Page 2: Table Of Contents
Table of Contents Preface ..................5 Copyright ....................5 Open Source Software License Information (OSS)........... 5 Workcell Item ................. 6 Workcell Item Summary ................6 2.1.1 Workcell Item Common Setting Options ................6 End Effector ....................6 2.2.1 Gripper ..........................6 2.2.2 Tool ..........................8...
Page 3 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......................
Page 4 Settings with Workcell Manager (WCI) ............182 5.2.1 External Encoder Settings ................... 183 5.2.2 Conveyor Tracker Settings ..................186 Programming (TB/TW)................193 5.3.1 Conveyor Coordinates....................195 5.3.2 Conveyor Tracking ...................... 197 Other Items to Note ..................199 5.4.1 Pick & Place (One Conveyor) ..................200 5.4.2 Pick &...
Page 5: Preface
1.1 Copyright The copyright and intellectual property rights of the contents of this manual are held by Doosan Robotics. It is therefore 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.
Page 6: Workcell Item
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.
Page 7 Workcell Item Item Description out_Grasp This sets the output signal for grasping the target. A motion is executed when the grasp 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 the release output signal is on and the grasp output signal is off.
Page 8: Tool
Workcell Item 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_Run...
Page 9: Machine
Workcell Item This is a test function for the screwdriver WCI. Test Function Description [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.
Page 10: Turning Center
Workcell Item 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.
Page 11 Workcell Item Item Description Chuck_Open_in This configures the input signal for checking whether the chuck is properly closed. Chuck_Close_in This 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_in This configures the input signal for checking whether the door is properly opened.
Page 12: Molding Machine
Workcell Item 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.
Page 13: Peripherals
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 be handled with minimum (4-point) instructions. Workpieces can be approached sequentially by entering the row, column, stack and thickness.
Page 14: Bolt Feeder
Workcell Item Item Description Pallet Pattern This selects the robot’s movement pattern. Snake, zigzag, rhombus snake, rhombus zigzag Approach/Retract Distance This is for entering the approach/retract distance in x, y and z values from the tool. In general, to retract 100 mm in the z-direction, “0, 0, -100” must be entered.
Page 15: Additional Workcell Items
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).
Page 16 Workcell Item Item Description Port Type A different type cannot be set for the flange serial. Communication Speed Sets the communication speed. Byte Size Sets the byte size. Parity Bit Sets the parity bit. Stop Bit Sets the stop bit. Signal Name Sets the name of the signal to exchange.
Page 17: Additional Workcell Item List
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. •...
Page 18 Workcell Item Schmalz – ECBPi (CobotPump) Item Description Grasp It configures the output signal for grasping the target. Release It configures the output signal for releasing the target. Gripper Close It configures an input signal that checks whether the grasping of the target is performed. Sensor This item is optional.
Page 19 Workcell Item This Workcell item is a pneumatic gripper operated with digital I/Os. The gripper closed/open sensor can be used after connecting a separate sensor. The following list contains skills and commands that can be used in conjunction. • Grasp •...
Page 20 Workcell Item • Stacking Pallet / Line / Pallet(Rhombus) Zimmer - GEP2000 Item Description Grasp It configures the output signal for grasping the target. Release It 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 and commands that can be used in conjunction .
Page 21 Workcell Item Item Description Force This 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 and universal.
Page 22 Workcell Item Item Description Auto Release It selects the gripper’s release option during a robot undergoing emergency stop. The Option 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.
Page 23 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 the user for the Modbus slave equipment are displayed. To add new items, go to Setting > Network >...
Page 24 Workcell Item Item Description Current Position This is the input signal for the current position of the gripper. Sensing 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 and commands that can be used in conjunction.
Page 25 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 This is the input signal for the gripper’s status.
Page 26 Workcell Item Item Description Grasp The gripper position when the corresponding workpiece is grasped. Release The 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.
Page 27 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 the user for the Modbus slave equipment are displayed. To add new items, go to Setting >...
Page 28 Workcell Item Item Description Close chuck#1 (LH When the corresponding signal is On, the MC clamps the Chuck. Spindle) 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 the next block.
Page 29 Workcell Item Item Description Close chuck#1 (LH It is the Main Chuck clamp check signal. Spindle) 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...
Page 30 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 the user for the Modbus slave equipment are displayed. To add new items, go to Setting >...
