LH Spindle)

When the corresponding signal is On, the MC unclamps the Chuck.

Close chuck#1(LH Spindle)

When the corresponding signal is On, the MC clamps the Chuck.

Clean LH spindle

When the corresponding signal is On, the MC air blows the Spindle.

LH Chuck loaded

When the corresponding signal is On, the MC finishes the load signal and executes thenext block.

LH Chuck
unloaded

When the corresponding signal is On, the MC finishes the Service M-code request signal
and executes the next block.

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Reference manual(V2.10)

Workcell Item

Item

Description

TailstockforwardWhen the corresponding signal is On, the MC finishes the Service M-code request signal
and executes the next block.

Tailstockbackward

When the corresponding signal is On, the MC finishes the Service M-code request signal
and executes the next block.

Machine Online

When Serve & MC Ready is set in MEM Mode, it outputs this signal through the Robot.

Prermission toRobot

It is the signal allowing Robot arm approach, and the signal is outputted under thefollowing conditions:- MC Home position- Spindle stop
- Robot uses
- MEM Mode
- No Machine lock
- Door open

Cycle onThis signal is outputted when the NC-program is in auto operation.

M/C Door opened

This signal is outputted when the Robot Approach Door is opened.

M/C Door closed

This signal is outputted when the Robot Approach Door is closed.

Program end

When processing is complete, M02 or M30 is executed and then this signal is outputted.
This signal is maintained until NC is reset, auto mode changes to manual mode, or auto
operation begins.

Open chuck#1(LH Spindle)

It is the Main Chuck unclamp check signal.

Close chuck#1(LH Spindle)

It is the Main Chuck clamp check signal.

Clean LH spindle

It is the Spindle air blow completion signal.

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Reference manual(V2.10)

Workcell Item

Item

Description

Load LH Chuck

It is the Robot arm approach request signal for new workpiece approach. The signal
must be outputted under the following conditions:- MC Home position- Spindle stop
- Robot uses
- MEM Mode
- No Machine lock
- Door open
- No Robot alarm

Unload LH Chuck

It is the Robot arm approach request signal for new workpiece discharge. The signal
must be outputted under the following conditions:- MC Home position- Spindle stop
- Robot uses
- MEM Mode
- No Machine lock
- Door open
- No Robot alarm

Tailstockforward

It is the Tailstock forward/backward completion signal.

Tailstockbackward

It is the Tailstock forward/backward completion signal.

This Workcell item is a turning center operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction with this Workcell item.
• Open TC Door
• Close TC Door
• Open TC Chuck• Close TC Chuck• Start TC• Check TC Ready• Robot Online• Workpiece Clean• Tailstock Forward• Tailstock Backward• Pick TC Chuck• Place TC Chuck- 32 -

Reference manual(V2.10)

Workcell Item

OnRobot RG2
Item

Description

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by theuser for the Modbus slave equipment are displayed. To add new items, go to Setting >Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test
gripper motion are activated.

GraspEnter the gripper position value when the corresponding workpiece is grasped.

ReleaseEnter the gripper position value when the corresponding workpiece is released.

Force

Enter the force value to apply during operation.

Add New Motion

A new motion can be added. Up to eight motions can be added.

Actual depth

It is the current gripper depth that will be used to compensate for the gripper’s depth.
The depth is based on the completely closed position set in 1/10 mm increments. The
value is displayed in 2's complements.

Actual relative
depth

It is the current gripper depth that will be used to compensate for the gripper’s depth.
The depth is based on the recent motion start position set in 1/10 mm increments. The
value is displayed in 2's complements.

Actual width

The current width between gripper fingers is displayed in 1/10 mm increments.

StatusIt displays the current state and motion of the gripper.

This Workcell item is an electric gripper operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction.
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet• Insert- 33 -

Reference manual(V2.10)

Workcell Item

OnRobot RG6
Item

Description

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by theuser for the Modbus slave equipment are displayed. To add new items, go to Setting >Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test
gripper motion are activated.

Grasp

The gripper position when the corresponding workpiece is grasped.

ReleaseThe gripper position when the corresponding workpiece is released.

Force

The gripper’s force.

Add New Motion

A new motion can be added. Up to eight motions can be added.

Actual depth

It is the current gripper depth that will be used to compensate for the gripper’s depth. The
depth is based on the completely closed position set in 1/10 mm increments. The value isdisplayed in 2's complements.

Actual relative
depth

It is the current gripper depth that will be used to compensate for the gripper’s depth. The
depth is based on the recent motion start position set in 1/10 mm increments. The value
is displayed in 2's complements.

Actual width

The current width between gripper fingers is displayed in 1/10 mm increments.

StatusIt displays the current state and motion of the gripper.

This Workcell item is an electric gripper operated with Modbus TCP. The following list contains skills andcommands that can be used in conjunction with this Workcell Item.
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet• Insert- 34 -

Reference manual(V2.10)

Workcell Item

Zimmer_HCR-03-DIO
Item

Description

Grasp

It configures the output signal for grasping the target.

ReleaseIt configures the output signal for releasing the target.

Gripper Close Sensor

It configures an input signal that checks whether the grasping of the target iscomplete. This item is optional.

Gripper Open Sensor

It configures an input signal that checks whether the releasing of the target iscomplete. This item is optional.

This Workcell item is an electric gripper operated with Digital IO. The following list contains skills andcommands that can be used in conjunction with this Workcell Item.
• Grasp• Release• Pick• Place• Pick Pallet• Place Pallet• Insert• Destacking• Stacking• Pick Pallet / Line / Pallet(Rhombus)• Place Pallet / Line / Pallet(Rhombus)• Destacking Pallet / Line / Pallet(Rhombus)• Stacking Pallet / Line / Pallet(Rhombus)

Dynabrade Robotic Sanders
Item

Description

PolishIt configures the signal that operates the Polishing tool. The tool operates when a signal isreceived, and it does not operate when a signal is not received.

This Workcell item is a Polishing tool operated with Digital IO. The following list contains skills and commands
that can be used in conjunction with this Workcell Item.
• Start Polish• End Polish• Run Polish• Stop Polish- 35 -

Reference manual(V2.10)

Workcell Item

• Polish(Hole)• Polish (Hole) Line
• Polish (Hole) Pallet• Polish (Hole) Pallet (Rhombus)- 36 -

Reference manual(V2.10)

Task Programming Commands and Templates

3 Task Programming Commands and Templates
3.1 Skill Command
3.1.1 Skill Command Summary
This is a function programmed through the robot and peripherals, and to use skills, it is necessary to configure
the work and related Workcell Items. Necessary Workcell Items are indicated in each skill description.
The user input range of each skill varies according to the robot. Refer to the User Manual. The input range of the
Skill Command List is based on the largest value among the M (1013, 1509, 0609, 0617), A (0509(S), 0912(S)) andH (2515, 2017) models.

Note
If an alarm popup message appears continuously while using the Skill command, continuing by pressing
the OK button may cause the skill to operate abnormally. Press the “Task Stop” button to stop the
program.
Version : A Series
If FTS is not installed when using the A-Series, the following functions and skills cannot be used:• The Stiffness Setting function for compliance control and the Contact Detection function• Insert• Push• TouchRefer to the Note of each skill to check whether the skill can be used.

3.1.2 Understanding Basic Principles of Skill Commands
Skill commands are based on a few operation patterns.
For a robot to begin operation, the weight and tool center point (TCP) of the tool equipped on the robot must be
configured, and the basic operation pattern of a skill command is to have an approach pose and retract posethat are perpendicular to the reference pose.

TCP Setting
Using an End Effector skill command will automatically change the TCP offset setting. The End Effector skill
command execution stage includes an offset setting suited for the TCP of the End Effector. If the TCP offset
changes, the Blending Motion function, which smoothly connects the previous motion command, cannot be
used.

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Reference manual(V2.10)

Task Programming Commands and TemplatesMove to Approach Pose
This is a point available to move to the Approach Pose. It is set in the Z direction from the approach pose, but adifferent direction can also be selected. The Approach Distance entered is automatically calculated for the
Action Pose and moves to the corresponding point.

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Reference manual(V2.10)

Task Programming Commands and TemplatesMove to Reference Pose
This is the point on the workpiece where the End Effector performs work. To set detailed coordinates other thanthe velocity and acceleration for the reference pose, press the button on the right side of thereferencepose. However, using the relative coordinate tab during detailed motion setting can cause a malfunction during
skill execution, so make sure to use the absolute coordinates for reference pose teaching.

Move to Retract Pose
This is the point to pick up the workpiece and move it safely to another point. It is the –Z direction from theapproach pose, but a different direction can also be selected. The Retract Distance entered is automaticallycalculated for the Action Pose and moves to the corresponding point.

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Reference manual(V2.10)

Task Programming Commands and TemplatesMove to Start Pose
If the End Effector execution target does not end with a single motion, there may be an intermediate point andan end point, and the Action Start Pose is the point where the work starts. (i.e. Door_OpenClose Skill – Start
Pose)- 40 -

Reference manual(V2.10)

Task Programming Commands and TemplatesMove to End Pose
If the End Effector execution target does not end with a single motion, there may be an intermediate point andan end point, and the Action End Pose is the point where the work ends. (i.e. Door_OpenClose Skill – End Pose)- 41 -

Reference manual(V2.10)

Task Programming Commands and Templates

Note
When teaching the reference pose, be cautious of default skill malfunctions if detailed options are
modified.
• The relative position option of the tool coordinates or other coordinates must not be used.
• Also, maintain the default values as blending radius-related options are not supported.
• The velocity/acceleration values are not applied if the time is set in task setting.

3.1.3 Compliance Control and Contact Check
With the Compliance Control and Contact Sensing functions, which are unique force control technologies ofDoosan Robotics, it is possible to easily perform teaching without repeated operation for accurate point
designation since it allows position deviation within a tolerance range between the workpiece and surrounding
items during robot operation.

Compliance Control
If force is applied during Approach, Action à and Retract, à it allows deviation from the set position with somelevel of buffering, like a spring.

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Task Programming Commands and Templates

Contact Check
The function detects contact with the target, stops at a corresponding position and activates the gripper to grab
the target based on the Contact Force, Contact Determination Range and Authorized Force values entered.
• This function must be used with the Compliance Control Function. If a Force value is entered andCompliance Control is not enabled, an error occurs.
• Contact is a function that detects contact with an external force, so the sensitivity of Collision Detection
must be set at low levels or Collision Detection must be disabled.
• Pick skills (INTLK_Pick) to set offset (Offset Margin for Contact) values to prevent friction with theground or object.
• Be careful when using this function, as excessive force can be generated when contacting the external
environment if the Compliance Control option stiffness (e.g., z-direction) value is too large or the work
speed is too high. (It is necessary to make adjustments according to the situation by lowering the stiffness
value if the work speed is too high or by increasing the stiffness if work speed is too low.)Note• When using Compliance Control / Force Control, it is necessary to preset the End-Effector Tool
weight and TCP.

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Task Programming Commands and Templates

Version : A Series• If FTS is not installed when using the A-Series, contact sensing and force control cannot be
used. Also, the use of compliance control is limited. Only the stiffness value of the translation(X, Y, Z) direction can be modified.

3.1.4 Common Skill Screen Layout• The user input section is separated into setting items.
• Each setting item is separated into accordian or accordian toggle UI components.
• In the case of accordian toggle, disabling the toggle button will disable user input during skill execution.
• The acceleration value input by the user is in the unit of m/s2 like the current T/P setting, but internally thevalue is converted into the unit of mm/s2 for calculations.
Item

Description

Basic SettingThis sets the default UI and teaching pose of the skill.

Task SettingThis sets task related information of the skill. Various inputs can be set
according to the skill type.
- Polishing, Deburring Skill: Enabling the One Point Task option allows forpattern selection, but force control cannot be used.

Gripper SettingThis sets gripper-related information.

Tool SettingThis sets too- related information.

Machine SettingThis sets machine-related information.

Feeder SettingThis sets feeder-related information.

Approach Pose
Setting

This sets approach pose-related information. (On/Off)- Default: On- This calculates the direction of the distance between the teaching pose andthe approach pose based on the tool coordinates, and moves to movel.

Retract Pose
Setting

This sets retract pose-related information. (On/Off)- Default: On- This calculates the direction of the distance between the teaching pose andthe retract pose based on the tool coordinates, and moves to movel.

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Task Programming Commands and Templates

Item

Description

ComplianceControl SettingThis sets compliance control-related information.

Contact Sensing
Setting

This sets contact sensing-related information. (On/Off)- The reference coordinates during compliance control operation are thechanged to the tool coordinates.

- Default: Off- The reference coordinates for force control during contact sensing are thetool coordinates, and it can be used with compliance control enabled.

Force Control
Setting

It sets force control-related information. (On/Off)- Default: Off- The reference coordinates for force control are the tool coordinates, and it
can be used with compliance control enabled.
- Insert, Contact Skill: The On/Off function is not provided as force control ismandatory.

Spiral Motion
Setting

This sets spiral search motion information. (On/Off)- Default: On- The reference coordinates for the hole search motion at a random locationand the hole search motion are the tool coordinates.

Periodic Motion
Setting

It sets rotation search motion information. (On/Off)- Default: On- The reference coordinates for move to teaching pose motion with the holestuck condition and hole search motion are the tool coordinates.

Output Setting:Single Type

This sets the single-action output information. (On/Off)- Default: On- The output setting must only set to either single or double.

Output Setting:
Double Type

This sets double-action output information. (On/Off)- Default: Off- The output setting must only set to either single or double.

Input SettingThis sets input information. (On/Off)- Default: Off- 45 -

Reference manual(V2.10)

Task Programming Commands and Templates

3.1.5 Skill Command List
Pick
This skill operates the gripper and picks up the target when the robot moves to a specific point or approaches
and contacts a target.
1. Recommended Default WCI: Gripper (GripperDA, GripperSA)
2. Create Skill: TaskBuilder → Add Gripper (Skill Type: End-Effector & Pattern)
3. Optional Features: Add pattern, approach pose and retract pose settings, Compliance Control and Contact
Sensing functions
4. Confirm Condition:a. Select Gripper and Pattern and press the Set button (Pattern selection can be omitted).
b. Save Teaching Posec. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Default Motion Sequence
Move to Approach Pose → Move to Teaching Pose (if a pattern is added, move to Pattern Calculation Pose) →Gripper Motion (Grasp) → Move to Retract Pose
Definition of Skill Screen
Item

Basic Setting

Description

Default Valueand Input Range

GripperI/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 Position Referenced
during pattern setting.

Task Setting

RepeatCondition

Select Repeat Index

Task Velocity

This is the velocity from the approach pose toteaching pose.

- The repeat condition is used as the pattern index
when a pattern is used.
100 mm/s[0.001 ~ 8000]- During pattern use, Task Velocity is the velocity
until each pattern point.

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Reference manual(V2.10)

Task Programming Commands and Templates

Item

Task
Acceleration

Description

Default Valueand Input Range

This is the acceleration from the approach pose toteaching pose.

0.1 m/s2- During pattern use, Task Acceleration is thevelocity until each pattern point.
Gripper
Setting[0.001 ~ 20]

Set TCP(Option)Select TCP Setting Status

True- When Set TCP is set to True, it configures the TCPof the End-Effector used by the skill.

[True, False]

Gripper Wait
Time

This is the standby time after a release or grasp
motion.

0.5 sTool WeightIf a workpiece is grasped, apply the weight
information.

[0 ~ 10000]- To apply tool weight to a skill, save the tool
weight with a workpiece grasped under the WCM
Tool Weight.

