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EndTask

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.

  1. Recommended Default WCI: Tool
  2. Create Skill: TaskBuilder → Add Tool (Skill Type: End-Effector & Pattern)
  3. Optional Features: Add Pattern, Retract Pose Setting
  4. Confirm Condition:
    1. 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

Item

Description

Default Value and Input Range

Basic Setting

Tool

I/O test available upon tool selection

 

Pattern

Select if a pattern is used


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]

Velocity for Ret. Pose

This is the motion velocity to the retract pose.

100 mm/s

[0.001 ~ 8000]

Acceleration for Ret. Pose

This is the motion acceleration to the retract pose.

0.1 m/s2

[0.001 ~ 20]

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]

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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