Page 31 Workcell Item Item Description Tailstock When the corresponding signal is On, the MC finishes the Service M-code request signal forward and executes the next block. Tailstock When the corresponding signal is On, the MC finishes the Service M-code request signal backward and executes the next block.
Page 32 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...
Page 33 Workcell Item OnRobot RG2 Item Description Modbus Address 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.
Page 34 Workcell Item OnRobot RG6 Item Description Modbus Address 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.
Page 35 Workcell Item Zimmer_HCR-03-DIO Item Description Grasp It configures the output signal for grasping the target. Release It 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 complete.
Page 36 Workcell Item • Polish(Hole) • Polish (Hole) Line • Polish (Hole) Pallet • Polish (Hole) Pallet (Rhombus) - 36 - Reference manual(V2.10)
Page 37: Task Programming Commands And Templates
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.
Page 38 Task Programming Commands and Templates 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, but a different direction can also be selected. The Approach Distance entered is automatically calculated for the Action Pose and moves to the corresponding point.
Page 39 Task Programming Commands and Templates Move to Reference Pose This is the point on the workpiece where the End Effector performs work. To set detailed coordinates other than the velocity and acceleration for the reference pose, press the button on the right side of the reference pose.
Page 40 Task Programming Commands and Templates Move to Start Pose If the End Effector execution target does not end with a single motion, there may be an intermediate point and an 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)
Page 41 Task Programming Commands and Templates Move to End Pose If the End Effector execution target does not end with a single motion, there may be an intermediate point and an 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)
Page 42: Compliance Control And Contact Check
With the Compliance Control and Contact Sensing functions, which are unique force control technologies of Doosan 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.
Page 43 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. •...
Page 44: Common Skill Screen Layout
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.
Page 45 Task Programming Commands and Templates Item Description Compliance This sets compliance control-related information. Control Setting - The reference coordinates during compliance control operation are the changed to the tool coordinates. Contact Sensing This sets contact sensing-related information. (On/Off) Setting - Default: Off - The reference coordinates for force control during contact sensing are the tool coordinates, and it can be used with compliance control enabled.
Page 46: Skill Command List
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. Recommended Default WCI: Gripper (GripperDA, GripperSA) Create Skill: TaskBuilder →...
Page 47 Task Programming Commands and Templates Item Description Default Value and Input Range Task This is the acceleration from the approach pose to 0.1 m/s Acceleration teaching pose. [0.001 ~ 20] - During pattern use, Task Acceleration is the velocity until each pattern point. Gripper Set TCP Select TCP Setting Status...
Page 48 Task Programming Commands and Templates Item Description Default Value and Input Range Motion Time for This is the motion time to the approach pose. App. Pose - If a motion time of greater than 0 is entered, the [0 ~ 10000] Velocity/Acceleration values are ignored.
Page 49 Task Programming Commands and Templates Item Description Default Value and Input Range Stiffness Stiffness Setting x=y=z= 3000 N/m [0 ~ 20000] rx=ry=rz= 200 Nm/rad [0 ~ 1000] Contact Task Direction Orientation setting during force control Sensing - Orientation is based on Tool Coordinates. [X, Y, Z] Setting (Option)
Page 50 Task Programming Commands and Templates Select Gripper and Pattern and press the Set button (Pattern selection can be omitted). Save Teaching Pose Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition. Default Motion Sequence Move to Approach Pose →...
Page 51 Task Programming Commands and Templates Item Description Default Value and Input Range Gripper Wait Standby time after release motion. 0.5 s Time [0 ~ 10000] Tool Weight If a workpiece is released, apply the weight information. - To apply tool weight to a skill, save the tool weight with a workpiece grasped under the WCM Tool Weight.
Page 52 Task Programming Commands and Templates Item Description Default Value and Input Range Velocity for Ret. This is the motion velocity to the retract pose. 100 mm/s Pose [0.001 ~ 8000] Acceleration for This is the motion acceleration to the retract 0.1 m/s Ret.
Page 53 Task Programming Commands and Templates Item Description Default Value and Input Range Contact Force This is the reference force for contact sensing. 10 N [0 ~ 1200] Timeout This is the contact sensing time. 10 s [0 ~ 10000] Insert This is a skill that finds the target point by searching with a spiral motion near the target point when the workpiece must be inserted into a hole and inserts it with a periodic search motion when a stuck condition...
Page 54 Task Programming Commands and Templates Item Description Default Value and Input Range Task Setting Hole Depth 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] Insert This is the acceleration at the final insert.