Approach
Pose Setting

Gripper Release(Option)Select Gripper Release Status before Pick Motion

True- Use the Gripper Release option to perform thegripper release motion after moving to theapproach Ppse and before moving to the teachingpose. (Applies on Gripper Wait Time as well.)[True, False]

Approach
Distance

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm(Option)- The approach distance must be entered in a 1 x 3
array (i.e. [x, y, z]).

[Individually-1000 ~ 1000]- During pattern setting, the approach distance set
in the pallet UI is applied.
Velocity forApp. Pose

This is the motion velocity to the approach pose.

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

250 mm/s[0.001 ~ 8000]- 47 -

250 mm/s^2[0.001 ~ 20000]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Description

Default Valueand Input Range

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radiusfor App. Pose

This is the blending radius connecting the
movement between the approach pose and theteaching pose.

0 mm[0 ~ 1000]- If a blending radius of greater than 0 is entered,
all optional items (Set TCP / Gripper Release /Compliance Control / Contact Sensing Setting)must be set as False.
Retract Pose
Setting

Retract
Distance(Option)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]- During pattern setting, the retract distance set in
the pallet UI is applied.

ComplianceControl
Setting

Velocity for Ret.
Pose

This is the motion velocity to the retract pose.

100 mm/s

Acceleration forRet. Pose

This is the motion acceleration to the retract pose.

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radius
for Ret. Pose

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm

Compliance
control (Option)

Select Compliance Control Status

False[0.001 ~ 8000]
100 mm/s^2[0.001 ~ 20000][0 ~ 1000][True, False]- 48 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Stiffness

Description

Default Valueand Input Range

Stiffness Setting

x=y=z= 3000 N/m[0 ~ 20000]
rx=ry=rz= 200
Nm/rad[0 ~ 1000]

Contact
Sensing
Setting(Option)Task Direction

Contact Margin

Desired ForceContact Force

Orientation setting during force control

Z- Orientation is based on Tool Coordinates.

[X, Y, Z]

Margin for contact sensing section setting

2 mm- The contact sensing section is configured byadding the +/- contact sensing margin from theteaching point.

[0 ~ 100]

Target Force Value

12 N- Target force must be greater than the sensevalue, and the absolute value must be greater than
10 N(In the case of A series, there is no limit to thedesired force value).

[-1200 ~ 1200]

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
for Contact

This is the fine retract distance after contact
sensing.

0.5 mm[0 ~ 100]

Place
This skill operates the gripper and releases the target when the robot moves to a specific point or approaches
and contacts the work table.
1. Recommended Default WCI: Gripper (GripperDA, GripperSA)
2. Create Skill: TaskBuilder → Add Gripper (Skill Type: End-Effector & Pattern)
3. Optional Features: Add pattern, approach pose and retract pose settings, Compliance Control and Contact
Sensing functions
4. Confirm Condition:- 49 -

Reference manual(V2.10)

Task Programming Commands and Templatesa. Select Gripper and Pattern and press the Set button (Pattern selection can be omitted).
b. Save Teaching Posec. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Default Motion Sequence
Move to Approach Pose → Move to Teaching Pose (if a pattern is added, move to Pattern Calculation Pose) →Gripper Motion (Release) → Move to Retract Pose
Definition of Skill Screen
Item

Basic Setting

Description

Default Value andInput Range

GripperI/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 released
from a gripper.
- Reference Pose changes to Position Referenced
during pattern setting.

Task Setting

RepeatCondition

Select Repeat Index

Task Velocity

This is the velocity from the approach pose toteaching pose.

- The repeat condition is used as the pattern index
when a pattern is used.
100 mm/s[0.001 ~ 8000]- During pattern use, Task Velocity is the velocity
until each pattern point.
Task
Acceleration

This is the acceleration from the approach pose toteaching pose.
- During pattern use, Task Acceleration is thevelocity until each pattern point.

Gripper
Setting

Set TCP(Option)

0.1 m/s2[0.001 ~ 20]

Select TCP Setting Status

True- When Set TCP is set to True, it configures the
TCP of the End-Effector used by the skill.

[True, False]- 50 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Description

Default Value andInput Range

Gripper Wait
TimeStandby time after release motion.

0.5 sTool WeightIf a workpiece is released, apply the weight
information.

[0 ~ 10000]- To apply tool weight to a skill, save the tool
weight with a workpiece grasped under the WCM
Tool Weight.
Approach
Pose Setting

Approach
Distance(Option)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]- During pattern setting, the approach distance
set in the pallet UI is applied.
Velocity forApp. Pose

This is the motion velocity to the approach pose.

250 mm/s

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending
Radius for App.
Pose

This is the blending radius connecting the
movement between the approach pose and theteaching pose.

0 mm[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000]- If a blending radius of greater than 0 is entered,
all optional items (Set TCP / Compliance Control /Contact Sensing Setting) must be set as False.
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]- During pattern setting, the retract distance set in
the pallet UI is applied.

- 51 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

ComplianceControl
Setting

Description

Default Value andInput Range

Velocity for Ret.
Pose

This is the motion velocity to the retract pose.

100 mm/s

Acceleration forRet. Pose

This is the motion acceleration to the retractpose.

0.1 m/s2

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending
Radius for Ret.
Pose

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm

Compliance
control(Option)Select Compliance Control Status

False

Stiffness

Stiffness Setting[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000][True, False]

x=y=z= 3000 N/m[0 ~ 20000]
rx=ry=rz= 200 Nm/
rad[0 ~ 1000]

Contact
Sensing
Setting(Option)Task Direction

Contact Margin

Desired Force

Orientation setting during force control

Z- Orientation is based on Tool Coordinates.

[X, Y, Z]

Margin for contact sensing section setting

2 mm- The contact sensing section is configured byadding the +/- contact sensing margin from theteaching point.

[0 ~ 100]

Target Force Value

12 N- Target force must be greater than the sensevalue, and the absolute value must be greaterthan 10N(In the case of A series, there is no limit
to the desired force value).

[-1200 ~ 1200]- 52 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Contact Force

Description

Default Value andInput Range

This is the reference force for contact sensing.

10 N[0 ~ 1200]

Timeout

This is the contact sensing time.

10 s[0 ~ 10000]

InsertThis is a skill that finds the target point by searching with a spiral motion near the target point when theworkpiece 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.
1. Recommended Default WCI: Gripper (GripperDA, GripperSA)
2. Create Skill: TaskBuilder → Add Gripper (Skill Type: End-Effector)
3. 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)
4. Confirm Condition:a. Select a gripper and press the Set button.
b. 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

Basic Setting

Description

Default Value andInput Range

GripperI/O test available upon gripper selection

Reference Pose

Teaching Pose
- This is the point where the gripper grasps aworkpiece and inserts it in a hole.

- 53 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Task Setting

Hole Depth

Description

Default Value andInput Range

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]

Gripper
Setting

0.03 m/s2

InsertAcceleration

This is the acceleration at the final insert.

Task Velocity

This is the velocity from the approach pose to thehole surface.

100 mm/s

Task
Acceleration

This is the acceleration from the approach poseto the hole surface.

0.1 m/s2

Set TCP(Option)Select TCP Setting Status

True- When Set TCP is set to True, it configures the
TCP of the End-Effector used by the skill.

[True, False]

Gripper Wait
TimeStandby time after release motion.

0.5 sTool WeightIf a workpiece is released, apply the weight
information.

[0.001 ~ 20][0.001 ~ 8000][0.001 ~ 20][0 ~ 10000]- 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

True[True, False]- If the gripper release option is not used, thegripper does not perform the gripper releasemotion and moves to the retract pose after insert
completion.

- 54 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Approach
Pose Setting

Approach
Distance(Option)Retract Pose
Setting

Default Value andInput Range

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm- The approach distance must be entered in a 1 x
3 array (i.e. [x, y, z]).

[Individually -1000~ 1000]Velocity forApp. Pose

This is the motion velocity to the approach pose.

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Retract
Distance

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm(Option)ComplianceControl
Setting

Description

250 mm/s[0.001 ~ 8000]- The retract distance must be entered in a 1 x 3
array (i.e. [x, y, z]).

[0.001 ~ 20][Individually -1000~ 1000]Velocity for Ret.
Pose

This is the motion velocity to the retract pose.

100 mm/s

Acceleration forRet. Pose

This is the motion acceleration to the retractpose.

0.1 m/s2

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending
Radius for Ret.
Pose

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm

Compliance
control(Option)Select Compliance Control Status

True[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000][True, False]- 55 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Stiffness

Description

Default Value andInput Range

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

Contact Margin

Desired ForceContact Force

Orientation setting during force control

Z- Orientation is based on Tool Coordinates.

[X, Y, Z]

Margin for contact sensing section setting

3 mm- The contact sensing section is configured byadding the +/- contact sensing margin from theteaching point.

[0 ~ 100]

Target Force Value

15 N- Target force must be greater than the sensevalue, and the absolute value must be greaterthan 10N(In the case of A series, there is no limit
to the desired force value).

[-1200 ~ 1200]

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
SettingSpiral Interval

Spiral Interval

0.5 mm[0 ~ 100](Option)Maximum
RadiusMax Radius

10 mm

Velocity of
Spiral Motion

Spiral Search Motion Velocity

Acceleration of
Spiral Motion

Spiral Search Motion Acceleration[0 ~ 200]
12 mm/s[0.001 ~ 8000]
0.012 m/s2
[0.001 ~ 20]- 56 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Periodic
MotionSetting

Maximum
Amplitude

Description

Default Value andInput Range

Max Distance5 deg- Rotation angle of the orientation[0 ~ 360]- 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.

(Option)Maximum
PeriodMax Period

2sMaximum
Repeat ValueMax Repeat Count[0 ~ 10000]
10[0 ~ 10000]

Note• The insert skill is influenced by the workpiece, hole and the deviation between the two, so it isdifficult 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.

PolishingThis is a skill that polishes the target’s surface with a polishing tool. It must be used together with the End_Task
skill, and a task motion command can be inserted.
The polishing skill provides One-Point Task mode which is a mode that polishes the interior of a hole using apolishing tool. This mode must be used with the End_Task skill, but a task motion command is not inserted in
between. This mode allows patterns to be added for tasks, but it does not provide force control.
1. Recommended Default WCI: Tool
2. Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
3. Optional Features: Add pattern (One-Point Task mode setting), approach pose setting, ComplianceControl, Force Control
4. Confirm Condition:- 57 -

Reference manual(V2.10)

Task Programming Commands and Templatesa. Select Tool and Pattern and press the Set button (pattern selection can be omitted).
b. Save Teaching Posec. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Default Motion Sequence
1. Default Mode
Move to Approach Pose → Tool Motion (Run) → Move to Teaching Pose (→ Task Motion → End_Task)
2. One-Point Task Mode
Move to Approach Pose → Tool Motion (Run) → Move to Teaching Pose (if a pattern is added, move toPattern Calculation Pose) → Repeat Motion (→ End_Task)
Definition of Skill Screen
Item

Basic Setting

Description

Default Valueand Input Range

Tool

I/O test available upon tool selection

Pattern

Select if a pattern is used

Reference Pose

Teaching Pose
- This is the polishing start position.
- Reference Pose changes to Position Referenced
during pattern setting.

Task Setting

One Point Task
(Option)This configures One Point Repetition Status.

Hole DepthThis is the orientation depth from the teaching
pose.

10 mm

Repetition Count0

Repeat Value

False[True, False][0 ~ 200][0 ~ 10000]
Repeat Velocity

Repetition Velocity

30 mm/s[0.001 ~ 8000]

RepeatAcceleration

Repetition Acceleration

0.03 m/s2[0.001 ~ 20]- 58 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Description

Default Valueand Input Range

RepeatCondition

Select Repeat Index

Task Velocity

This is the velocity from the approach pose toteaching pose.

- The repeat condition is used as the patternindex when a pattern is used.
100 mm/s[0.001 ~ 8000]- During pattern use, Task Velocity is the velocity
until each pattern point.
Task
Acceleration

This is the acceleration from the approach poseto teaching pose.
- During pattern use, Task Acceleration is thevelocity until each pattern point.

Tool Setting

Set TCP (Option)

Tool Wait Time

0.1 m/s2[0.001 ~ 20]

Select TCP Setting Status

True- When Set TCP is set to True, it configures the
TCP of the End-Effector used by the skill.

[True, False]Standby time after tool run motion.

0.5 s[0 ~ 10000]

Approach
Pose Setting

Approach
Distance(Option)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]- During pattern setting, the approach distance
set in the pallet UI is applied.
Velocity for App.
Pose

This is the motion velocity to the approach pose.

250 mm/s

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000][0.001 ~ 8000]- 59 -[0.001 ~ 20]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Blending Radiusfor App. Pose

Description

Default Valueand Input Range

This is the blending radius connecting the
movement between the approach pose and theteaching pose.

0 mm[0 ~ 1000]- If a blending radius of greater than 0 is entered,
all optional items (Set TCP / ComplianceControl / Force Control Setting) must be set as
False.
ComplianceControl
Setting

Compliance
control (Option)

Select Compliance Control Status

Stiffness

Stiffness Setting

True[True, False]
x=y= 3000 N/m, z=
900 N/m[0 ~ 20000]
rx=ry=rz= 200 Nm/
rad[0 ~ 1000]

Force Control
Setting

Task Direction

Orientation setting during force control

Z- Orientation is based on Tool Coordinates.

[X, Y, Z]

Margin for contact sensing section setting

2 mm- The contact sensing section is configured byadding the +/- contact sensing margin from theteaching point.

[0 ~ 100]

Target Force Value

12 N- Target force must be greater than the sensevalue, and the absolute value must be greaterthan 10N(In the case of A series, there is no limit
to the desired force value).

[-1200 ~ 1200]

This is the reference force for contact sensing.

10 N(Option)Contact Margin

Desired ForceContact Force[0 ~ 1200]
Timeout

This is the contact sensing time.

10 s[0 ~ 10000]

Note- 60 -

Reference manual(V2.10)

Task Programming Commands and Templates• Freely teach the routine using motion commands that can be used between polishing and
End_Task. The available motion commands are as follows: movel, movec, movesx, moveb

DeburringThis is a skill for removing burrs on the target’s surface with a deburring tool. It must be used together with the
End_Task skill, and a task motion command can be inserted.
The deburring skill includes a One-Point Task mode, which deburrs the interior of a hole using a deburring tool.
This mode must be used with the End_Task skill, but a task motion command is not inserted in between. Thismode allows patterns to be added for tasks, but it does not provide force control.
1. Recommended Default WCI: Tool
2. Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
3. Optional Features: Add pattern (One-Point Task mode setting), approach pose setting, ComplianceControl, Force Control
4. Confirm Condition:a. Select Tool and Pattern and press the Set button (pattern selection can be omitted).
b. Save Teaching Posec. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Default Motion Sequence
1. Default Mode
Move to Approach Pose → Tool Motion (Run) → Move to Teaching Pose (→ Task Motion → End_Task)
2. One-Point Task Mode
Move to Approach Pose → Tool Motion (Run) → Move to Teaching Pose (if a pattern is added, move toPattern Calculation Pose) → Repeat Motion (→ End_Task)
Definition of Skill Screen
Item

Basic Setting

Description

Default Value andInput Range

Tool

I/O test available upon tool selection

Pattern

Select if a pattern is used

Reference Pose

Teaching Pose
- This is the deburring start position.
- Reference Pose changes to Position Referenced
during pattern setting.

- 61 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Task Setting

Description

Default Value andInput Range

One Point Task
(Option)It configures One Point Repetition Status.

