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