Page 55 Task Programming Commands and Templates Item Description Default Value and Input Range Approach Approach Distance from the teaching pose in x, y and z [0, 0, -100] mm Pose Setting Distance directions [Individually -1000 (Option) - The approach distance must be entered in a 1 x ~ 1000] 3 array (i.e.
Page 56 Task Programming Commands and Templates Item Description Default Value and Input Range Stiffness Stiffness Setting x=y= 500 N/m, z = 1500 N/m [0 ~ 20000] x=ry=rz= 50 Nm/ [0 ~ 1000] Force Control Task Direction Orientation setting during force control Setting - Orientation is based on Tool Coordinates.
Page 57 Task Programming Commands and Templates Item Description Default Value and Input Range Periodic Maximum Max Distance 5 deg Motion Amplitude - Rotation angle of the orientation [0 ~ 360] Setting - Rx, Ry and Rz values are applied depending on (Option) the orientation during Force Control.
Page 58 Task Programming Commands and Templates Select Tool and Pattern and press the Set button (pattern selection can be omitted). Save Teaching Pose Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition. Default Motion Sequence Default Mode Move to Approach Pose →...
Page 59 Task Programming Commands and Templates Item Description Default Value and Input Range Repeat Select Repeat Index Condition - The repeat condition is used as the pattern index when a pattern is used. Task Velocity This is the velocity from the approach pose to 100 mm/s teaching pose.
Page 60 Task Programming Commands and Templates Item Description Default Value and Input Range Blending Radius This is the blending radius connecting the 0 mm for App. Pose movement between the approach pose and the [0 ~ 1000] teaching pose. - If a blending radius of greater than 0 is entered, all optional items (Set TCP / Compliance Control / Force Control Setting) must be set as False.
Page 61 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 Deburring This 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.
Page 62 Task Programming Commands and Templates Item Description Default Value and Input Range Task Setting One Point Task It configures One Point Repetition Status. False (Option) [True, False] Hole Depth This is the orientation depth from the teaching 10 mm pose.
Page 63 Task Programming Commands and Templates Item Description Default Value and Input Range Approach Approach Distance from the teaching pose in x, y and z [0, 0, -100] mm Pose Setting Distance directions [Individually -1000 (Option) - The approach distance must be entered in a 1 x 3 ~ 1000] array (i.e.
Page 64 Task Programming Commands and Templates Item Description Default Value and Input Range Contact Margin Margin for contact sensing section setting 2 mm - The contact sensing section is configured by [0 ~ 100] adding the +/- contact sensing margin from the teaching point.
Page 65 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 Description Default Value and Input Range Basic Setting Tool I/O test available upon tool selection ...
Page 66 Task Programming Commands and Templates Item Description Default Value and Input Range Approach Approach Distance from the teaching pose in x, y and z [0, 0, -100] mm Pose Setting Distance directions [Individually -1000 ~ (Option) - The approach distance must be entered in a 1 1000] x 3 array (i.e.
Page 67 Task Programming Commands and Templates Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern) Optional Features: Add pattern, Approach Pose Setting Confirm Condition: Select Tool and Pattern and press the Set button (pattern selection can be omitted). Save Teaching Pose Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.
Page 68 Task Programming Commands and Templates Item Description Default Value and Input Range Tool Setting Set TCP (Option) Select TCP Setting Status True - When Set TCP is set to True, it configures the [True, False] TCP of the End-Effector used by the skill. Tool Wait Time Standby time after tool run motion.
Page 69 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 and airblowing skills. It must be used with polishing, deburring, gluing or airblowing. When selecting a pattern with the polishing, deburring, gluing of airblowing skill, End_Task must also be selected.
Page 70 Task Programming Commands and Templates Item Description Default Value and Input Range Blending Radius This is the blending radius connecting the 0 mm for Ret. Pose movement between the teaching pose and the [0 ~ 1000] retract pose. Door_OpenClose This is a command that manually opens/closes the door with a direct robot motion.
Page 71 Task Programming Commands and Templates Item Description Default Value and Input Range First Velocity This is the velocity from the approach pose to 100 mm/s the first teaching pose. [0.001 ~ 8000] First This is the acceleration from the approach 0.1 m/s Acceleration pose to the first teaching pose.
Page 72 Task Programming Commands and Templates Item Description Default Value and Input Range Velocity for This is the motion velocity to the retract pose. 100 mm/s Ret. Pose [0.001 ~ 8000] Acceleration This is the motion acceleration to the retract 0.1 m/s for Ret.