False

Hole DepthThis is the orientation depth from the teaching
pose.

10 mm

Repetition Count0

Repeat Value[True, False][0 ~ 200][0 ~ 10000]
Repeat Velocity

Repetition Velocity

30 mm/s[0.001 ~ 8000]

RepeatAcceleration

Repetition Acceleration

RepeatCondition

Select Repeat Index

Task Velocity

This is the velocity from the approach pose toteaching pose.

0.03 m/s2[0.001 ~ 20]- The repeat condition is used as the pattern index
when a pattern is used.
100 mm/s[0.001 ~ 8000]- During pattern use, Task Velocity is the velocity
until each pattern point.
Task
Acceleration

This is the acceleration from the approach pose toteaching pose.
- During pattern use, Task Acceleration is thevelocity until each pattern point.

Tool Setting

0.1 m/s2[0.001 ~ 20]

Set TCP(Option)Select TCP Setting Status

True- When Set TCP is set to True, it configures the TCPof the End-Effector used by the skill.

[True, False]

Tool Wait Time

Standby time after tool run motion.

0.5 s[0 ~ 10000]- 62 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Approach
Pose Setting

Approach
Distance(Option)Description

Default Value andInput Range

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm- The approach distance must be entered in a 1 x 3
array (i.e. [x, y, z]).

[Individually -1000~ 1000]- During pattern setting, the approach distance set
in the pallet UI is applied.
Velocity forApp. Pose

This is the motion velocity to the approach pose.

250 mm/s

Acceleration
for App. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending
Radius for App.
Pose

This is the blending radius connecting the
movement between the approach pose and theteaching pose.

0 mm[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000]- If a blending radius of greater than 0 is entered,
all optional items (Set TCP / Gripper Release /Compliance Control / Contact Sensing Setting)must be set as False.
ComplianceControl
Setting

Compliance
control(Option)Select Compliance Control Status

Stiffness

Stiffness Setting

True[True, False]

x=y= 3000 N/m, z=
900 N/m[0 ~ 20000]
rx=ry=rz= 200 Nm/
rad[0 ~ 1000]

Force Control
Setting

Task Direction

Orientation setting during force control

Z- Orientation is based on Tool Coordinates.

[X, Y, Z](Option)- 63 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Contact Margin

Desired ForceContact Force

Description

Default Value andInput Range

Margin for contact sensing section setting

2 mm- The contact sensing section is configured byadding the +/- contact sensing margin from theteaching point.

[0 ~ 100]

Target Force Value

12 N- Target force must be greater than the sensevalue, and the absolute value must be greaterthan 10N(In the case of A series, there is no limit to
the desired force value).

[-1200 ~ 1200]

This is the reference force for contact sensing.

10 N[0 ~ 1200]

Timeout

This is the contact sensing time.

10 s[0 ~ 10000]

Note• Freely teach the routine using motion commands that can be used between deburring and
End_Task. The available motion commands are as follows: movel, movec, movesx, moveb

GluingThis is a skill for applying glue on the target’s surface with a gluing tool. It must be used together with the
End_Task skill, and a task/joint motion command can be inserted. However, if a pattern is used, a task/joint
motion command is not inserted.
1. Recommended Default WCI: Tool
2. Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
3. Optional Features: Add pattern, Approach Pose Setting
4. Confirm Condition:a. Select Tool and Pattern and press the Set button (pattern selection can be omitted).
b. Save Teaching Posec. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Default Motion Sequence
1. Default Mode
Move to Approach Pose → Move to Teaching Pose → Tool Motion (Run) (→ Task/Joint Motion →End_Task)- 64 -

Reference manual(V2.10)

Task Programming Commands and Templates

2. Pattern Added
Move to Approach Pose → Tool Motion (Run) → Move to Pattern Calculation Pose (→ End_Task)
Definition of Skill Screen
Item

Basic Setting

Description

Default Value andInput Range

Tool

I/O test available upon tool selection

Pattern

Select if a pattern is used

Reference Pose

Teaching Pose
- This is the gluing start position.
- Reference Pose changes to Position
Referenced during pattern setting.

Repeat Condition

Select Repeat Index- The repeat condition is used as the patternindex when a pattern is used.

Task Velocity

This is the velocity from the approach pose toteaching pose.

100 mm/s[0.001 ~ 8000]- During pattern use, Task Velocity is thevelocity until each pattern point.
Task Acceleration

This is the acceleration from the approachpose to teaching pose.
- During pattern use, Task Acceleration is thevelocity until each pattern point.

Tool Setting

Set TCP (Option)

Tool Wait Time

0.1 m/s2[0.001 ~ 20]

Select TCP Setting Status

True- When Set TCP is set to True, it configures the
TCP of the End-Effector used by the skill.

[True, False]Standby time after tool run motion.

0.5 s[0 ~ 10000]- 65 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Approach
Pose Setting

Approach
Distance(Option)Description

Default Value andInput Range

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm- The approach distance must be entered in a 1x 3 array (i.e. [x, y, z]).

[Individually -1000 ~1000]- During pattern setting, the approach distance
set in the pallet UI is applied.
Velocity for App.
Pose

This is the motion velocity to the approachpose.

250 mm/s

Acceleration forApp. Pose

This is the motion acceleration to theapproach pose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radiusfor App. Pose

This is the blending radius connecting the
movement between the approach pose andthe teaching pose.

0 mm[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000]- If a blending radius of greater than 0 is
entered, the optional item (Set TCP) must be
set as False.

Note• Freely teach the routine using motion commands that can be used between gluing and
End_Task. The available motion commands are as follows: movel, movec, movesx, moveb,
movej, movejx, movesj

Airblowing
This is a skill for cleaning the target or equipment with an airblowing tool. It must be used together with the
End_Task skill, and a task/joint motion command can be inserted. However, if a pattern is used, a task/joint
motion command is not inserted.
1. Recommended Default WCI: Tool

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Reference manual(V2.10)

Task Programming Commands and Templates

2. Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
3. Optional Features: Add pattern, Approach Pose Setting
4. Confirm Condition:a. Select Tool and Pattern and press the Set button (pattern selection can be omitted).
b. Save Teaching Posec. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Default Motion Sequence
1. Default Mode
Move to Approach Pose → Move to Teaching Pose → Tool Motion (Run) (→ Task/Joint Motion →End_Task)
2. Pattern Added
Move to Approach Pose → Tool Motion (Run) → Move to Pattern Calculation Pose (→ End_Task)
Definition of Skill Screen
Item

Basic Setting

Description

Tool

I/O test available upon tool selection

Pattern

Select if a pattern is used

Reference Pose

Teaching Pose

Default Value andInput Range- This is the airblowing start position.
- Reference Pose changes to Position
Referenced during pattern setting.
Repeat Condition

Select Repeat Index- The repeat condition is used as the patternindex when a pattern is used.

Task Velocity

This is the velocity from the approach pose toteaching pose.

100 mm/s[0.001 ~ 8000]- During pattern use, Task Velocity is the velocity
until each pattern point.
Task Acceleration

This is the acceleration from the approach poseto teaching pose.
- During pattern use, Task Acceleration is thevelocity until each pattern point.

- 67 -

0.1 m/s2[0.001 ~ 20]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Tool Setting

Set TCP (Option)

Tool Wait Time

Description

Default Value andInput Range

Select TCP Setting Status

True- When Set TCP is set to True, it configures the
TCP of the End-Effector used by the skill.

[True, False]Standby time after tool run motion.

0.5 s[0 ~ 10000]

Approach
Pose Setting

Approach
Distance(Option)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[각각: -1000 ~1000]- During pattern setting, the approach distance
set in the pallet UI is applied.
Velocity for App.
Pose

This is the motion velocity to the approach pose.

250 mm/s

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radiusfor App. Pose

This is the blending radius connecting the
movement between the approach pose and theteaching pose.

0 mm[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000]- If a blending radius of greater than 0 is entered,the optional item (Set TCP) must be set as False.

Note• Freely teach the routine using motion commands that can be used between airblowing and
End_Task. The available motion commands are as follows: movel, movec, movesx, moveb,
movej, movejx, movesj- 68 -

Reference manual(V2.10)

Task Programming Commands and Templates

EndTask
This is a skill that ends the task with a tool. It is used to end tasks of the polishing, deburring, gluing andairblowing skills. It must be used with polishing, deburring, gluing or airblowing. When selecting a pattern withthe polishing, deburring, gluing of airblowing skill, End_Task must also be selected.
1. Recommended Default WCI: Tool
2. Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
3. Optional Features: Add Pattern, Retract Pose Setting
4. Confirm Condition:a. Select Tool and Pattern and press the Set button (pattern selection can be omitted).
Default Motion Sequence(Polishing, Deburring, Gluing, Airblowing → Task/Joint Motion (or Move to Pattern Calculation Pose) → Tool
Motion (Stop) → Save Current Pose → Move to Retract Pose
Definition of Skill Screen
Item

Basic
Setting

Retract
Pose
Setting

Description

Default Value andInput Range

Tool

I/O test available upon tool selection

Pattern

Select if a pattern is used

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]).

(Option)[0, 0, -100] mm[Individually -1000 ~1000]- During pattern setting, the retract distance set
in the pallet UI is applied.
Velocity for Ret.
Pose

This is the motion velocity to the retract pose.

100 mm/s

Acceleration forRet. Pose

This is the motion acceleration to the retractpose.

0.1 m/s2

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000][0.001 ~ 8000]- 69 -[0.001 ~ 20]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Blending Radius
for Ret. Pose

Description

Default Value andInput Range

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm[0 ~ 1000]

Door_OpenClose
This is a command that manually opens/closes the door with a direct robot motion. Teach the start pose andend pose to perform a door open/close motion. The default setting is Open and if Close is selected, the teachingposes of the start pose and end pose change. (However, the teaching pose change is not reflected in the UI.)
1. Recommended Default WCI: None
2. Create Skill: TaskBuilder → No Add WCI (Skill Type: Basic)
3. Optional Features: Approach pose and retract pose setting, Compliance Control, robot motion direction(Open or Close) selection
4. Confirm Condition:a. 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

Basic Setting

Description

Start Pose

Default Value andInput Range

Teaching Pose
- This is the pose the open/close door motion
starts (ends) in.

End Pose

Teaching Pose
- This is the pose the open/close door motion
ends (starts) in.

Task Setting

Select Task
(Option)Select Orientation“Open”- If Close is selected, the start pose and end
pose change. (No change in the UI)[“Open”, “Close”]

Wait Time

This is the standby time before moving to thestart pose and after moving to the end pose.

0.5 s- 70 -[0 ~ 10000]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Description

Default Value andInput Range

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

100 mm/s

First
Acceleration

This is the acceleration from the approachpose to the first teaching pose.

0.1 m/s2

SecondVelocityThis is the velocity from the approach pose to
the second teaching pose.

100 mm/s

SecondAcceleration

This is the acceleration from the approachpose to the second teaching pose.

0.1 m/s2

Approach
Distance

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm

First Velocity

Approach
Pose Setting(Option)- The approach distance must be entered in a
1 x 3 array (i.e. [x, y, z]).

[0.001 ~ 8000][0.001 ~ 20][0.001 ~ 8000][0.001 ~ 20][Individually -1000 ~1000]

Velocity forApp. Pose

This is the motion velocity to the approachpose.

250 mm/s

Acceleration
for App. Pose

This is the motion acceleration to theapproach pose.

0.25 m/s2

Motion Time
for App. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000]

Blending
Radius for App.
Pose

This is the blending radius connecting the
movement between the approach pose andthe teaching pose.

0 mm[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000]- If a blending radius of greater than 0 is
entered, the optional item (ComplianceControl) must be set as False.
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]).

- 71 -[0, 0, -100] mm[Individually -1000 ~1000]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

ComplianceControl
Setting

Description

Default Value andInput Range

Velocity forRet. Pose

This is the motion velocity to the retract pose.

100 mm/s

Acceleration
for Ret. Pose

This is the motion acceleration to the retractpose.

0.1 m/s2

Motion Timefor Ret. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000]

Blending
Radius for Ret.
Pose

This is the blending radius connecting the
movement between the teaching pose andthe retract pose.

0 mm

Compliance
control(Option)Select Compliance Control Status

False

Stiffness

Stiffness Setting[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000][True, False]

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 themachine door at a position the robot can grab. There must be no obstacles present in thesurrounding area when the door is opened/closed.

INTLK_Pick
This is a skill for operating the gripper and picking up the target when the robot moves to a point instructed in
the machine chuck or approaches and contacts a target held by the chuck.

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Reference manual(V2.10)

Task Programming Commands and Templates

1. Recommended Default WCI: Gripper (GripperDA, GripperSA), Machine (TurningCenter, PressMachine,
MoldingMachine)
2. Create Skill: TaskBuilder → Add Gripper and Machine (Skill Type: End-Effector & Machine)
3. Optional Features: Approach Pose and Retract Pose setting, Compliance Control, Contact Sensing
4. Confirm Condition:a. Select a Gripper and Machine and press the Set button.
b. Save Teaching Pose
Default Motion Sequence
Move to Approach Pose → Move to Teaching Pose → Gripper Motion (Grasp) → Chuck Motion (Chuck Open(INTLK_Off)) → Move to Retract Pose
Definition of Skill Screen
Item

Basic Setting

Description

Default Value andInput Range

GripperI/O test available upon gripper selection

MachineI/O test available upon machine selection

Reference Pose

Teaching Pose
- This is the point where the workpiece on amachine chuck is grasped with a gripper.

Task Setting

Gripper
Setting

Task Velocity

This is the velocity from the approach pose toteaching pose.

100 mm/s

Task
Acceleration

This is the acceleration from the approach pose toteaching pose.

0.1 m/s2

Set TCP(Option)Select TCP Setting Status

True- When Set TCP is set to True, it configures the TCPof the End-Effector used by the skill.

[True, False]

Gripper Wait
Time

This is the standby time after a release or grasp
motion.

0.5 s- 73 -[0.001 ~ 8000][0.001 ~ 20][0 ~ 10000]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Description

Tool Weight

Default Value andInput Range

If a workpiece is grasped, apply the weight
information.
- To apply tool weight to a skill, save the tool
weight with a workpiece grasped under the WCM
Tool Weight.

MachineSetting

Approach
Pose Setting

Gripper Release(Option)Select Gripper Release Status before Pick Motion

True- Use the Gripper Release option to perform thegripper release motion after moving to theapproach Ppse and before moving to the teachingpose. (Applies on Gripper Wait Time as well.)[True, False]

Check Machine
Ready (Option)

Select machine ready signal standby status

False

Machine Wait
TimeStandby time after machine ready signal
completion

0.5 s

Chuck Wait
TimeStandby time after chuck open motion

0.5 s

Approach
Distance

Distance from the teaching pose in x, y and z
directions(Option)[True, False][0 ~ 10000][0 ~ 10000]- 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

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000][0.001 ~ 8000]- 74 -[0.001 ~ 20]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Blending Radiusfor App. Pose

Description

Default Value andInput Range

This is the blending radius connecting the
movement between the approach pose and theteaching pose.

0 mm[0 ~ 1000]- If a blending radius of greater than 0 is entered,
all optional items (Set TCP / Gripper Release /Check Machine Ready / Compliance Control /Contact Sensing Setting) must be set as False.
Retract Pose
Setting

Retract Distance(Option)ComplianceControl
Setting

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[각각: -1000 ~1000]

Velocity for Ret.
Pose

This is the motion velocity to the retract pose.

100 mm/s

Acceleration forRet. Pose

This is the motion acceleration to the retract pose.

