Skill Command Property Setting; Understanding Basic Principles Of Skill Commands - Doosan M0609 User Manual

8.7

Skill Command Property Setting

8.7.1 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
that is perpendicular to the action 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.
Move 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, and a different direction can also be selected. The Approach
Distance entered is automatically calculated for the Action Pose and moves to the corresponding point.
Move to Action Pose: This is the point on the workpiece where the End Effector performs work. (i.e.
Picking Pose, Placing Pose)
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