Page 73 Task Programming Commands and Templates Recommended Default WCI: Gripper (GripperDA, GripperSA), Machine (TurningCenter, PressMachine, MoldingMachine) Create Skill: TaskBuilder → Add Gripper and Machine (Skill Type: End-Effector & Machine) Optional Features: Approach Pose and Retract Pose setting, Compliance Control, Contact Sensing Confirm Condition: Select a Gripper and Machine and press the Set button.
Page 74 Task Programming Commands and Templates Item Description Default Value and Input Range Tool Weight 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.
Page 75 Task Programming Commands and Templates Item Description Default Value and Input Range Blending Radius This is the blending radius connecting the 0 mm for App. Pose movement between the approach pose and the [0 ~ 1000] teaching pose. - If a blending radius of greater than 0 is entered, all optional items (Set TCP / Gripper Release / Check Machine Ready / Compliance Control ...
Page 76 Task Programming Commands and Templates Item Description Default Value and Input Range Contact Task Direction Orientation setting during force control Sensing - Orientation is based on Tool Coordinates. [X, Y, Z] Setting (Option) Contact Margin Margin for contact sensing section setting 2 mm - The contact sensing section is configured by [0 ~ 100]...
Page 77 Task Programming Commands and Templates Definition of Skill Screen Item Description Default Value and Input Range Basic Setting Gripper I/O test available upon gripper selection Machine I/O test available upon machine selection Reference Pose Teaching Pose - This is the point where the workpiece on a machine chuck is released from a gripper.
Page 78 Task Programming Commands and Templates Item Description Default Value and Input Range Chuck Open Select chuck open status before INTLK place True (Option) motion [True, False] Approach Approach Distance from the teaching pose in x, y and z [0, 0, -100] mm Pose Setting Distance directions...
Page 79 Task Programming Commands and Templates Item Description Default Value and Input Range Motion Time for This is the motion time to the retract pose. Ret. Pose - If a motion time of greater than 0 is entered, the [0 ~ 10000] Velocity/Acceleration values are ignored.
Page 80 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 start pose 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.
Page 81 Task Programming Commands and Templates Item Description Default Value and Input Range Task Direction Bolt Installation Orientation [X, Y, Z] Bolt Length Bolt Length 10 mm [0 ~ 200] Bolting Velocity Bolting Velocity 30 mm/s [0.001 ~ 8000] Bolting Bolting Acceleration 0.03 m/s Acceleration...
Page 82 Task Programming Commands and Templates Item Description Default Value and Input Range Tool Wait Time Standby time after tool run motion. 0.5 s [0 ~ 10000] Check TorqueOK Select Bolt Installation Completion Status False (Option) Check [True, False] Approach Pose Approach Distance from the teaching pose in x, y and z [0, 0, -100] mm...
Page 83 Task Programming Commands and Templates Item Description Default Value and Input Range Velocity for Ret. This is the motion velocity to the retract pose. 100 mm/s Pose [0.001 ~ 8000] Acceleration for This is the motion acceleration to the retract 0.1 m/s Ret.
Page 84 Task Programming Commands and Templates Definition of Skill Screen Item Description Default Value and Input Range Basic Setting Tool I/O test available upon screwdriver selection Feeder I/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 Task Velocity...
Page 85 Task Programming Commands and Templates Item Description Default Value and Input Range Approach Approach Distance from the teaching pose in x, y and z [0, 0, -100] mm Pose Setting Distance directions [각각: -1000 ~ (Option) - The approach distance must be entered in a 1 x 1000] 3 array (i.e.
Page 86 Task Programming Commands and Templates Item Description Default Value and Input Range Blending Radius This is the blending radius connecting the 0 mm for Ret. Pose movement between the teaching pose and the [0 ~ 1000] retract pose. Compliance Compliance Select Compliance Control Status False...
Page 87 Task Programming Commands and Templates Definition of Skill Screen Item Description Default Value and Input Range Basic Setting Reference Pose Teaching Pose - This is a random position. Task Setting Select Task Select Check Method (Force or Distance) “Force”...
Page 88 Task Programming Commands and Templates Item Description Default Value and Input Range Retract Pose Retract Distance from the teaching pose in x, y and z [0, 0, -100] mm Setting Distance directions [Individually -1000 (Option) - The retract distance must be entered in a 1 x 3 ~ 1000] array (i.e.