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radius
for Ret. Pose

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm

Compliance
control (Option)

Select Compliance Control Status

False

Stiffness

Stiffness Setting[0.001 ~ 8000]
0.1 m/s2[0.001 ~ 20][0 ~ 1000][True, False]
x=y=z= 3000 N/m[0 ~ 20000]
rx=ry=rz= 200 Nm/
rad[0 ~ 1000]- 75 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Contact
Sensing
Setting

Task Direction(Option)Contact Margin

Desired ForceContact Force

Description

Default Value andInput Range

Orientation setting during force control

Z- Orientation is based on Tool Coordinates.

[X, Y, Z]

Margin for contact sensing section setting

2 mm- The contact sensing section is configured byadding the +/- contact sensing margin from theteaching point.

[0 ~ 100]

Target Force Value

12 N- Target force must be greater than the sensevalue, and the absolute value must be greaterthan 10N(In the case of A series, there is no limit to
the desired force value).

[-1200 ~ 1200]

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
for Contact

This is the fine retract distance after contact
sensing.

0.5 mm[0 ~ 100]

INTLK_PlaceThis 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.
1. Recommended Default WCI: Gripper (GripperDA, GripperSA), Machine (TurningCenter, PressMachine,
MoldingMachine)
2. Create Skill: TaskBuilder → Add Gripper and Machine (Skill Type: End-Effector & Machine)
3. Optional Features: Approach Pose and Retract Pose setting, Compliance Control, Contact Sensing
4. Confirm Condition:a. Select a Gripper and Machine and press the Set button.
b. 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

- 76 -

Reference manual(V2.10)

Task Programming Commands and Templates

Definition of Skill Screen
Item

Basic Setting

Description

Default Value andInput Range

GripperI/O test available upon gripper selection

MachineI/O test available upon machine selection

Reference Pose

Teaching Pose
- This is the point where the workpiece on amachine chuck is released from a gripper.

Task Setting

Gripper
Setting

Task Velocity

This is the velocity from the approach pose toteaching pose.

100 mm/s

Task
Acceleration

This is the acceleration from the approach poseto teaching pose.

0.1 m/s2

Set TCP (Option)

Select TCP Setting Status

True- When Set TCP is set to True, it configures the
TCP of the End-Effector used by the skill.

[True, False]

Gripper Wait
TimeStandby time after release motion.

0.5 sTool WeightIf a workpiece is released, apply the weight
information.

[0.001 ~ 8000][0.001 ~ 20][0 ~ 10000]- To apply tool weight to a skill, save the tool
weight with a workpiece grasped under the WCM
Tool Weight.
MachineSetting

Check Machine
Ready (Option)

Select machine ready signal standby status

False

Machine Wait
TimeStandby time after machine ready signal
completion

0.5 s

Chuck Wait
TimeStandby time after chuck close motion

0.5 s[True, False][0 ~ 10000][0 ~ 10000]- 77 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Approach
Pose Setting

Description

Default Value andInput Range

Chuck Open
(Option)Select chuck open status before INTLK placemotionTrue

Approach
Distance

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm(Option)- The approach distance must be entered in a 1 x
3 array (i.e. [x, y, z]).

[True, False][Individually -1000~ 1000]Velocity for App.
Pose

This is the motion velocity to the approach pose.

250 mm/s

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radiusfor App. Pose

This is the blending radius connecting the
movement between the approach pose and theteaching pose.

0 mm[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000]- 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.
Retract Pose
Setting

Retract Distance(Option)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]).

Velocity for Ret.
Pose

This is the motion velocity to the retract pose.

Acceleration forRet. Pose

This is the motion acceleration to the retractpose.

[0, 0, -100] mm[Individually -1000~ 1000]100 mm/s[0.001 ~ 8000]- 78 -

0.1 m/s2[0.001 ~ 20]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

ComplianceControl
Setting

Description

Default Value andInput Range

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radius
for Ret. Pose

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm

Compliance
control (Option)

Select Compliance Control Status

False

Stiffness

Stiffness Setting[0 ~ 1000][True, False]
x=y=z= 3000 N/m[0 ~ 20000]
rx=ry=rz= 200 Nm/
rad[0 ~ 1000]

Contact
Sensing
Setting(Option)Task Direction

Contact Margin

Desired ForceContact Force

Orientation setting during force control

Z- Orientation is based on Tool Coordinates.

[X, Y, Z]

Margin for contact sensing section setting

2 mm- The contact sensing section is configured byadding the +/- contact sensing margin from theteaching point.

[0 ~ 100]

Target Force Value

12 N- Target force must be greater than the sensevalue, and the absolute value must be greaterthan 10N(In the case of A series, there is no limit
to the desired force value).

[-1200 ~ 1200]

This is the reference force for contact sensing.

10 N[0 ~ 1200]

Timeout

This is the contact sensing time.

10 s[0 ~ 10000]- 79 -

Reference manual(V2.10)

Task Programming Commands and Templates

Bolting
This is a skill for teaching the target pose with a screwdriver and installing bolts while moving from the startpose to the teaching pose, considering bolt length. If the screwdriver supports Reverse Mode, it can remove
bolts while moving from the teaching pose (bolt installation position) to the start pose.
1. Recommended Default WCI: Tool (ScrewDriver)
2. Create Skill: TaskBuilder → Add ScrewDriver (Skill Type: End-Effector & Pattern)
3. Optional Features: Add pattern, approach pose and retract pose setting, Compliance Control
4. Confirm Condition:a. Select ScrewDriver and Pattern and press the Set button (pattern selection can be omitted).
b. Save Teaching Posec. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Default Motion Sequence
1. Default Mode
Move to Approach Pose → Move to Start Pose (point from Teaching Pose - bolt length) → Move to
Teaching Pose (if a pattern is added, move to Pattern Calculation Pose) → Tool Motion (Run) (in case of
Vacuum Type, Vacuum_Off) → Move to Retract Pose
2. Reverse Mode
Move to Approach Pose → Move to Teaching Pose (if a pattern is added, move to Pattern Calculation Pose)→ Move to Start Pose (point from Teaching Pose - bolt length) → Tool Motion (Run) → Move to Retract
Pose
Definition of Skill Screen
Item

Basic Setting

Description

Tool

I/O test available upon screwdriver selection

Pattern

Select if a pattern is used

Reference Pose

Teaching Pose

Default Value andInput Range- This is the bolting start position.
- Reference Pose changes to Position
Referenced during pattern setting.
Task Setting

Reverse Mode
(Option)Reverse Mode Setting

False[True, False]- 80 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Task Direction

Description

Default Value andInput Range

Bolt Installation Orientation

Z[X, Y, Z]

Bolt Length

Bolt Length

10 mm[0 ~ 200]

Bolting Velocity

Bolting Velocity

30 mm/s[0.001 ~ 8000]

Bolting
Acceleration

Bolting Acceleration

Timeout

Bolting End Time

0.03 m/s2[0.001 ~ 20]
3s[0 ~ 10000]

RepeatCondition

Select Repeat Index

Task Velocity

This is the velocity from the approach pose toteaching pose.

- The repeat condition is used as the patternindex when a pattern is used.
100 mm/s[0.001 ~ 8000]- During pattern use, Task Velocity is thevelocity until each pattern point.
Task
Acceleration

This is the acceleration from the approachpose to teaching pose.
- During pattern use, Task Acceleration is thevelocity until each pattern point.

Tool Setting

Set TCP (Option)

Vacuum Type
(Option)

0.1 m/s2[0.001 ~ 20]

Select TCP Setting Status

True- When Set TCP is set to True, it configures the
TCP of the End-Effector used by the skill.

[True, False]

Select Vacuum Support Status

False[True, False]- 81 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Tool Wait Time

Description

Default Value andInput Range

Standby time after tool run motion.

0.5 s[0 ~ 10000]

Approach Pose
Setting

Check TorqueOK(Option)Select Bolt Installation Completion Status
Check

False

Approach
Distance

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm(Option)- The approach distance must be entered in a 1x 3 array (i.e. [x, y, z]).

[True, False][Individually -1000~ 1000]- During pattern setting, the approach distance
set in the pallet UI is applied.
Velocity for App.
Pose

This is the motion velocity to the approachpose.

250 mm/s

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radiusfor App. Pose

This is the blending radius connecting the
movement between the approach pose andthe teaching pose.

0 mm[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000]- If a blending radius of greater than 0 is
entered, all optional items (Set TCP /Compliance Control / Reverse Mode) must be
set as False.
Retract Pose
Setting(Option)Retract Distance

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm[각각: -1000 ~ 1000]- The retract distance must be entered in a 1 x 3
array (i.e. [x, y, z]).
- During pattern setting, the retract distance
set in the pallet UI is applied.

- 82 -

Reference manual(V2.10)

Task Programming Commands and Templates

Item

ComplianceControl
Setting

Description

Default Value andInput Range

Velocity for Ret.
Pose

This is the motion velocity to the retract pose.

100 mm/s

Acceleration forRet. Pose

This is the motion acceleration to the retractpose.

0.1 m/s2

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radius
for Ret. Pose

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm

Compliance
control (Option)

Select Compliance Control Status

False

Stiffness

Stiffness Setting[0.001 ~ 8000][0.001 ~ 20]][0 ~ 1000][True, False]
x=y=z= 3000 N/m[0 ~ 20000]
rx=ry=rz= 200 Nm/
rad[0 ~ 1000]

PickBolt
This is a skill for picking up a bolt placed in a specific position by the bolt feeder using a screwdriver. If thescrewdriver supports a vacuum, it can ensure stable bolt pick up.
1. Recommended Default WCI: Tool (ScrewDriver), Feeder (BoltFeeder)
2. Create Skill: TaskBuilder → Add ScrewDriver and BoltFeeder (Skill Type: End-Effector & Feeder)
3. Optional Features: Approach Pose and Retract Pose setting, Compliance Control
4. Confirm Condition:a. Select a ScrewDriver and BoltFeeder and press the Set button.
b. Save Teaching Pose
Default Motion Sequence
Move to Approach Pose → Move to Teaching Pose → ScrewDriver Motion (in the case of a Vacuum Type,
Vacuum_On) (in the case of ScrewDriver, no separate motion) → Move to Retract Pose

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Task Programming Commands and Templates

Definition of Skill Screen
Item

Basic Setting

Description

Default Value andInput Range

Tool

I/O test available upon screwdriver selection

FeederI/O test available upon bolt feeder selection

Reference Pose

Teaching Pose
- This is the position in which the screwdriver
picks up a bolt

Task Setting

Tool Setting

Task Velocity

This is the velocity from the approach pose toteaching pose.

100 mm/s

Task
Acceleration

This is the acceleration from the approach poseto teaching pose.

0.1 m/s2

Set TCP (Option)

Select TCP Setting Status

True- When Set TCP is set to True, it configures the
TCP of the End-Effector used by the skill.

[True, False]

Vacuum Type
(Option)Select Vacuum Support Status

False

Tool Wait Time

Standby time after tool run motion.

[0.001 ~ 8000][0.001 ~ 20][True, False]
0.5 s[0 ~ 10000]

FeederSetting

Check Bolt ready(Option)Select Bolt Ready signal standby

Bolt Wait Time

Standby time after bolt ready signal completion

False[True, False]
0.5 s[0 ~ 10000]

Feeder Type
(Option)Select Feeder type

“PickUP”[“PickUP”,“Shooting”]- 84 -

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Task Programming Commands and Templates

Item

Approach
Pose Setting

Approach
Distance(Option)Description

Default Value andInput Range

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm- The approach distance must be entered in a 1 x
3 array (i.e. [x, y, z]).

[각각: -1000 ~1000]

Velocity for App.
Pose

This is the motion velocity to the approachpose.

250 mm/s

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radiusfor App. Pose

This is the blending radius connecting the
movement between the approach pose and theteaching pose.

0 mm[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000]- If a blending radius of greater than 0 is entered,
all optional items (Set TCP / ComplianceControl / Check Bolt ready) must be set as False.
Retract Pose
Setting

Retract Distance(Option)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

Acceleration forRet. Pose

This is the motion acceleration to the retractpose.

0.1 m/s2

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered,
the Velocity/Acceleration values are ignored.

[0 ~ 10000][0.001 ~ 8000]- 85 -[0.001 ~ 20]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

ComplianceControl
Setting

Description

Default Value andInput Range

Blending Radius
for Ret. Pose

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm

Compliance
control (Option)

Select Compliance Control Status

False

Stiffness

Stiffness Setting[0 ~ 1000][True, False]
x=y=z= 3000 N/m[0 ~ 20000]
rx=ry=rz= 200 Nm/
rad[0 ~ 1000]

Contact
This is a skill for moving a target distance after reaching the teaching pose or stopping movement if an external
force is sensed during Force Control movement. The contact skill requires force control in a specific direction,
so it requires the Compliance Control by default.
1. Recommended Default WCI: None
2. Create Skill: TaskBuilder → No Add WCI (Skill Type: Basic)
3. Optional Features: Approach pose and retract pose setting, Compliance Control, select stop method (force
or distance)
4. Confirm Condition:a. Save Teaching Pose
Default Motion Sequence
1. Force SettingMove to Approach Pose → Move to Teaching Pose (position excluding Contact Margin) → Move with ForceControl until External Force occur → Move to Retract Pose
2. "Distance" SettingMove to Approach Pose → Move to Teaching Pose → Move Maximum Distance value with Force Control
while checking External Force → Move to Retract Pose

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Task Programming Commands and Templates

Definition of Skill Screen
Item

Basic Setting

Description

Reference Pose

Default Value andInput Range

Teaching Pose
- This is a random position.

Task Setting

Select Task
(Option)Select Check Method (Force or Distance)“Force”

Maximum
Distance

Max Distance

50 mm- This is applied only with the Distance setting.

[0 ~ 5000]

Wait Time

Standby time before/after move to teaching pose

0.5 s[“Force”,”Distance”][0 ~ 10000]
Task Velocity

Approach
Pose SettingThis is the velocity from the approach pose toteaching pose.

100 mm/s

Task
Acceleration

This is the acceleration from the approach poseto teaching pose.

0.1 m/s2

Approach
Distance

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm(Option)- The approach distance must be entered in a 1 x
3 array (i.e. [x, y, z]).

[0.001 ~ 8000][0.001 ~ 20][Individually -1000~ 1000]Velocity forApp. Pose

This is the motion velocity to the approach pose.

250 mm/s

Acceleration forApp. Pose

This is the motion acceleration to the approachpose.

0.25 m/s2

Motion Time forApp. Pose

This is the motion time to the approach pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000][0.001 ~ 8000]- 87 -[0.001 ~ 20]

Reference manual(V2.10)

Task Programming Commands and Templates

Item

Retract Pose
Setting

Retract
Distance(Option)ComplianceControl
Setting

Description

Default Value andInput Range

Distance from the teaching pose in x, y and z
directions[0, 0, -100] mm- The retract distance must be entered in a 1 x 3
array (i.e. [x, y, z]).

[Individually -1000~ 1000]Velocity for Ret.
Pose

This is the motion velocity to the retract pose.

100 mm/s

Acceleration forRet. Pose

This is the motion acceleration to the retractpose.

0.1 m/s2

Motion Time forRet. Pose

This is the motion time to the retract pose.

0s- If a motion time of greater than 0 is entered, theVelocity/Acceleration values are ignored.

[0 ~ 10000]

Blending Radius
for Ret. Pose

This is the blending radius connecting the
movement between the teaching pose and theretract pose.

