Common Skill Screen Layout - Doosan M0609 Reference Manual

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 the
value is converted into the unit of mm/s2 for calculations.
Item
Basic Setting
Task Setting
Gripper Setting
Tool Setting
Machine Setting
Feeder Setting
Approach Pose
Setting
Retract Pose
Setting
Description
This sets the default UI and teaching pose of the skill.
This 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 for
pattern selection, but force control cannot be used.
This sets gripper-related information.
This sets too- related information.
This sets machine-related information.
This sets feeder-related information.
This sets approach pose-related information. (On/Off)
- Default: On
- This calculates the direction of the distance between the teaching pose and
the approach pose based on the tool coordinates, and moves to movel.
This sets retract pose-related information. (On/Off)
- Default: On
- This calculates the direction of the distance between the teaching pose and
the retract pose based on the tool coordinates, and moves to movel.
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Task Programming Commands and Templates
Reference manual(V2.10)