Page 89 Task Programming Commands and Templates Item Description Default Value and Input Range Desired Force Target Force Value 15 N - Target force must be greater than the sense [-1200 ~ 1200] value, and the absolute value must be greater than 10N(In the case of A series, there is no limit to the desired force value).
Page 90 Task Programming Commands and Templates Definition of Skill Screen Item Description Default Value and Input Range Basic Setting DIO Type Select Digital I/O Connection “Controller” - If Flange is selected, the I/O terminal must be [“Flange”, ” connected to the flange for operation. Controller”] - If Controller is selected, the I/O terminal must be connected to the controller for...
Page 91: Task Template
Task Programming Commands and Templates Item Description Default Value and Input Range Output Output Value2 Input Value2 - Value must be either 1 or 0. (1: ON, 2: OFF) [0, 1] Input Setting Input Port Input Port Input (Option) - If Flange is selected, ports 1-6 can be used.
Page 92: Cnc Machine Tending
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.
Page 93 Task Programming Commands and Templates Finished Piece Air blow Air blow Air blowing Unload finished Pick TC Pick TC Pick TC Pick TC piece Release finished Place Pallet Place Pallet Place Pallet Place Pallet piece Double Gripper Work Procedure Type 1 Type 2 Type 3...
Page 94: Press Machine Tending
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: •...
Page 95: Injection Molding Machine Tending
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: •...
Page 96: Deburring Template
Task Programming Commands and Templates Start Gluing Start Glue End 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 Command Start Deburring Start Deburr End Deburring End Deburr...
Page 97: Smart Video Module
• The SVM firmware can be updated separately through DART-Vision or DART-Studio (v2.0.1), which are provided 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 the following setting options.
Page 98: Testing The Camera Connection
Smart Video Module 4.2.1 Testing the Camera Connection Camera Connection Item Description 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. Live –...
Page 99 Smart Video Module 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 Power not connected Power off...
Page 100 Smart Video Module Item Description Controller – Displays IP address of the controller Configure IP Smarst Vision Enter and connect the IP address of the camera. Module – • Connect: After entering IP address and select the Connect button, the Configure IP set subnet mask and default gateway are displayed.
Page 101: Vision Job > Manage Job
Smart Video Module 4.2.2 Vision Job > Manage Job Create Vision Job Item Description 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.
Page 102 Smart Video Module Edit and Delete Vision Job Item Description Vision Job List The selected vision job is highlighted in blue. Set This Job The job selected from the Vision Job List is set as the Setting job. Edit The job selected from the Vision Job List triggers the edit window where the “Job Name”...
Page 103: Vision Job > Set Image
Smart Video Module 4.2.3 Vision Job > Set Image Save and Load Lighting/Exposure/Gain/Focus Setting - 103 - Reference manual(V2.10)
Page 104 Smart Video Module Item Description Image Brightness Displays the LED LIGHT/CAMERA BRIGHTNESS select button. Setting Live/Shoot • Displays the image from the Live/Shoot mode, and the button changes to gray. • Live: Displays the Live image of the camera. •...
Page 105 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 the shooting position and tool tip.
Page 106 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 - Reference manual(V2.10)
Page 107 Smart Video Module - 107 - Reference manual(V2.10)
Page 108 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. - 108 - Reference manual(V2.10)
Page 109 Smart Video Module Item Description Camera Calibration Enables Camera - Robot Calibration function. • After the Camera Calibration function is enabled, the Camera Calibration Image button is enabled. - 109 - Reference manual(V2.10)
Page 110 The Live/Shoot Image can be checked. To ensure proper camera calibration, a checkerboard is placed 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.
Page 111 Smart Video Module Item Description Camera Calibration Image Run 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 •...
Page 112 Smart Video Module Item Description 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 the robot is aligned based on the base axis.
Page 113 Smart Video Module Item Description 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 the Confirm button on the top of the Workcell Manager.
Page 114: Vision Job > Edit Job
Smart Video Module 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 the checkerboard were taught accurately. Import Calibration Data Imports calibration data that succeeded in existing vision works.
Page 115 Smart Video Module Item Description Edit The settings popup window for the job selected from the Vision Tool List is displayed. - 115 - Reference manual(V2.10)
Page 116 Smart Video Module Item Description Move Teaching Press and hold the arrow to move the teaching area. Area (green area) • Press the Apply button to set the selected area. Adjust Teaching Press and hold the arrow to adjust the teaching area size. Area Size (green •...