0 mm

Compliance
control (Option)

Select Compliance Control Status

False

Stiffness

Stiffness Setting[0.001 ~ 8000][0.001 ~ 20][0 ~ 1000][True, False]
x=y=z= 3000 N/m[0 ~ 20000]
rx=ry=rz= 200 Nm/
rad[0 ~ 1000]

Force Control
Setting

Task Direction

Contact Margin

Orientation setting during force control

Z- Orientation is based on Tool Coordinates.

[X, Y, Z]

Margin for contact sensing section setting

3 mm- The contact sensing section is configured byadding the +/- contact sensing margin from theteaching point.

[0 ~ 100]- 88 -

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Task Programming Commands and Templates

Item

Desired ForceContact Force

Description

Default Value andInput Range

Target Force Value

15 N- Target force must be greater than the sensevalue, and the absolute value must be greaterthan 10N(In the case of A series, there is no limit
to the desired force value).

[-1200 ~ 1200]

This is the reference force for contact sensing.

10 N[0 ~ 1200]

Caution• If the contact force value is too
small, the contact skill may
malfunction and be recognized
as contact before actual
contact occurs.
• Be careful when setting theContact Force value to a valueless than the default value.
Timeout

This is the contact sensing time.

10 s[0 ~ 10000]

Version : A Series• If an A-series is not installed with FTS, the contact skill cannot be used.

Set_Digital_IO
This is a skill for operating the digital input/output. In the case of output, if the SA option is selected, configure
one port, and if the DA option is selected, configure two ports to be used as a pair. In the case of input, only one
port can be selected. Set_Digital_IO skill is not related to robot motion.
1. Recommended Default WCI: None
2. Create Skill: TaskBuilder → No Add WCI (Skill Type: Basic)
3. Optional Features: Select IO type (Flange or Controller), output (single/double) setting, input setting
4. Confirm Condition: None
Default Motion Sequence
1. Output (Single Type) Setting: 1 output signal operates
2. Output (Double Type) Setting: 2 output signals operate
3. Input Setting: Checks 1 input signal- 89 -

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Task Programming Commands and Templates

Definition of Skill Screen
Item

Basic Setting

DIO Type

Description

Default Value andInput Range

Select Digital I/O Connection“Controller”- If Flange is selected, the I/O terminal must beconnected to the flange for operation.

[“Flange”, ”
Controller”]- If Controller is selected, the I/O terminalmust be connected to the controller for
operation.
Wait Time

Standby time after I/O motion

0.5 s[0 ~ 10000]

Timeout

Max input signal standby time

10 s
[0 ~ 10000]

Output Setting:Single Type
(Option)

OutputPort

Output Port Input

1- If Flange is selected, ports 1-6 can be used.

[1 ~ 16]- If Controller is selected, ports 1-16 can be
used.

Output Setting:
Double Type
(Option)

OutputValue

Output Value Input

1- Value must be either 1 or 0. (1: ON, 2: OFF)[0, 1]

OutputPort1

Output Port 1 Input

1- If Flange is selected, ports 1-6 can be used.

[1 ~ 16]- If Controller is selected, ports 1-16 can be
used.
OutputPort2

Output Port2 Input

1- If Flange is selected, ports 1-6 can be used.

[1 ~ 16]- If Controller is selected, ports 1-16 can be
used.
OutputValue1

Output Value1 Input

1- Value must be either 1 or 0. (1: ON, 2: OFF)[0, 1]- 90 -

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Task Programming Commands and Templates

Item

Input Setting(Option)Description

Default Value andInput Range

OutputValue2

Output Value2 Input

1- Value must be either 1 or 0. (1: ON, 2: OFF)[0, 1]

Input Port

Input Port Input

1- If Flange is selected, ports 1-6 can be used.

[1 ~ 16]- If Controller is selected, ports 1-16 can beused.
TargetValue

Target Value Input

1- Value must be either 1 or 0. (1: ON, 2: OFF)[0, 1]

3.2 Task Template
Task Template is a bundle of skills that compose a work procedure used with a combination of Workcell Items
when a particular Workcell Item is registered. It is possible to easily create a task with the settings of skills
already in the template without worrying about the work process.
• Software version V2.7.3 does not support this function. The Task Template function will be updated andwill be offered again in a new software version.

3.2.1 Part Handling
It is the template for handling the target. It is fundamentally composed of Pick and Place skills. A template isrecommended depending on whether a single gripper or two grippers are installed on the robot flange. Related
Workcell Items are as follows:• Pneumatic/Electric Gripper

Single Gripper
Work Procedure

Command

Grasp the workpiece

Pick

Release the workpiece

Place

Double Gripper
Work Procedure

Command- 91 -

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Task Programming Commands and Templates

Grasp workpiece #1

Pick

Grasp workpiece #2

Pick

Release workpiece #1

Place

Release workpiece #2

Place

3.2.2 CNC Machine Tending
It is the template for secondary work of the machine tool. The machine tool template recommends a template
depending on whether a single gripper or two grippers are installed on the robot flange. Related Workcell Items
are as follows:• Pneumatic/Electric Gripper• Turning Center• Air blow Nozzle• PalletSingle Gripper
Work Procedure

Type 1

Type 2Type 3

Type 4

Command
Grasp the workpiece

Pick Pallet

Pick Pallet

Pick Pallet

Pick Pallet

Chuck air blowing--

Air blow

Air blow

Load the workpiece

Place TC

Place TC

Place TC

Place TC

Close door

Close TC Door

Close Manual TC
Door

Close TC Door

Close Manual TC
Door

Start processing

Start TC

Start TC

Start TC

Start TC

TC ready check

Check TC Ready

Check TC Ready

Check TC Ready

Check TC Ready

Open door

Open TC DoorOpen Manual TC
DoorOpen TC DoorOpen Manual TC
Door- 92 -

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Task Programming Commands and Templates

Finished Piece
Air blowing--

Air blow

Air blow

Unload finished
piece

Pick TC

Pick TC

Pick TC

Pick TC

Release finishedpiece

Place Pallet

Place Pallet

Place Pallet

Place Pallet

Type 1

Type 2Type 3

Type 4

Double Gripper
Work Procedure

Command
Grasp the workpiece

Pick Pallet

Pick Pallet

Pick Pallet

Pick Pallet

TC ready check

Check TC Ready

Check TC Ready

Check TC Ready

Check TC Ready

Open door

Open Auto TC
DoorOpen Manual TC
DoorOpen Auto TC
DoorOpen Manual TC
DoorFinished piece air
blowing--

Air blow

Air blow

Unload finished piece

Pick TC

Pick TC

Pick TC

Pick TC

Chuck air blowing--

Air blow

Air blow

Load the workpiece

Place TC

Place TC

Place TC

Place TC

Close door

Close Auto TC
Door

Close Manual TC
Door

Close Auto TC
Door

Close Manual TC
Door

Start processing

Start TC

Start TC

Start TC

Start TC

Release finishedpiece

Place Pallet

Place Pallet

Place Pallet

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Task Programming Commands and Templates

3.2.3 Press Machine Tending
It is the template for secondary work of the machine tool. The machine tool template recommends a template
depending on whether a single gripper or two grippers are installed on the robot flange. Related Workcell Items
are as follows:• Vacuum Gripper• Press Machine

Single Gripper
Work Procedure

Command

Grasp the workpiece

Pick

Load the workpiece

Place Press Machine

Start processing

Start Press Machine

Press Machine Ready Check

Check Press Machine Ready

Unload finished piece

Pick Press Machine

Release finished piece

Place

Double Gripper
Work Procedure

Command

Grasp the workpiece

PickPress Machine Ready Check

Check Press Machine Ready

Unload finished piece

Pick Press Machine

Load the workpiece

Place Press Machine

Start processing

Start Press Machine

Release finished piecePlace- 94 -

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Task Programming Commands and Templates

3.2.4 Injection Molding Machine Tending
It is the template for secondary work of the machine tool. The machine tool template recommends a template
depending on whether a single gripper or two grippers are installed on the robot flange. Related Workcell Items
are as follows:• Vacuum Gripper• Injection Molding MachineWork Procedure

CommandPress Machine Ready Check

Check Press Machine Ready

Unload finished piece

Pick Press Machine

Start processing

Start Press Machine

3.2.5 Screw Drive template
It is the template for screw assembly work. A template is recommended depending on the Pick-up bolt Feeder
or Shooting bolt Feeder Workcell Item settings. Related Workcell Items are as follows:• Screwdriver• Shooting Bolt Feeder• Pickup Bolt Feeder
Work Procedure

Type 1

Type 2

CommandFeeder ready check

Check Feeder Ready

N/A

Feed bolt

Pick-up bolt Feeder

Shoot Bolt

Grasp workpiece #2

Screw Drive

Screw Drive

3.2.6 Gluing template
It is the template for continuous routine gluing work. Related Workcell Items are as follows:• Gluing Tool
Work Procedure

Command- 95 -

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Task Programming Commands and Templates

Start Gluing

Start GlueEnd Gluing

End Glue

3.2.7 Deburring template
It is the template for continuous routine deburring work. Related Workcell Items are as follows:• Deburring Tool
Work Procedure

CommandStart Deburring

Start Deburr

End Deburring

End Deburr

3.2.8 Polishing template
It is the template for continuous routine deburring work. Related Workcell Items are as follows:• Polishing Tool
Work Procedure

CommandStart Polishing

Start Polish

End Polishing

End Polish

3.2.9 Insert template
This template inserts the item in the target hole. It consists of Insert and Insert skills. Related workcell items are
as follows:• Pneumatic/Electric Gripper
Work Procedure

Command

Grasp the workpiece

PickInsert the item

Insert- 96 -

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Smart Video Module

4 Smart Video Module
4.1 Precautions Before Use (SVM)• The camera lens must be as parallel to the work surface as possible. The camera’s line of view must be as
perpendicular to the work surface as possible.
• Reflections from work items and the surrounding environment within the camera’s measurement area
must be avoided.
• The camera must measure the top view of the target item. If the item is slanted during measurement,
distortion and incorrect measurement may occur due to perspective views.
• All cameras are strongly effected by ambient illumination. Establish and maintain work conditions with anillumination of 300 lux or higher in the camera measurement area using an illumination measuring
instrument.
• For detailed information about measurable distance, field of view, and measurable item size and height,
please refer to corresponding sections describing product specifications.
• When replacing SVM, create a job after deleting the Task Vision Command with Vision Job Commandstored in the TB (Task Builder) or TW (Task Writer) on the TP. Vision Command can be deleted after
deleting a Command depending on Vision Command.
• In order to update SVM firmware, make sure the current version is DRST v1.2.0.2.6 version or higher.
Updating at a lower version can cause serious issues for the SVM OS. Please be careful.
• The SVM operates properly in version M2.2.1 or higher. In versions lower than M2.2.1, the robot must be
updated.
• Match the robot version and the SVM version.
• The SVM firmware must match the controller SW version of the robot controller.
• The SVM firmware can be updated separately through DART-Vision or DART-Studio (v2.0.1), which areprovided by Doosan Robotics.

4.2 Setting with Workcell Manager
Add the Smart Vision Module to the Workcell Manager and configure the Smart Vision Module referring to thefollowing setting options.

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Smart Video Module

4.2.1 Testing the Camera Connection
Camera Connection

No.

Item

Description

1

Connect

The camera IP address is a static IP, and the default address(192.168.137.5) is used for connection.
After connection is successful, the Connect button is disabled.

2

Live – ShootCheck the image in the camera's viewfinder to see if the camera is working
properly.
Live: Displays the streaming image.
Shoot: Displays the static image in the camera’s field of view.

If the LAN/communication cable physically disconnects the SVM• When the cable is physically removed while the Smart Vision Module (SVM) and Teach Pendant (TP) areconnected, the power to the SVM and TP must be turned OFF/ON.

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Status indicator LED function• The status indicator LED on top of the SVM module operates in five modes: power not connected, power
supplied, connection standby, communication connected and processing.
Smart Vision Module Status Indicator LED

LED Operation

1

Power not connected

Power off

2

Power connected – OS booting

Solid Red

3

Normal operation – Connection standby –Communication not connected

Solid Green

4

Normal operation – Standby – Communication
connected

Solid Blue

5

Normal operation – Processing – (item recognition,teaching/save/loading)

Blink Blue

Checking IP address and Camera Test

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Smart Video Module

No.

Item

Description

1

Controller –Configure IP

Displays IP address of the controller

2

Smarst Vision
Module –Configure IP

Enter and connect the IP address of the camera.

Camera Test

Check that the controller and the cemera are properly connected.

3• Connect: After entering IP address and select the Connect button, theset subnet mask and default gateway are displayed.

• Live: Displays live images of the cemera.
• Shoot: Displays stop image of the camera.

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4.2.2 Vision Job > Manage Job
Create Vision Job

No.

Item

Description1

Add New Vision Job

If there is no existing job, create a new job with the job name
“VisionJob_01,” and if there is an existing job, create a new job with the job
name with the following number of the existing job. (e.g., VisionJob_02)

2

Vision Job List

A virtual keyboard is displayed, and the job name can be edited.

3

Save

This saves changes made to the job name.

4

CancelCancels the Vision job creation.

Caution• If the total sum of the number of vision Job list of WCM and the number of tool generated at the
Dart-Vision exceeds 10, the communication can be disconnected.

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Smart Video Module

Edit and Delete Vision Job

No
.

Item

Description

1

Vision Job List

The selected vision job is highlighted in blue.

2

Set This Job

The job selected from the Vision Job List is set as the Setting job.

3

Edit

The job selected from the Vision Job List triggers the edit window where the“Job Name” can be edited.

4

Save

Saves the edited vision job name.

5

DeleteThe selected job from the Vision Job List is deleted.

6

CancelThis cancels changes made to the name.

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Smart Video Module

4.2.3 Vision Job > Set Image
Save and Load Lighting/Exposure/Gain/Focus Setting- 103 -

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Smart Video Module

No.

Item

Description

1

Image Brightness
Setting

Displays the LED LIGHT/CAMERA BRIGHTNESS select button.

2

Live/Shoot• Displays the image from the Live/Shoot mode, and the button changes
to gray.
• Live: Displays the Live image of the camera.
• Shoot: Displays the image obtained from the current camera with edge
information.

3

Apply Reference
Image• It is enabled in blue in the Shoot mode.
• A Reference Image is the reference information for the Vision Job
setting. Select the item information to detect from the Reference
Image, and then set default values for various tests.
(Setting is made in the Edit Job tab)
• Sets the current camera image as the Reference Image.
• Saves the current camera focus/lighting/brightness information.
• Saves the current robot Joint Pose as the Shoot Pose.

4

LED Light• Displays buttons that adjust the brightness of the lighting.

5

Camera Brightness• Displays buttons that adjust the Exposure/Gain levels.

6

Lighting Brightness
Setting• The brightness of the lighting can be adjusted from 0 to 10.

7

Exposure Time
Setting• The exposure time of the camera can be adjusted from 0 to 10.
• Higher numbers create a brighter image.

8

Gain Level Setting• The gain level can be adjusted from 0 to 10.
• Higher numbers increase image brightness, but this also increases
image noise.

9

Focus Control

Camera focus can be adjusted in a range from 0 to 500.
The focus must be set clearly prior to Robot-Vision Calibration.

10

Auto Focus

The focus of the camera is adjusted automatically.

11

Manual Focus

Camera focus can be adjusted in a range from 0 to 500.

12

Inc

The value changes in the order of 1, 5, 10, 50, and 100.

13

Focus

The focus increases or decreases by the amount of Inc.

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Smart Video Module

No.

Item

Description

14

Full Screen

Displays the image in the full screen.

