Smart Skills Application

Description

All Smart Skills are parametrized, which enables you to configure and set up the Smart Skills in the Application tab.

 

Using the Smart Skills application functionality

  1. Go to the application nodes screen. See Application Tab.

  2. Tap the Smart Skills icon.

    A screen appears with two panels:

    Left panel contains the list of smart skills. Tap the kebab icon of each smart skill to activate or deactivate it. When activated, that smart skill appears in the Smart Skills drawer in the multitasking screen and disappears when deactivated.

    Right panel contains the editable fields to adjust the input arguments for each smart skill.

 

Smart Skill Input Argument

Each Smart Skill has a couple of parameters it uses when it executes. These can be changed to fit the application that you are running, whether or not it fits the default values.

 

These are the input arguments of the smart skills where you can change the value:

 

  • Align to Plane

    • Radius. Radius of the circle within the plane that will be touched up.

    • Push Force. How hard the robot pushes against the plane.

    • Number of Plane Points. Number of points the robot uses to compute the plane.

    • Maximum Distance. The maximum distance the robot searches.

    • Velocity Pressure Downwards. Velocity when pressing downwards.

    • Velocity Approaching Touch Up Point. Velocity used when approaching the touch-up point.

    • Velocity Move. Velocity used in freespace.

    • Acceleration. Acceleration of the robot.

     

  • Align Z to Nearest Axis

    Not configurable

     

  • Center

    • Force. Force the robot uses to determine if a contact has been achieved.

    • Velocity. Velocity in freespace.

    • Acceleration. Acceleration in freespace.

    • Maximum Radius. The maximum search radius.

    • Number of Fingers. The number of fingers that the gripper has.

       

  • Freedrive

    Not configurable

     

  • Move Into Contact

    • Force. Force the robot uses to determine if a contact has been achieved.

    • Velocity. Velocity in freespace.

    • Acceleration. Acceleration in freespace.

    • Maximum Distance. The maximum distance the robot searches.

    • Retract Distance. Retract distance after a contact has been found.

       

  • Retract

    • Distance. Retraction distance.

    • Acceleration. Acceleration used by the robot.

    • Velocity. Velocity used by the robot.
Smart Skills with different adjustments

  • Put Into Box

    This smart skill enables you to put the robot in its default transportation position. Tap Move to Position button below to place the robot into the correct position. Its Preset Joint Position is deactivated as it is predetermined by the robot type and model.

  • Custom

    By default, it is deactivated. You can duplicate and rename it using the kebab icon. Custom is an easy way to execute a function of a module. It is then shown in the Smart Skills icon.

 

  • Home

    This enables you to define a posture to easily move the robot to its predefined home position. Tap Edit Posture, and you will be directed to the 3D viewer main screen. Tap Reset, and a dialogue box appears asking you to confirm or cancel. When the position is reset, the previous values will be deleted.