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.

Recommended Default WCI: Tool
Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
Optional Features: Add pattern, Approach Pose Setting
Confirm Condition:
1. Select Tool and Pattern and press the Set button (pattern selection can be omitted).
2. Save Teaching Pose
3. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.

Default Motion Sequence

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

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