15

Grid

Displays a grid on the image. Each grid represents 10% of the screen.

Camera Brightness Adjustment (Exposure / Gain)• It is recommended to start with Gain set at level 1, adjust the Exposure to set the desired brightness, andthen adjust Gain to make minor adjustments.
Conditions for a Good Reference Image• The edge information of the item to detect must be clear.
• The size of the item to detect must be within 5%-70% of the overall screen size. It is recommended to set
the size of the item to detect to 20%-40%. Use the grid pattern to check the size.
• The item to detect must be positioned in the center of the screen.
• Items/patterns other than the item to detect must not be on the screen.
• The background must have a clear difference in color from the item to detect, and it must not havepatterns.

Camera Calibration
Camera - Robot Calibration is the process of synchronizing the coordinate information measured by the camera
with the coordinate information of the robot.
With Calibration, the camera can accurately move to the location of the measured item, and it can accurately
measure dimensions in terms of length. During Calibration, a checkerboard with predefined design information
is used. The method currently offered by Doosan Robotics is StandAlone calibration, and the elements required
for this calibration are four robot poses taught based on the camera image of the checkerboard shot from theshooting position and tool tip.
CautionDuring calibration, it is necessary to align the camera lens and the checkerboard in parallel as much as
possible. In addition, when performing calibration, the calibration board must be placed at the surface
height of the item to be measured. If the height of the checkerboard during calibration differs from thesurface height of the item to be measured, it can cause failure to detect the item or decreasemeasurement accuracy.

Additional Functions available with the SVM• The Live screen is displayed on the Jog- 105 -

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Smart Video Module

If the Vision license is entered, a live image can be viewed in the Jog tab. The user can operate the robot while
viewing the live image.

• Added Vision category to Peripheral- 106 -

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Smart Video Module- 107 -

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Smart Video Module

SVM Calibration Board Download• The SVM Calibration Board can be downloaded from [https://lab.doosanrobotics.com/en/Index Robot LAB– Resources – Tech Data – Reference] after logging in.

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No.

Item

Description

1

Camera Calibration

Enables Camera - Robot Calibration function.
• After the Camera Calibration function is enabled,
the Camera Calibration Image button is enabled.

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Smart Video Module

No.

Item

Description

2

Live/Shoot Image

The Live/Shoot Image can be checked.
To ensure proper camera calibration, a checkerboard isplaced as follows:• The calibration image provided by Doosan Robotics
is a 15 mm checkerboard. [Download Page]• Place the checkerboard at a distance of 300
mm~600 mm from the SVM.
• The checkerboard and the camera must be parallel(less than 1°).
• Use the Grid function of the image to position the
checkerboard as follows:• Place the center point where the center arrow “O”
is pointing on the red cross at the center of thecamera image.
• Align the checkerboard vertically and horizontally
along the green guide lines to prevent rotation.
3

Lighting Setting/
Save Shoot Image/
Shoot Pose

Adjust the focus, brightness and lighting to display theedge of the checkerboard clearly.
• Press the Shoot button to check edge information.
• Press the Apply Reference Image button to save thecamera information and Shoot Pose.

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Smart Video Module

No.

Item

Description

4

Camera Calibration ImageRun checkerboard corner point detection.
• Press the View Image button to check the detection
results.
• If detection fails, the checkerboard pattern is not
displayed on the View Image button.
Note• If the calibration data performed by
DART-Vision is found, calibration cannot
be executed from the teach pendant. At
this time, if you want to proceed withthe calibration in the teach pendant, youmust delete the calibration data
performed in DART-Vision.

5

Load TCP Setting

Sets the information of the Tool currently equipped on the
robot as TCP.
• A probe type Tool is recommended. If a gripper isused, it is recommended to make measurementswith a probe-shaped item grabbed as in thefollowing image:• For information about measuring the tool center
position, refer to the Workcell Manager End Effector
Management section of the User Manual.

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No.

Item

Description

6

Obtain PointA - PointD Points

Obtains the robot pose [x, y, z, rx, ry, rz] of PointA - PointD.
• If the base plane of the robot and the workspace
are on the same plane, the tool center point of therobot is aligned based on the base axis.
• Robot poses corresponding to PointA-PointD are
acquired with the aligned axis unchanged using
plane lock and axis lock of the Constraints Motion
button in the robot cockpit.
• Refer to Robot User Manual - Jog - Setting Screen Align according to Base Axis for how to align thebase axis with the TCP end.
• If the workspace where the target item located isslanted, unlike the base plane of the robot, alignthe tool center point according to a virtual vector
area. Refer to Robot Manual – Jog – Setting Screen– Align according to Target Point.
• Perform direct teaching of corner points on the
checkerboard in the order of Ⓐ, Ⓑ, Ⓒ and Ⓓ withthe end of the robot tool to enter the coordinates ofeach point.
• Tap the Move To button to move to thecorresponding point.
• Press the Reset button to reset robot coordinates.
• If the end of the tool fails to accurately pinpoint thecorner points of the checkerboard, point deviation
occurs.

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No.

Item

Description

7

Alignment with Robot Coordinate

Run the camera - robot coordinate matching calculation.
After calculation is completed, the results are displayed. If
successful,save the Calibration information in the camera.
To save the Calibration information in the UI, press theConfirm button on the top of the Workcell Manager.
Success () / Failure ()

Success Criteria• All grid patterns of the checkerboard must be displayedon the image.
• Dark grid patterns of the checkerboard must be
positioned on the top/bottom left.
• Check whether all corner points are detected using View
Image.
• TCP information identical to the information of the tool
equipped must be set.
• Enter corner points of ABCD of the checkerboard withdirect teaching to the robot.
• Teach the robot tool the exact positions of ABCD corner
points of the checkerboard.
• The checkerboard position must not change during
direct teaching.
Failure Criteria• If all corner points of the checkerboard are notdetected.
• If the direct teaching order of ABCD corner points of thecheckerboard is incorrect.
• If the set TCP information does not match theinformation of the Tool equipped.
• If the direct teaching of corner points of thecheckerboard is not accurate.
• If the ABCD coordinates measured by the camera aredifferent from the ABCD coordinates taught to the robot bydirect teaching (calibration fails if a deviation of more than
5 mm occurs).
Items to Check Upon Failure• Check the position/direction of the checkerboard.
• Check whether edges of the checkerboard are clearly
displayed.
• Check whether direct teaching was performed in theorder of ABCD.

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No.

Item

Description• Check whether the TCP setting is correct.
• Check whether the checkerboard print was moved after
Camera Calibration Image.
• Check whether the ABCD corner points of thecheckerboard were taught accurately.

8

Import Calibration Data

Imports calibration data that succeeded in existing vision
works.
• Select a vision work to import the calibration data andpress the import button to save the corresponding
calibration data.

9

Set

Sets the Workcell Item loaded on the left of the Set button
to the current tool center point.

4.2.4 Vision Job > Edit Job
Vision Tool Teaching Area Setting- 114 -

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No.

Item

Description

1

Edit

The settings popup window for the job selected from the Vision Tool List isdisplayed.

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No.

Item

Description

2

Move Teaching
Area (green area)

Press and hold the arrow to move the teaching area.

Adjust Teaching
Area Size (green
area)

Press and hold the arrow to adjust the teaching area size.

Edit Job Name

A virtual keyboard is displayed, and the job name can be edited.

34• Press the Apply button to set the selected area.

• Press the Apply button to set the selected area.

• Press the Apply button to apply the name to the camera.
5

6

7

Crop Inspection
Area

A window limiting the teaching area is displayed. The set area is...

Rotation
Tolerance

Configures the angle tolerance from the reference angle. (input range: 0~180°)

Similarity
ThresholdConfigures the similarity threshold from the reference value. (0~100%)• Saved to the camera when the Apply button is pressed.

• Sets the acceptance range for items rotated at an angle deviating fromthe Reference Image.
• For example, if the Rotation Tolerance is 180 (-180~+180), it detects
items in all rotation angle ranges, and if the Angle Tolerance is 10(-10~+10), it only detects items rotated within 10˚ from the Reference
Image. Setting a larger Angle Tolerance value increases detection speed,
and a smaller value decreases detection speed.
• The tolerance is immediately applied when the scroll is moved.

• Similarity is the level of matching between the edge of the item image
and the edge in the Reference Image.
• The similarity of the item to detect can be set by adjusting the Similarity
Threshold.
• For example, if the Similarity Threshold is 50, the system only detects
items matching a Reference Image of 50% or more.
• Higher Similarity Threshold values increase the level of distinguishingsimilar items, but fail to measure items if there are items with smallchanges, camera distortions or light reflection changes.
• Lower Similarity Threshold values allow flexibility in responding to item/
environment changes, but this can cause incorrect measurements ofsimilar items within the measurement area.
• Setting a proper Similarity Threshold to match the measuring item/
environment is crucial to the success of the Vision Job.
• The tolerance is immediately applied when the scroll is moved.

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No.

Item

Description

8

Edge Intensity

Sets the intensity of edges detected.
• Larger color differences in the area surrounding the edge result in higher
edge intensity, and smaller color differences result in lower edge
intensity.
• If the intensity is set as [+2] from the default [0], only edges with highintensity appear, and edges with low intensity are removed. Setting [-2]will display edges with both high and low intensities.
• The tolerance is immediately applied when the scroll is moved.

9

Simplify

Clean up edges by simplifying them.
• Small, noise-like edges among measured edges disturb the teaching ofshapes. Changing the value from 1 to 5 will remove small edges.
• Larger values remove smaller edges and improve calculation speed.
• The tolerance is immediately applied when the scroll is moved.

10

Accuracy Level

Adjust the Accuracy Level if you want to detect items more accurately or faster.
• Larger values improve shape detection accuracy.
• Smaller values improve detection speed, but decrease shape detection
accuracy.
• The tolerance is immediately applied when the scroll is moved.

11

Apply

Applies Vision Job settings.

12

CancelCancels Vision Job settings.

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Vision Tool Teaching Limit Area Setting- 118 -

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Smart Video Module

No.

Item

Description

1

Crop Inspection Area

Displays an area setting tool that limits theteaching area.
• The set area is saved by pressing the Apply
button.

23Move the Teaching Limit Area (redarea)

Press and hold the arrow to move the area.

Adjust the Teaching Limit Area (redarea)

Press and hold the arrow to adjust the size of thearea.

• The set area is saved by pressing the Apply
button.

• The set area is saved by pressing the Apply
button.

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No.

Item

Description-

Scale/Move

Press the briefcase icon to display the Scale/Moveselection window.
• Fine adjustments to the Teaching Area
position of the image can be made withMove.
• Fine adjustments to the Teaching Area sizeof the image can be made with Scale.
• UP/DOWN Scale buttons and UP/DOWN
Move buttons are displayed.
• Select A: Selects the Teaching Area setting.
• Select B: Selects the Teaching Limit Area
setting.

4

Apply

Applies Vision Job settings.

5

CancelThis clears Vision Job settings.

Create Position Tool and Set Teaching Area
The Position Tool is used for measuring the position and angle of an object (shape). Teach the item (shape) area
to measure from the Reference Image, and set related parameters. The Position Tool measures the amount ofrotation (angle) from the center point of the teaching area and the teaching area.

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No.

Item

Description1

Add Position Tool

Adds a Position Tool to the Vision Tool List.

2

Edit

A setting window of the job selected from the Vision Tool Listis displayed.

3

DeleteThe selected job from the Vision Job List is deleted.

4Move Teaching Area

Press and hold the arrow to move the teaching area.
• The set area is saved by pressing the Apply button.

5

Adjust Teaching Area Size

Press and hold the arrow to adjust the teaching area size.
• The set area is saved by pressing the Apply button.

6

Edit Job Name – Edit Window

A virtual keyboard is displayed, and the job name can beedited.
• Press the Apply button to apply the setting.

7

Apply

Applies Vision Job settings.

8

CancelCancels Vision Job Tool settings.

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Create Presence Tool and Set Teaching Area
The Presence Tool checks the histogram of shapes. The histogram of brightness (level 1-256) of each pixel in theteaching area is calculated (frequency table) to be used as default information for the presence check. Set thebrightness range corresponding to the shape to check and press the Calculate button to measure the area of the
shape (Pixel Count) by detecting pixels corresponding to the set brightness range. Adjust the acceptance range(Tolerance) of the check based on measured area values to set the presence check.

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Smart Video Module

No.

Item

Description1

Add Presence Tool

Adds a Presence Tool to the Vision Tool List.

2

Edit

A setting window of the job selected from the Vision Tool List isdisplayed.

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Smart Video Module

No.

Item

Description

3

DeleteThe selected job from the Vision Job List is deleted.

4Move Teaching Area

Press and hold the arrow to move the teaching area.

5

Adjust Teaching Area Size

Press and hold the arrow to adjust the teaching area size.

6

Edit Job Name – Edit Window

A virtual keyboard is displayed, and the job name can be edited.
• Press the Apply button to apply the setting.

7

Calculate

Checks the histogram distribution of edges within the Presence
Tool teaching area.

8

Histogram Min/Max Setting

Slide the horizontal Histogram Min/Max bar to adjust thedetection level of desired edges.
• Presence check uses histogram check. A histogram is list of
the distribution of brightness of pixels within ameasurement area from 0 to 255. If the measurement area
is completely white, the brighter area (255) value in thehistogram becomes larger, and if the measurement area iscompletely black, the darker area (0) value becomeslarger.
• You can adjust the range of pixels to the desired brightness
using the blue button. If the button reaches the end points(0, 255), it obtains all pixel values within the measurementarea.
• For example, positioning the blue button between 1 and 2
will only obtain pixels with brightness corresponding to 1
and 2.
• The tolerance is immediately applied when the button ispressed.

9

Area Tolerance Limit SettingEnter the pixel value allowed within the detected area in the edit
window. Values exceeding the value range entered are notdetected.
• Area displays the number of pixels corresponding to thebrightness value set using the blue button (0-255).
• If the value exceeds the Area Tolerance range, it isconsidered that the histogram is not similar, and themeasurement fails. If a value exceeds the Test tolerance
range, the inspection result outputs 0.
• Press the Apply button to apply the setting.

10

Apply

Applies Vision Job settings.

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Smart Video Module

No.

Item

Description

11

CancelCancels Vision Job Tool settings.

Create Distance Tool and Set Teaching Area
The Distance Tool measures the distance between two lines. Place areas A and B on a line you want to measureand press the Calculate button to measure the distance between A and B. Adjust the acceptance range(Tolerance) of the check based on measured distance values to set the distance check. [A→B] measurement
refers to the length of the line connecting the center of line A to line B or an extension line of line B.

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No.

Item

Description1

Add Distance Tool

Adds a Distance Tool to the Vision Tool List.

2

Edit

A setting window of the job selected from the Vision Tool List isdisplayed.

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No.

Item

Description

3

DeleteThe selected job from the Vision Job List is deleted.

4Move Teaching Area

Press and hold the arrow to move the teaching area.

5

Adjust Teaching Area Size

Press and hold the arrow to adjust the teaching area size.
• Adjust the area to allow one edge to be captured in it.

6

Adjust Teaching Area Size(circular arrow)

Press and hold the arrow to rotate the teaching area.

7

Edit Job Name

A virtual keyboard is displayed, and the job name can be edited.
Press the Apply button to apply the setting.

8

Select Directions of Line (A,B)

Select the directions for A > B and B >A.
• The direction is immediately applied when the button ispressed.
• [AàB] measurement refers to the length of the line
connecting the center of line A to line B or an extension lineof line B.

