This is a skill that polishes the target’s surface with a polishing tool. It must be used together with the End_Task skill, and a task motion command can be inserted.
The polishing skill provides One-Point Task mode which is a mode that polishes the interior of a hole using a polishing tool. This mode must be used with the End_Task skill, but a task motion command is not inserted in between. This mode allows patterns to be added for tasks, but it does not provide force control.
-
Recommended Default WCI: Tool
-
Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
-
Optional Features: Add pattern (One-Point Task mode setting), approach pose setting, Compliance Control, Force Control
-
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
-
Default Mode
Move to Approach Pose → Tool Motion (Run) → Move to Teaching Pose (→ Task Motion → End_Task)
-
One-Point Task Mode
Move to Approach Pose → Tool Motion (Run) → Move to Teaching Pose (if a pattern is added, move to Pattern Calculation Pose) → Repeat Motion (→ 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 polishing start position. - Reference Pose changes to Position Referenced during pattern setting. |
|
|
|
Task Setting |
One Point Task (Option) |
This configures One Point Repetition Status. |
False [True, False] |
|
Hole Depth |
This is the orientation depth from the teaching pose. |
10 mm [0 ~ 200] |
|
|
Repeat Value |
Repetition Count |
0 [0 ~ 10000] |
|
|
Repeat Velocity |
Repetition Velocity |
30 mm/s [0.001 ~ 8000] |
|
|
Repeat Acceleration |
Repetition Acceleration |
0.03 m/s2 [0.001 ~ 20] |
|
|
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 [Individually -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, all optional items (Set TCP / Compliance Control / Force Control Setting) must be set as False. |
0 mm [0 ~ 1000] |
|
|
Compliance Control Setting |
Compliance control (Option) |
Select Compliance Control Status |
True [True, False] |
|
Stiffness |
Stiffness Setting |
x=y= 3000 N/m, z= 900 N/m [0 ~ 20000] rx=ry=rz= 200 Nm/rad [0 ~ 1000] |
|
|
Force Control Setting (Option) |
Task Direction |
Orientation setting during force control - Orientation is based on Tool Coordinates. |
Z [X, Y, Z] |
|
Contact Margin |
Margin for contact sensing section setting - The contact sensing section is configured by adding the +/- contact sensing margin from the teaching point. |
2 mm [0 ~ 100] |
|
|
Desired Force |
Target Force Value - Target force must be greater than the sense value, and the absolute value must be greater than 10N(In the case of A series, there is no limit to the desired force value). |
12 N [-1200 ~ 1200] |
|
|
Contact Force |
This is the reference force for contact sensing. |
10 N [0 ~ 1200] |
|
|
Timeout |
This is the contact sensing time. |
10 s [0 ~ 10000] |
|
-
Freely teach the routine using motion commands that can be used between polishing and End_Task. The available motion commands are as follows: movel, movec, movesx, moveb