Page 117 Smart Video Module Item Description 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 high intensity appear, and edges with low intensity are removed.
Page 118 Smart Video Module Vision Tool Teaching Limit Area Setting - 118 - Reference manual(V2.10)
Page 119 Smart Video Module Item Description Crop Inspection Area Displays an area setting tool that limits the teaching area. • The set area is saved by pressing the Apply button. Move the Teaching Limit Area (red Press and hold the arrow to move the area. area) •...
Page 120 Smart Video Module Item Description Scale/Move Press the briefcase icon to display the Scale/Move selection window. • Fine adjustments to the Teaching Area position of the image can be made with Move. • Fine adjustments to the Teaching Area size of the image can be made with Scale.
Page 121 Smart Video Module Item Description Add Position Tool Adds a Position Tool to the Vision Tool List. Edit A setting window of the job selected from the Vision Tool List is displayed. Delete The selected job from the Vision Job List is deleted. Move Teaching Area Press and hold the arrow to move the teaching area.
Page 122 Smart Video Module 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 the teaching area is calculated (frequency table) to be used as default information for the presence check. Set the brightness 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.
Page 123 Smart Video Module Item Description Add Presence Tool Adds a Presence Tool to the Vision Tool List. Edit A setting window of the job selected from the Vision Tool List is displayed. - 123 - Reference manual(V2.10)
Page 124 Smart Video Module Item Description Delete The selected job from the Vision Job List is deleted. Move Teaching Area Press and hold the arrow to move the teaching area. Adjust Teaching Area Size Press and hold the arrow to adjust the teaching area size. Edit Job Name –...
Page 125 Smart Video Module Item Description Cancel Cancels 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 measure and press the Calculate button to measure the distance between A and B.
Page 126 Smart Video Module Item Description Add Distance Tool Adds a Distance Tool to the Vision Tool List. Edit A setting window of the job selected from the Vision Tool List is displayed. - 126 - Reference manual(V2.10)
Page 127 Smart Video Module Item Description Delete The selected job from the Vision Job List is deleted. Move Teaching Area Press and hold the arrow to move the teaching area. Adjust Teaching Area Size Press and hold the arrow to adjust the teaching area size. •...
Page 128 Smart Video Module Item Description Distance Image Display Displays the distance between lines detected in two teaching areas in the edit window. 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.
Page 129 Smart Video Module Item Description Add Angle Tool Adds an Angle Tool to the Vision Tool List. Edit A setting window of the job selected from the Vision Tool List is displayed. - 129 - Reference manual(V2.10)
Page 130 Smart Video Module Item Description Delete The selected job from the Vision Job List is deleted. Move Teaching Area Press and hold the arrow to move the teaching area. Adjust Teaching Area Size Press and hold the arrow to adjust the teaching area size.
Page 131 Smart Video Module 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, and position circle B inside the circular item.
Page 132 Smart Video Module Item Description Add Diameter Adds a Distance Tool to the Vision Tool List. Tool - 132 - Reference manual(V2.10)
Page 133 Smart Video Module Item Description Edit A setting window of the job selected from the Vision Tool List is displayed. Delete The selected job from the Vision Job List is deleted. Move Teaching Press and hold the arrow to move the teaching area. Area Adjust Press and hold the arrow to adjust the teaching area size.
Page 134: Vision Job > Test
Smart Video Module Item Description Diameter Configures the length threshold from the reference length value. Tolerance • If a value exceeds the Test tolerance range, the inspection result outputs 0. Length Setting • Press the Apply button to apply the setting. - Edit Window Apply Applies Vision Job settings.
Page 135: Programming
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. - 135 - Reference manual(V2.10)
Page 136: Vision Command Setting Options
Smart Video Module 4.3.1 Vision Command Setting Options Item Description 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.
Page 137: Task Builder: Using Vision In Skill Commands
Smart Video Module Item Description Vision Variable • Displays the data list of the Vision Tools added to the Vision Job. • Press each item to view the values of the current Tool. Advanced Option > Select an action if Vision measurement fails. Vision Exception •...
Page 138 Smart Video Module Item Description Add Skill Command after Vision Shoot • Enter the desired robot position. and before Teaching Position Entry • 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.
Page 139: Task Writer: Using Vision In Motion Commands
Smart Video Module 4.3.3 Task Writer: Using Vision in Motion Commands - 139 - Reference manual(V2.10)
Page 140: Vision Skill: Installing The Vision Skill
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). •...