9

Calculate• Creates a line that connects the center position of lines A and
B when lines exist in the two teaching areas (A, B).
• The direction is immediately applied when the button ispressed.

10

Distance Display• Enter the pixel value allowed within the detected area in theedit window.
• Values exceeding the value range entered are not detected.

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No.

Item

Description

11

Distance Image Display

Displays the distance between lines detected in two teaching areasin the edit window.

12

Distance Tolerance Setting

Sets the line tolerance from the reference line value.
• If a value exceeds the Test tolerance range, the inspection
result outputs 0.
• Press the Apply button to apply the setting..

13

Apply

Applies Vision Job settings.

14

CancelCancels Vision Job Tool settings.

The center of Line A and Line B refers to the detected line center rather the guideline of the teaching areabox.

Create Angle Tool and Set Teaching Area
The Angle Tool measures the angle between two lines. Place areas A and B on a line you want to measure andpress the Calculate button to measure the angle between A and B. Adjust the acceptance range (Tolerance) of
the check based on measured angle values to set the angle check.

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Smart Video Module

No.

Item

Description1

Add Angle Tool

Adds an Angle Tool to the Vision Tool List.

2

Edit

A setting window of the job selected from the Vision
Tool List is displayed.

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Smart Video Module

No.

Item

Description

3

DeleteThe selected job from the Vision Job List is deleted.

4Move Teaching Area

Press and hold the arrow to move the teaching area.

5

Adjust Teaching Area Size

Press and hold the arrow to adjust the teaching areasize.
• Adjust the area to allow one edge to be
captured in it.

6

Adjust Teaching Area Size (circular
arrow)

Press and hold the arrow to rotate the teaching area.

7

Edit Job Name – Edit Window

A virtual keyboard is displayed, and the job namecan be edited.
• Press the Apply button to apply the setting.

8

Calculate

Measures the angle at which the extension lines ofeach line meet when lines exist in the two teachingareas (A, B).

9Angle Display

Displays the angle between lines detected in two
teaching areas in the edit window.

10

Angle Image Display

Displays the angle between lines detected in two
teaching areas on the image.

11

Angle Tolerance Setting

Configures the angle tolerance from the reference
angle.
• If a value exceeds the Test tolerance range,
the inspection result outputs 0.
• Press the Apply button to apply the setting.

12

Apply

Applies Vision Job settings.

13

CancelCancels Vision Job Tool settings.

The center of Line A and Line B refers to the detected line center rather the guideline of the teaching areabox.

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Create Diameter Tool and Set Teaching Area
The Diameter Tool measures the diameter and the center point position of the measured circle. Align the circle
center with the center of the circular item, position circle A outside the circular item to be measured, andposition circle B inside the circular item. Press Calculate to measure the circle, and the diameter and center
point of the circle are displayed. Adjust the acceptance range (Tolerance) of the check based on measured
diameter values to set the diameter check.

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Smart Video Module

N
o
.

Item

Description1

Add Diameter
Tool

Adds a Distance Tool to the Vision Tool List.

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Smart Video Module

N
o
.

Item

Description

2

Edit

A setting window of the job selected from the Vision Tool List is displayed.

3

DeleteThe selected job from the Vision Job List is deleted.

4Move Teaching
Area

Press and hold the arrow to move the teaching area.

5

AdjustTeaching Area
Size

Press and hold the arrow to adjust the teaching area size.

6

Edit Job Name
– Edit Window

A virtual keyboard is displayed, and the job name can be edited.

Calculate

Detects circles that exist between two teaching areas (A, B).

7• Press the Apply button to apply the setting.

Move circle A to be positioned outside the circular item, and move circle B to bepositioned inside the circular item. Place the green center point in the center of theitem. After calculation is performed, the circle between circle A and B is identified, andits diameter and center point positions are displayed.

8

9

Diameter
Display(after #7)

Displays the diameter of the measured circle in the edit window.

Circle Display(after #7)

Displays the measured circle on the image.

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Smart Video Module

N
o
.

Item

Description

1
0

DiameterTolerance
Length Setting- Edit Window

Configures the length threshold from the reference length value.

1
1

Apply

Applies Vision Job settings.

1
2

CancelCancels Vision Job Tool settings.

• If a value exceeds the Test tolerance range, the inspection result outputs 0.
• Press the Apply button to apply the setting.

4.2.5 Vision Job > Test
Recognition tests for Vision Job, Position Tool, Presence Tool, Distance Tool, Angle Tool and Diameter Tool canbe performed.
ItemLive/Shoot Mode

Description• Displays the image from the Live/Shoot mode, and the
button changes to• gray.
• The captured image is displayed beneath the Live/Shootbutton.
• If the measurement is successful, the red circle (to the Name changes to blue ().

) next

Tap the Confirm button after all tests are complete.

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Smart Video Module

4.3 Programming
Adding a Vision Command in the Task Builder will add Vision and End Vision.
Adding a Vision Command in the Task Writer will add Vision and End Vision.

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Smart Video Module

4.3.1 Vision Command Setting Options

N
o.

Item

Description

1

Select Vision Job

The Vision Job List configured in the Workcell Manager displays the image of the
Vision Job selected from the popup list.
• Selecting a Vision Job using Select Vision Job enables Vision-related
functions.
• The Vision Variables of Tools included in the Vision Job can be obtained.
A Vision Job can be selected.

2

Move to ShootPose3

Display Image

4• Move to the Shoot Pose of the job selected with Select Vision Job.
• Disabling this option means that the Shoot Pose configured for the Vision
Job will not be used.
Default image, Live image and Shoot image are displayed.
Tap the Live button to display the live image.

Live/
Shoot

Tap the Shoot button to display the test result image.
• Obtains data of the Vision Tool added to the Vision Job with the Workcell
Manager, and adds it to the Vision Variable list.
Live mode ends after 5 minutes of no action.

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N
o.

Item

5

Vision Variable

6

Advanced Option >Vision Exception

Description• Displays the data list of the Vision Tools added to the Vision Job.
• Press each item to view the values of the current Tool.
Select an action if Vision measurement fails.
• Retry: Set the number of Retry attempts if measurement fails. (Initial
measurement + up to three retry attempts)• Skip Vision: Skips the failed measurement stage and retries
measurements according to the number of Retry attempts.
• Stop Task: Stops the Vision Task if measurement fails.

If an object is measured after the Shoot button is clicked, the object must not move until MoveL
completes Get_pose. If the object is moved before Get_pose is complete, the robot will not move to adesired point during Vision offset.

4.3.2 Task Builder: Using Vision in Skill Commands- 137 -

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No.

Item

Description

1

Add Skill Command after Vision Shootand before Teaching Position Entry• Enter the desired robot position.
• Inserting a Skill Command (Pick, Place, etc.)
between Vision and End Vision in the Task
List will create a toggle button for the skill
command to use Vision Position Offset.
(The button is not displayed if there is no
Skill Command between VisionStart andVisionEnd.)
Caution: To use Vision Position Offset, it isnecessary to perform calibration in the Workcell
Manager. Without calibration, the robot cannot be
moved to a desired position.

2

Picking Pose3

Vision Position Offset

4

Vision Variable

Acquires the pose after moving the pose to pickbased on the Vision Pose using direct teaching.
• Match the Vision measurement pose androbot pose.
• The Vision measurement pose can be moved
based on the robot.
Select a pose to match the Vision and robot
coordinates.

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4.3.3 Task Writer: Using Vision in Motion Commands- 139 -

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Smart Video Module

N
o.

Item

Description1

Add Motion
Command after
Vision Shoot andbefore Teaching
Position Entry

Enter the desired robot position with Move L.

2

Get pose

Acquires the pose after moving the pose to pick based on the Vision Pose using
direct teaching.

3

Add Motion
Command for Vision
Offset PoseIf you insert a Motion Command (Move L, Move B, etc.) between Vision and End
Vision in the Task List, a toggle button for Vision Position Offset will appear, as
shown in ③ in the last line of Move L. (The button is not displayed if there is no
Motion Command between Vision and End Vision.)
Caution: To use Vision Position Offset, it is necessary to perform calibration in
the Workcell Manager. Without calibration, the robot cannot be moved to adesired position.

4

Vision Position Offset

5

Vision Variable• Match the Vision measurement pose and robot pose.
• The Vision measurement pose can be moved based on the robot.
Select a pose to match the Vision and robot coordinates.

4.3.4 Vision Skill: Installing the Vision Skill
To effectively utilize some of the features of the newly released DART-Vision, you can make use of the Visionskill. In order to use the Vision skill, you’ll need to have completed SVM set-up using DART-Vision beforehand.
The DART-Vision setup can be performed easily by following the instructions in the DART-Vision manual.
• The Vision skill installation file provided by Doosan Robotics can be found in the Doosan Robotics Robot
Lab (https://robotlab.doosanrobotics.com).
• The Vision skill can be created directly through the App Builder. You can find the App Builder manual andmaterials in the Doosan Robotics Developer Lab (https://devlab.doosanrobotics.com).
Follow the images below to install theVision skill.

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1. This is the initial entry screen

2. Enter the Settings menu and click Workcell Item, then Skill Install & Uninstall menu

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3. Press the Install button. The below popup will appear. Click the check button and press OK.

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4. Check the Vision skill file DART_Vision_2_8_R07.dr3, which was loaded on the USB, and click OK.

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Smart Video Module

5. After installation, you’ll be told to reboot the robot. Reboot the robot.

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Smart Video Module

6. After rebooting, add the Smart Vision module in the Task Builder. Preparations for use are now complete.

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4.3.5 Vision Skill: Using the Shoot Pose skill
The Shoot Pose skill returns the robot pose with the shooting height set via DART-Vision. This skill utilizes thereturned pose to move the robot to the shooting position.

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The Shoot Pose skill must be used after carrying out hand-eye calibration or auto calibration under the DARTVision Calibration tab and saving the calibration data in the SVM. If you have not performed calibration, pleaserefer to the DART-Vision manual to do so.
After completing 'Vision Skill: Installing the Vision Skill', move the command scroll bar downward to check
whether the Shoot Pose skill is present. If it is, follow the order in the image.

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Smart Video Module

1. Click the Shoot Pose button under the Command tab to add the Shoot Pose skill.

2. Open up Required Information in the Property tab and input the IP address and job ID of the shootingpose.

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3. Press the Edit & Add button under the Variable tab.

4. Add in System_SVM_Shoot Pose.

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5. Because the Shoot Pose is a joint coordinate, press the Joint button.

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Smart Video Module

6. Press Get Pose. Pressing the Add button will add a variable.

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Smart Video Module

7. Close the window, press the Variable List button, then press the Variable.

8. Check the System_SVM_ShootPose checkbox and press Confirm to select the Variable.

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Smart Video Module

9. Return to the Property tab, open up Shoot Pose Check, and click the Shoot Pose button.

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Smart Video Module• In order to perform property check testing, the robot must be in Servo On status.

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Smart Video Module• You cannot use this without first adding the system parameter System_SVM_ShootPose.

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Smart Video Module

4.3.6 Vision Skill: Using the Landmark skill

The Landmark skill returns the landmark’s origin pose and the pose offset from the origin pose. You can use thereturned Robot pose for various tasks. You can move from the landmark to an object pose at the distance of theoffset value. In addition, you can use a constant Landmark pose to correct the pose. Please use the Landmark
skill freely.
The Landmark skill's Offset pose must be used after carrying out hand-eye calibration and auto calibration
under the DART-Vision Calibration tab and saving the calibration data in the SVM. If you have not performed
Calibration, please refer to the DART-Vision manual to do so.

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Smart Video Module

1. Click the Landmark button under the Command tab and add the Landmark skill

2. Open up Required Information in the Property Tab and input the IP address and job ID.

3. Open up Optional Information to input the movement offset from the origin.
• The direction Euler angle type employed by Doosan Robotics is Euler ZYZ. Selecting the default
value of Euler ZYZ allows immediate utilization for the Posx format used for MoveL, MoveB, etc.

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Smart Video Module• If you wish to convert to Euler XYZ in the options for the output of the coordinates, additional
coordinate system conversion calculations are necessary.

4. Click the Edit & Add button under the Variable Tab.

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5. Add in System_SVM_Landmark.

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6. Press Get Pose. Pressing the Add button will add a variable.

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7. Close the window, press the Variable List button, then press the Variable.

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Smart Video Module

8. Check the System_SVM_Landmark checkbox and press Confirm to select the variable.

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9. Use the Landmark Detection button to check that the values are normal.

• In case of not detecting landmark:- 166 -

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4.3.7 Vision Skill: Using the Barcode Skill
The Barcode skill is capable of detecting 1D/2D barcode data. You can compare barcode data already registeredin the SVM with the currently detected barcode. Please use the Barcode skill freely.

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In order to use the Barcode skill, you must first carry out barcode registration in Barcode Detection under the
DART-Vision Detection tab and save the barcode data in the SVM. Please refer to the DART-Vision manual for
instructions on barcode data registration.
1. Click the Barcode button under the Command tab and add the Barcode skill.

2. Open up Required Information in the Property Tab and input the IP Address and Job ID.

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3. Click the Edit & Add button under the Variable Tab.

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4. Click Variable, add System_SVM_Barcode_Data, and input the value.

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5. Click the Add button to add the variable.

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6. Close the window, press the Variable List button, then press the Variable.

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7. Check the System_SVM_Barcode_Data checkbox and press Confirm to select the Variable.

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8. Open up Barcode Detection Check under the Property tab and click the Barcode Detection button.

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9. Use the Barcode Detection button to check that the values are normal.

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4.3.8 Vision Skill: Utilizing IF statements
In order to utilize the Vision Skill, the system parameters including System_SVM_ShootPose,
System_SVM_Landmark, System_SVM_Barcode_Data, and System_SVM_Barcode_Comparison must be
utilized.
• System_SVM_ShootPose cannot be used without calibration.
• System_SVM_Landmark will be output as posx(0,0,0,0,0,0) if no detection occurs.
• System_SVM_Barcode_Data will be output as Empty if no detection occurs.
• System_SVM_Barcode_Comparison will be output at 0 if no values are saved in the SVM, or 1 otherwise.

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1. You can add an IF statement under Command and system parameters in VAR under Property.

2. In the case of System_SVM_Landmark, the output will be posx(0,0,0,0,0,0) if no detection occurs. Thisshould be dealt with as shown below.

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3. In the case of System_SVM_Barcode_Data, the output will be Empty if no detection occurs. This should be
dealt with as shown below.

4. In the case of System_SVM_Barcode_Comprison, 1 will be output if there is data in the SVM. This should be
dealt with as shown below.

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4.4 Product Specifications
Dimensions (W x D x H)

92 mm X 132 mm X 25.6 mm

Weight348 gResolution

CMOS 2.5 M pixel (1920 X 1440)

CameraManual Focus

Brightness

White LED X 2 EA (800 Lux@WD500 mm)

Communication

TCP/IP, 100 Mbps

Power

24 W (24 V, 1 A)

4.4.1 Measurement DistanceThe camera measurement area varies according to the distance from the camera. The measurement area of thecamera according to distance is as follows: If the distance is shorter than the recommended distance or thecamera is outside the measurement area, the measurement accuracy will decrease or there may be
misrecognition. When used in areas outside the measurement areas below, configure the work area after
performing a sufficient number of tests.
Distance from the Camera (mm)Measurement Area

300

400

500

600

W (Horizontal)

300

396

494

593

D (Vertical)

220

293

367

440

0.19

0.25

0.319

0.384

Length / 1pixel (mm)4.4.2 Size and Height of Measuring Items
The size of items to measure is limited by the size of the measurement area according to distance, and thesystem recognizes items with a size from 10% to 70% of the measurement area.
Distance from the Camera (mm)

300

400

500

600

Size of Item

30x22

40x29

49x37

59x44

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Max. (WxH)Max. Height of Item

180x130238x176296x220356x264

22

29

37

44

All 2D Visions, including Vision by Doosan Robotics, can have misrecognition due to distortions created byperspective view. The maximum height of the item to be measured is recommended to not exceed the smallest
surface dimension. Even if the measurement height is lower than the maximum height, misrecognitions can still
occur due to perspective views created according to the camera view, and if the view is close to Top View,
misrecognitions can be minimized even if the measurement height is higher than the maximum height.

