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Airblowing

This is a skill for cleaning the target or equipment with an airblowing tool. It must be used together with the End_Task skill, and a task/joint motion command can be inserted. However, if a pattern is used, a task/joint motion command is not inserted.

  1. Recommended Default WCI: Tool

  2. Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)

  3. Optional Features: Add pattern, Approach Pose Setting

  4. Confirm Condition:Select Tool and Pattern and press the Set button (pattern selection can be omitted).Save Teaching PoseEven if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.

Default Motion Sequence

  1. Default Mode
    Move to Approach Pose → Move to Teaching Pose → Tool Motion (Run) (→ Task/Joint Motion → End_Task)

  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

 

Pattern

Select if a pattern is used


Reference Pose

Teaching Pose

- This is the airblowing start position.

- Reference Pose changes to Position Referenced during pattern setting.


Repeat Condition

Select Repeat Index

- 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 teaching pose.

- During pattern use, Task Velocity is the velocity until each pattern point.

100 mm/s

[0.001 ~ 8000]

Task Acceleration

This is the acceleration from the approach pose to teaching pose.

- During pattern use, Task Acceleration is the velocity until each pattern point.

0.1 m/s2

[0.001 ~ 20]

Tool Setting

Set TCP (Option)

Select TCP Setting Status

- When Set TCP is set to True, it configures the TCP of the End-Effector used by the skill.

True

[True, False]

Tool Wait Time

Standby time after tool run motion.

0.5 s

[0 ~ 10000]

Approach Pose Setting

(Option)

Approach Distance

Distance from the teaching pose in x, y and z directions

- The approach distance must be entered in a 1 x 3 array (i.e. [x, y, z]).

- During pattern setting, the approach distance set in the pallet UI is applied.

[0, 0, -100] mm

[각각: -1000 ~ 1000]

Velocity for App. Pose

This is the motion velocity to the approach pose.

250 mm/s

[0.001 ~ 8000]

Acceleration for App. Pose

This is the motion acceleration to the approach pose.

0.25 m/s2

[0.001 ~ 20]

Motion Time for App. Pose

This is the motion time to the approach pose.

- If a motion time of greater than 0 is entered, the Velocity/Acceleration values are ignored.

0 s

[0 ~ 10000]

Blending Radius for App. Pose

This is the blending radius connecting the movement between the approach pose and the teaching pose.

- If a blending radius of greater than 0 is entered, the optional item (Set TCP) must be set as False.

0 mm

[0 ~ 1000]



  • Freely teach the routine using motion commands that can be used between airblowing and End_Task. The available motion commands are as follows: movel, movec, movesx, moveb, movej, movejx, movesj