This is a skill that ends the task with a tool. It is used to end tasks of the polishing, deburring, gluing and airblowing skills. It must be used with polishing, deburring, gluing or airblowing. When selecting a pattern with the polishing, deburring, gluing of airblowing skill, End_Task must also be selected.
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Recommended Default WCI: Tool
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Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
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Optional Features: Add Pattern, Retract Pose Setting
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Confirm Condition:Select Tool and Pattern and press the Set button (pattern selection can be omitted).
Default Motion Sequence
(Polishing, Deburring, Gluing, Airblowing → Task/Joint Motion (or Move to Pattern Calculation Pose) → Tool Motion (Stop) → Save Current Pose → Move to Retract Pose
Definition of Skill Screen
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Item |
Description |
Default Value and Input Range |
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Basic Setting |
Tool |
I/O test available upon tool selection |
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Pattern |
Select if a pattern is used |
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Retract Pose Setting (Option) |
Retract Distance |
Distance from the teaching pose in x, y and z directions - The retract distance must be entered in a 1 x 3 array (i.e. [x, y, z]). - During pattern setting, the retract distance set in the pallet UI is applied. |
[0, 0, -100] mm [Individually -1000 ~ 1000] |
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Velocity for Ret. Pose |
This is the motion velocity to the retract pose. |
100 mm/s [0.001 ~ 8000] |
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Acceleration for Ret. Pose |
This is the motion acceleration to the retract pose. |
0.1 m/s2 [0.001 ~ 20] |
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Motion Time for Ret. Pose |
This is the motion time to the retract pose. - If a motion time of greater than 0 is entered, the Velocity/Acceleration values are ignored. |
0 s [0 ~ 10000] |
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Blending Radius for Ret. Pose |
This is the blending radius connecting the movement between the teaching pose and the retract pose. |
0 mm [0 ~ 1000] |
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