SetVacuumPurgeDuration#

This queued command sets the duration of the air purge for ejecting a part when using the commands VacuumRelease*.

Syntax#

SetVacuumPurgeDuration(tp)

Arguments#

  • tp: duration in seconds.

Default values#

The default settings are applied whenever the robot is power cycled (rebooted).

By default, tp = 0.1. To reset to the default value, send the command SetVacuumPurgeDuration(-1).

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the SetVacuumPurgeDuration command is represented by MotionCommandID 43. See Section 4.2 for more details.