Doosan M0609 Reference Manual page 55

It is a skill that finds the target point by searching with Spiral motion near the target point when the
workpiece must be inserted into a hole at an inaccurate point. If the workpiece must be inserted into
the target in tasks, such as gear assembly, it is possible to execute insertion motions by inserting
incorrectly positioned workpieces through periodic motions. Insert skill requires contact with external
forces, so it requires Compliance Control by default.
•
Spiral Search motion and Rotation Search motion to find holes must be configured.
•
For Spiral Search motion, Max. Revolutions, Spiral Interval, Max. Radius, Velocity and
Acceleration can be configured.
•
For Rotation Search motion, Amplitude, Period and Repeat can be configured.
•
The user can configure Timeout as a method to notify the failures of the two motions.
Item
Pneumatic Gripper
Reference Pose
Depth
Force
Spiral Interval
Max. Revolutions
Max. Radius
Velocity
Acceleration
Amplitude
Period
Repeat
Timeout
Note
If A-Series is not installed with FTS, the Insert skill cannot be used.
Description
Displays the Workcell Item (Insert  Pneumatic Gripper)
required for configuring the corresponding skill.
This configures the point point where the workpiece is
inserted in the hole.
It configures the depth of the hole.
This configures the force applied in the movement
direction.
Configures the spiral interval of Spiral motion.
This configures the total revolution count of the Spiral
motion.
This configures the final radius of the Spiral motion.
This configures the velocity of the Spiral motion.
This configures the acceleration of the Spiral motion.
This configures the amplitude of the periodic motion.
This configures the period of the periodic motion.
This configures the repetition count of the periodic motion.
This configures the time required for checking failed work.
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