End Task | V3-manual

This is a command that ends the task with a tool.

It is used to end tasks of the [Airblowing], [Polishing], [Deburring] and [Gluing] commands.
It must be used with [Airblowing], [Polishing], [Deburring] or [Gluing].
When selecting a [Pattern] with the [Airblowing], [Polishing], [Deburring] or [Gluing] command, [End Task] must also be selected.

Basic Information

Item	Description
Recommended Device	Tool
Optinal Features	Pattern Retract Pose Setting
Command Completion Condition	Setting [End Effector]
Support Robot Series	E, A, AS, M, H

Default Motion Sequence

([Airblowing], [Polishing], [Deburring], [Gluing] → Task/Joint Motion (or Move to Pattern Calculation Pose) → [Stop] action of [End Effector] → Save Current Pose → Move to [Retract Pose]

Definition of Screen

Item		Description	Default Value and Input Range
Basic Setting	End Effector	I/O test available upon tool selection
Basic Setting	Pattern	Select if a pattern is used
Retract Pose Setting (Option)	Use	Select whether to use Retract Pose	True [True, False]
	Retract Distance	Distance from the teaching pose in x, y and z directions During [Pattern] setting, the [Retract Distance] set in the Pallet device is applied.	[0, 0, -100] mm [-99999.999 ~ 99999.999]
	Velocity	This is the motion velocity to the retract pose.	100 mm/s [0.001 ~ 8000]
	Acceleration	This is the motion acceleration to the retract pose.	0.1 m/s² [0.001 ~ 20]
	Motion Time	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]
	Blending Radius	This is the blending radius connecting the movement between the teaching pose and the retract pose.	0 mm [0 ~ 1000]