Page 141 Smart Video Module This is the initial entry screen Enter the Settings menu and click Workcell Item, then Skill Install & Uninstall menu - 141 - Reference manual(V2.10)
Page 142 Smart Video Module 3. Press the Install button. The below popup will appear. Click the check button and press OK. - 142 - Reference manual(V2.10)
Page 143 Smart Video Module 4. Check the Vision skill file DART_Vision_2_8_R07.dr3, which was loaded on the USB, and click OK. - 143 - Reference manual(V2.10)
Page 144 Smart Video Module - 144 - Reference manual(V2.10)
Page 145 Smart Video Module 5. After installation, you’ll be told to reboot the robot. Reboot the robot. - 145 - Reference manual(V2.10)
Page 146 Smart Video Module 6. After rebooting, add the Smart Vision module in the Task Builder. Preparations for use are now complete. - 146 - Reference manual(V2.10)
Page 147: Vision Skill: Using The Shoot Pose Skill
Smart Video Module 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 the returned pose to move the robot to the shooting position. - 147 - Reference manual(V2.10)
Page 148 Smart Video Module The Shoot Pose skill must be used after carrying out hand-eye calibration or 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.
Page 149 Smart Video Module Click the Shoot Pose button under the Command tab to add the Shoot Pose skill. Open up Required Information in the Property tab and input the IP address and job ID of the shooting pose. - 149 - Reference manual(V2.10)
Page 150 Smart Video Module Press the Edit & Add button under the Variable tab. Add in System_SVM_Shoot Pose. - 150 - Reference manual(V2.10)
Page 151 Smart Video Module 5. Because the Shoot Pose is a joint coordinate, press the Joint button. - 151 - Reference manual(V2.10)
Page 152 Smart Video Module 6. Press Get Pose. Pressing the Add button will add a variable. - 152 - Reference manual(V2.10)
Page 153 Smart Video Module Close the window, press the Variable List button, then press the Variable. Check the System_SVM_ShootPose checkbox and press Confirm to select the Variable. - 153 - Reference manual(V2.10)
Page 154 Smart Video Module - 154 - Reference manual(V2.10)
Page 155 Smart Video Module 9. Return to the Property tab, open up Shoot Pose Check, and click the Shoot Pose button. - 155 - Reference manual(V2.10)
Page 156 Smart Video Module • In order to perform property check testing, the robot must be in Servo On status. - 156 - Reference manual(V2.10)
Page 157 Smart Video Module • You cannot use this without first adding the system parameter System_SVM_ShootPose. - 157 - Reference manual(V2.10)
Page 158 Smart Video Module - 158 - Reference manual(V2.10)
Page 159: Vision Skill: Using The Landmark Skill
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 the returned Robot pose for various tasks. You can move from the landmark to an object pose at the distance of the offset value.
Page 160 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.
Page 161 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. Click the Edit & Add button under the Variable Tab. - 161 - Reference manual(V2.10)
Page 162 Smart Video Module 5. Add in System_SVM_Landmark. - 162 - Reference manual(V2.10)
Page 163 Smart Video Module 6. Press Get Pose. Pressing the Add button will add a variable. - 163 - Reference manual(V2.10)
Page 164 Smart Video Module 7. Close the window, press the Variable List button, then press the Variable. - 164 - Reference manual(V2.10)
Page 165 Smart Video Module 8. Check the System_SVM_Landmark checkbox and press Confirm to select the variable. - 165 - Reference manual(V2.10)
Page 166 Smart Video Module Use the Landmark Detection button to check that the values are normal. • In case of not detecting landmark: - 166 - Reference manual(V2.10)
Page 167 Smart Video Module • In case of detecting landmark: - 167 - Reference manual(V2.10)
Page 168: Vision Skill: Using The Barcode Skill
Smart Video Module 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 registered in the SVM with the currently detected barcode. Please use the Barcode skill freely. - 168 - Reference manual(V2.10)
Page 169 Smart Video Module 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.