4.4.3 Measuring Item and Background
Light reflected by surfaces of the measuring item or the background can cause misrecognition and hinder
measurement accuracy. Also, if the measuring item and background have similar colors, this can also cause
misrecognition and hinder measurement accuracy.

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5 Conveyor Tracking
5.1 Precautions Before Use• Currently, only the Linear Conveyor is supported.
• One robot can support up to two conveyors.
• When connecting one conveyor, it is necessary to have one encoder, which can measure the traveling
distance of the conveyor, and one triggering switch, which detects objects passing through a particular
starting point.
• The encoder signal and triggering switch can only be used in one robot. In other words, one conveyor
cannot be connected to more than two robots.
• The encoder and triggering switch are connected to the encoder terminals (TBEN1, TBEN2) of thecontroller. Connect the encoder with A phase or A/B phase depending on the specifications, and connect
the triggering switch to S phase. For details about sensor selection and connection, refer to Installation
Manual 4.2.6.
• The encoder resolution is selected by taking into account the resolution of the encoder itself and every
reduction ratio from encoder input up to workpiece traveling mechanism. Select an encoder resolutionthat allows the entire system resolution to be at least 5000 count/m. If the entire system resolution isgreater than 10000 count/m, there is no point in upgrading system performance.
• If the above recommended resolution is maintained, the conveyor speed supports a range of 10 mm/s ~500 mm/s.
• All task motions are supported during conveyor tracking. However, Absolute motion only allows Base,World and Conveyor Coordinates, and Relative motion allows all.
• The Compliance Control command can be executed during conveyor tracking.
• In the current version, the Force Control command cannot be executed during conveyor tracking.
• If no task motion is present during Conveyor Tracking, both Set Tool Weight and Set Tool Center Positioncommands are allowed.
• A pattern cannot be added from a skill during conveyor tracking. Skills requiring skill and force control
integrated with the machine/boltfeeder are not supported. The skill functions Contact Sensing or ForceControl are not supported.
• Skills not supported:• Skills including the machine/boltfeeder: INTLK_Pick, INTLK_Place, PickBolt• Skills requiring Force Control: Insert, Contact

5.2 Settings with Workcell Manager (WCI)
Set the external encoder in the Workcell Manager, check the hardware connection and signal settings, and set
the conveyor tracker.

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5.2.1 External Encoder Settings
The external encoder sets the encoder channel according to the encoder connection, sets the A-B phaseaccording to the encoder specification, and sets the S Phase mode according to the triggering switch sensor
specifications and configurations.

Encoder Channel Settings
Up to two encoder channels can be set. Check the port connected to the controller and set the channel.

A-B Phase Mode Settings
Set the A-B Phase. The A-B phase is a channel related to the encoder resolution. If the encoder supports twochannels, a connection is made to the A-B phase, but if the encoder only supports one channel, the connection
is made to the A phase.

There are four options in the A-B Phase Settings. QEP mode and Count(A)-Direction(B) mode are options that
use two channels, and Up Count(A) mode and Down Count(A) mode are options that use 1 channel.

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A-B Phase Mode

Description

QEP Mode

Quadrature Encoder Pulse Mode. This combines the counts of channels A and B toexpand the resolution by four times. For example, if A and B phases have 500 counts
each, the overall resolution will be 2000 = 500 4 counts.

Count(A)Direction(B) Mode

A phase is an option for counts, and B phase is an option determining the direction.
Depending on the high/low status of the B phase, the count of the A phase is adjusted up
or down.

Up Count(A) Mode

This uses the A phase signal as an up count.

Down Count(A)ModeThis uses the A phase signal as a down count.

The A Phase Polarity and B Phase Polarity settings determine whether to use each phase as is or in reverse.
Reversing each phase can change the up and down counts, so if changing the direction is the objective, using
Inverse mode allows more intuitive settings.

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Z Phase Mode Setting
Z Phase mode uses the Z phase signal to compensate the encoder count. Conveyor tracking uses theincrementation of the encoder rather than its absolute value, so Z Phase mode is normally not used.

S Phase Mode Settings
The S Phase is the channel connected to the triggering switch. This sets the Encoder Count as 0 if an object
passes the triggering switch and triggers Sensing when count clear mode is set.
The S phase trigger signal polarity determines which edge of the S phase signal will execute clearing.

Inverse Mode Settings
Inverse mode is capable of intuitively changing the count direction forward/backward.

Setting Check
After setting is complete, check the setting while operating the conveyor. Monitor the input signal to monitor
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numbers from 0 to the maximum value. While it is not mandatory, it is recommended that the count be set toincrease as the conveyor moves.
Encoder Strobe Count is a counter that increases each time an item is detected by the triggering switch. Block
the triggering switch and check whether the accumulative count increases and the encoder count decreases to
0 at the desired edge.
Ideally, the encoder strobe count of the corresponding edge shall only increase by 1. However, there are cases
where multiple counts are made at the edge due to signal noise. It is possible to compensate for such multiple
counts accumulated at the edge with triggering_mute_time during conveyor tracking, but as noise can also
influence the encoder count, it is recommended that the cause be eliminated by checking the hardware.

5.2.2 Conveyor Tracker Settings
The conveyor tracker is set in the order of Interface > Coordinates > Speed tab.

Interface Settings
Load the external encoder configured under Encoder Workcell Item.
Triggering Mute Time is used when the noise in the triggering switch sensor is at an acceptable level. For
example, when a workpiece passes through the triggering switch, an edge may be detected, but additional
samples of the edge may be detected within a short period of time after detection due to the electric noise
generated during signal switching. In such cases, set the mute time to allow the first edge detected to berecognized as a workpiece and subsequent edge detections after the first detection to be ignored for the set
time. This setting is used when the workpiece interval can be estimated and electrical noise cannot be
controlled due to poor conditions in the work environment.

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Coordinate Settings
The purpose of the Coordinates tab is to set the Count/Distance values and the conveyor coordinates under
Conveyor Detailed Settings. This calculates the converted value, which indicates how much the encoder countincreases when the conveyor moves, and which point the conveyor is fixed to in a particular space.

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The x-axis of the conveyor coordinates is the direction of the conveyor’s movement in terms of the reference
coordinates (Base or World).

Methods to calculate these values are Auto Measure, after teaching the conveyor teaching points to the robot,
and Manual Calculation from the system design specifications. It is possible to use Manual Calculation if it isdifficult to teach the robot about the workpiece, but Auto Measure is recommended in most scenarios.

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Auto Measure
Teaching consists of placing the workpiece before the workpiece detection switch, operating the conveyor, andstopping the conveyor intermittently to teach the robot to obtain position information. Check that the TCP is
identically set in the program to be used before teaching.

Base Coordinates and World Coordinates can be selected as the reference coordinates during teaching. World
Coordinates is helpful as it allows two robots to share a single conveyor without re-teaching.

Place a workpiece on the conveyor before the workpiece detection switch in the same way it is done during
actual work. Turn on the conveyor and stop it after the workpiece passes the conveyor’s triggering switch.
Teach the reference point of the workpiece at this moment, and press Save Pose to acquire the current encoder
count and robot location of Point X1.

Turn on the conveyor again and stop it in the same way to acquire a location for Point X2. Point X is used to
calculate the x-axis of the conveyor coordinates. While just X1 and X2 are sufficient, up to four points canundergo teaching to improve accuracy. Depending on the number of teachings, spread the position within the- 189 -

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range where the robot can undergo teaching.

Point Y is used to calculate the y-axis of the conveyor coordinates, so it is acquired by teaching a workpieceplaced on an X-Y plane to generate a y-axis in addition to Point X.

Acquire a teaching point and press Auto Measure to automatically calculate Conveyor Detailed Settings. Check
whether the conveyor coordinates are calculated to a point near the physical location of the triggering switch.
(Depending on the detected edge, offset may exist in the direction of the conveyor)

Manual Setting
The workpiece’s location is calculated by applying the encoder count, increasing in the direction of x for theconveyor coordinates, when the workpiece passes the triggering switch. The setting is set based on thetriggering switch, conveyor position and workpiece reference point, and even in situations where it is difficult to- 190 -

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identify the exact position, setting the correct x-axis direction for Conveyor Coordinates will allow the remaining
offset to be accurately entered in Task Motion under TB/TW, so it is acceptable to not enter the exact value.

Count and Distance are conveyor tracking commands in TB/TW, and entering the Wait command without a task
motion will result in the tracking of conveyor movement from the current position. The user can adjust thiswhile monitoring the speed trend. If the robot moves more slowly than the conveyor, reduce the Count/
Distance, and if the robot moves faster, increase the Count/Distance.

Speed Settings
The conveyor speed and section settings are under the Speed tab.
The filter size under Conveyor Speed is the size of the conveyor speed filter. Select an intuitive moving-averagefilter under Conveyor Tracking. Increase the filter value if there is vibration in the robot and reduce the value if
the tracking performance in the conveyor acceleration section is low.
Measure Nominal Speed using the Auto Calculate button while operating the conveyor. If the conveyor speed is200% higher than Nominal Speed, it can be used to provide information. It does not require an accurate value,
so entering a design specification value without actual measuring is acceptable.

Next, set up Conveyor Section. Min Distance and Max Distance are related to the work section of Conveyor
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detection switch. The robot can conduct conveyor tracking up to an area the size of the Max Distance value, but
not that of the Out-Tracking Distance.
If the robot enters the out-tracking distance, it generates an error and decelerates. Increase the out-tracking
distance to apply gradual deceleration.
The watch window is the area where work candidates are determined. Workpieces in this area can only become
work targets once the work begins. Starting from the minimum distance, setting a wider area will increase thenumber of work targets. However, in a worst-case scenario, this can cause workpieces at the end of the watch
window to become targets, so it is recommended that the watch window size be adjusted to allow all work in
the tracking zone to be completed.

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5.3 Programming (TB/TW)
Programming of conveyor tracking is done through the Conveyor Coordinates command and Conveyor
Tracking command in TB/TW. Coordinate information of the workpiece is obtained with the Conveyor
Coordinates command, and conveyor tracking motions are performed with the Conveyor Tracking command.
The Conveyor Tracking command also offers a function for acquiring a teaching point from the conveyor
coordinates.
Select Conveyor Tracker from Workcell Item when creating a task on TB.

Then, the Conveyor Coordinates and Conveyor Tracking commands will be available under Advanced
Commands.

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TW will make the Conveyor Coordinates and Conveyor Tracking commands available under Advanced
Commands.

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5.3.1 Conveyor Coordinates
This command acquires the coordinate information of the moving workpiece. This command returns thecoordinates information of a workpiece in the watch window at the time the command is executed.

This selects the set conveyor workcell item.

This enters a name for the conveyor coordinates. This saves the conveyor coordinate numbers (121-150) on theentered variable.

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Time Out sets the standby time until workpiece information is received. Setting it as Disable or as 0 will put it on
standby indefinitely until a workpiece is delivered. If a workpiece is not delivered within the set time, it skips tothe next program line.

Picking Rules determines whether to work on workpieces received first or workpieces received last. First In FirstOut or Last In Last Out can be selected.

This is used to offset Object Offset Coordinates. If the corresponding variable requires it, this updates the
program in real time with Pose Variable, which is used to give a static offset, and Pos(x) Variable, which is used
to dynamically change the offset.

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5.3.2 Conveyor Tracking
Inserting the Conveyor Tracking command into the programming creates a Conveyor Tracking line and an End
Conveyor Tracking line. At this time, the robot will perform the conveyor tracking motion. It is possible to insert
the Wait command to check whether tracking is being performed well, or insert various other Task Motioncommands to develop the desired work.
The Conveyor Tracking line accelerates to allow the robot to track the conveyor speed. Default acceleration
time is 0.3 s, and to adjust it, the drl command tracking_conveyor must be used under Custom Code. As it
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overlaps with the acceleration motion. Task motion deviation can be present in the acceleration area, but once
acceleration ends, tracking can be performed accurately.
The End Conveyor Tracking line decelerates to allow the robot to stop conveyor tracking. Default acceleration
time is 0.3 s, and to adjust it, the drl command tracking_conveyor must be used under Custom Code. As it
proceeds to the next line as soon as it accelerates to reduce takt time, when a task motion is encountered, it
overlaps with the deceleration motion. However, as Joint Motion cannot be performed during deceleration, if
Joint Motion is required immediately after End Conveyor Tracking, perform Wait for 0.3 s or perform Task
Motion for more than 0.3 s before performing Joint Motion.
Conveyor Coordinates gives the workpiece coordinates used to execute conveyor tracking. The coordinates set
using the Conveyor Coordinates command are listed.

Also, it is possible to obtain a teaching point for using Task Motion. The teaching point for Conveyor Tracking
must be entered based on the workpiece coordinates, so in order to obtain an accurate teaching point, thecoordinates must be entered manually based on CAD information or be obtained through the following
procedure: This step can be omitted if the coordinates can be obtained with only the designed value.
• With the Start button pressed, let workpieces flow through like during an actual workflow.

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Conveyor Tracking• When a workpiece enters the monitoring section, a green indicator lights goes on at Get Pose Ready. Afterthe indicator light goes on, stop the conveyor in a position where the robot can perform teaching properly.
If the green indicator light does not go on, press Stop and restart the process.

• After teaching the robot based on a workpiece during the stop, press Save Pose to obtain as manyteaching points as necessary. (up to 20 points)

In addition to workpiece coordinates, the teaching point supports teaching points in Base or World coordinates.
In order to use them, it is necessary to obtain the teaching points of the corresponding coordinates in the Task
Motion Property window.

5.4 Other Items to Note
Here are the program templates commonly used.

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5.4.1 Pick & Place (One Conveyor)
This example picks a workpiece moving on one conveyor and places it outside the conveyor. Perform teachingof ApproachPose and PickPose at Conveyor Tracking Property.

By selecting Conveyor Coordinates (Coord1 in the example) as the coordinates at MoveL in the Conveyor
Tracking node, it is possible view teaching points that underwent teaching at Conveyor Tracking. Select ateaching point (ApproachPose, PickPose) to complete programming.

5.4.2 Pick & Place (Two Conveyors)
This example picks a workpiece moving on one conveyor and places it on another conveyor. While the method
is identical to the example in Pick&Place (2Conveyor), it requires two pairs of Conveyor Coordinates andConveyor Tracking commands, and each must be programmed at different conveyors.

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5.4.3 Multiple Workpiece HandlingThis example handles workpieces continuously supplied by one conveyor. If a workpiece is handled between
Conveyor Tracking and End Conveyor Tracking, and if the overall work time is not sufficient, obtain Conveyor
Coordinates information rather than performing End Conveyor Tracking to continue the work.

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Note that it is necessary to differentiate the first coordinates and the second coordinates when teaching. Selectcoordinates suited for the workpiece, perform Start Teaching, and perform Get Pose to obtain teaching points
suited for each coordinate. If the workpiece is identical, it is acceptable to share identical teaching points.

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