Task Programming Commands And Templates; Skill Command; Skill Command Summary; Understanding Basic Principles Of Skill Commands - Doosan M0609 Reference Manual

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)) and
H (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
• Touch
Refer 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 pose
that 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.
Task Programming Commands and Templates
- 37 - Reference manual(V2.10)