Nudge Command

Overview

The Nudge Command enables users to resume the execution of the program through the user’s nudge input (applying external force to the robot) when the execution of the program is paused. When the external force greater than the force threshold, it will proceed to the following command after the resume time, where the force threshold and the resume time are set at the collaborative workspace setting menu. This command can be used as an interlock during the program.

However, if the robot’s configuration is in the singularity area, or if the force is applied continuously after the nudge input, a warning will occur for safety.

For this function to be allowed to execute within the collaborative workspace, set the collaborative workspace, activate it, and assure the TCP position is in this workspace when this command is performed in advance.

Property

Annotation

You can insert text in the description, unique meaning, or nickname for each Parameter to differentiate from many DRL Components.

For detailed DRL description other than Annotation, please refer to the following online manual link: https://manual.doosanrobotics.com/help/programming/2.9/publish/en_us/wait_nudge-17148103.html.

Example

DRL Code

PY

# Sets up the collaborative workspace before executing the program.
# Surface 1: Point-1(1000,1000), Point-2(0,0)
# Surface 2: Point-1(1000,-1000), Point-2(0,0)
# Activation of domain 1 - Point(1000,0) 

j00 = posj(0,0,90,0,90,0) 
movej(j00,vel=20,acc=40) # Enters the collaborative workspace.
wait_nudge()             # Wait for applying external force exceeding the threshold to the robot
dposa = posx(0,0,-100,0,0,0)
movel(dposa, vel=300, acc=600, ref=DR_TOOL) 
		# Retract 100 mm in the tool-Z direction from the taught position