Airblowing

This is a command 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.

Basic Information

Item	Description
Recommended Device	Tool
Optinal Features	Pattern Approach Pose Setting
Command Completion Condition	Setting [End Effector] If set [Pattern], setting [Repeact Condition] in [Task Setting]
Support Robot Series	E, A, AS, M, H

Default Motion Sequence

Default Mode
Move to [Approach Pose] → Move to [Reference Pose] → [Run] action of [End Effector] (→ Task/Joint Motion → [End Task])

[Pattern] Set
Move to [Approach Pose] → [Run] action of [End Effector] → Move to Pattern Calculation Pose (→ [End Task])

Definition of Screen

Item		Description	Default Value and Input Range
Basic Setting	End Effector	I/O test available upon gripper selection
	Pattern	Select if a pattern is used
	Reference Pose	Teaching Pose This is the airblowing start position. [Reference Pose] changes to [Referencing Pattern Position] during pattern setting.
Task Setting	Repeat Condition	Select Repeat Index The [Repeat Condition] is used as the pattern index when [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	Not Used [TCP items set in robot parameter]
	Set Tool Weight (Option)	Select Tool Weight If a workpiece is grasped, apply the weight information.	Not Used [Tool Weight items set in robot parameter]
	Set Tool Shape (Option)	Select Tool Shape	Not Used [Tool Shape items set in robot parameter]
	Post-Tool Wait Time	This is the standby time after [Run] action of [End Effector].	0.5 s [0 ~ 10000]
Approach Pose Setting (Option)	Use	Select whether to use Approach Pose	True [True, False]
	Approach Distance	Distance from the teaching pose in x, y and z directions During [Pattern] setting, the [Approach Distance] set in the Pallet device is applied.	[0, 0, -100] mm [-99999.999 ~ 99999.999]
	Velocity	This is the motion velocity to the approach pose.	250 mm/s [0.001 ~ 8000]
	Acceleration	This is the motion acceleration to the approach pose.	0.25 m/s² [0.001 ~ 20]
	Motion Time	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	This is the blending radius connecting the movement between the approach pose and the teaching pose.	0 mm [0 ~ 1000]

Note

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