Page 170 Smart Video Module 3. Click the Edit & Add button under the Variable Tab. - 170 - Reference manual(V2.10)
Page 171 Smart Video Module 4. Click Variable, add System_SVM_Barcode_Data, and input the value. - 171 - Reference manual(V2.10)
Page 172 Smart Video Module 5. Click the Add button to add the variable. - 172 - Reference manual(V2.10)
Page 173 Smart Video Module 6. Close the window, press the Variable List button, then press the Variable. - 173 - Reference manual(V2.10)
Page 174 Smart Video Module 7. Check the System_SVM_Barcode_Data checkbox and press Confirm to select the Variable. - 174 - Reference manual(V2.10)
Page 175 Smart Video Module 8. Open up Barcode Detection Check under the Property tab and click the Barcode Detection button. - 175 - Reference manual(V2.10)
Page 176 Smart Video Module 9. Use the Barcode Detection button to check that the values are normal. - 176 - Reference manual(V2.10)
Page 177: Vision Skill: Utilizing If Statements
Smart Video Module 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. •...
Page 178 Smart Video Module You can add an IF statement under Command and system parameters in VAR under Property. In the case of System_SVM_Landmark, the output will be posx(0,0,0,0,0,0) if no detection occurs. This should be dealt with as shown below. - 178 - Reference manual(V2.10)
Page 179 Smart Video Module 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. 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.
Page 180: Product Specifications
Smart Video Module 4.4 Product Specifications Dimensions (W x D x H) 92 mm X 132 mm X 25.6 mm Weight 348 g Resolution CMOS 2.5 M pixel (1920 X 1440) Camera Manual Focus Brightness White LED X 2 EA (800 Lux@WD500 mm) Communication TCP/IP, 100 Mbps Power...
Page 181: Measuring Item And Background
356x264 Max. Height of Item All 2D Visions, including Vision by Doosan Robotics, can have misrecognition due to distortions created by perspective 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.
Page 182: Conveyor Tracking
Conveyor Tracking 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.
Page 183: External Encoder Settings
Conveyor Tracking 5.2.1 External Encoder Settings The external encoder sets the encoder channel according to the encoder connection, sets the A-B phase according to the encoder specification, and sets the S Phase mode according to the triggering switch sensor specifications and configurations.
Page 184 Conveyor Tracking A-B Phase Mode Description QEP Mode Quadrature Encoder Pulse Mode. This combines the counts of channels A and B to expand 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)- A phase is an option for counts, and B phase is an option determining the direction.
Page 185 Conveyor Tracking Z Phase Mode Setting Z Phase mode uses the Z phase signal to compensate the encoder count. Conveyor tracking uses the incrementation 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.
Page 186: Conveyor Tracker Settings
Conveyor Tracking numbers from 0 to the maximum value. While it is not mandatory, it is recommended that the count be set to increase 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.
Page 187 Conveyor Tracking 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 count increases when the conveyor moves, and which point the conveyor is fixed to in a particular space. - 187 - Reference manual(V2.10)
Page 188 Conveyor Tracking 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.
Page 189 Conveyor Tracking Auto Measure Teaching consists of placing the workpiece before the workpiece detection switch, operating the conveyor, and stopping 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.
Page 190 Conveyor Tracking 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 workpiece placed 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.
Page 191 Conveyor Tracking 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.
Page 192 Conveyor Tracking 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.
Page 193: Programming (Tb/Tw)
Conveyor Tracking 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.
Page 194 Conveyor Tracking TW will make the Conveyor Coordinates and Conveyor Tracking commands available under Advanced Commands. - 194 - Reference manual(V2.10)
Page 195: Conveyor Coordinates
Conveyor Tracking 5.3.1 Conveyor Coordinates This command acquires the coordinate information of the moving workpiece. This command returns the coordinates 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.
Page 196 Conveyor Tracking 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 to the next program line.
Page 197: Conveyor Tracking
Conveyor Tracking 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 Motion commands to develop the desired work.
Page 198 Conveyor Tracking 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.
Page 199: Other Items To Note
Conveyor Tracking • When a workpiece enters the monitoring section, a green indicator lights goes on at Get Pose Ready. After the 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.
Page 200: Pick & Place (One Conveyor)
Conveyor Tracking 5.4.1 Pick & Place (One Conveyor) This example picks a workpiece moving on one conveyor and places it outside the conveyor. Perform teaching of 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.
Page 201: Multiple Workpiece Handling
Conveyor Tracking 5.4.3 Multiple Workpiece Handling This 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. - 201 - Reference manual(V2.10)
Page 202 Conveyor Tracking Note that it is necessary to differentiate the first coordinates and the second coordinates when teaching. Select coordinates 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. - 202 - Reference manual(V2.10)

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