Get Axis Values

Description

Controller Utility: Gets the current robot axis values from an ABB IRC5 robot controller.

Input Parameters

Robot Controller (RC): Defines the ABB IRC5 robot controller. A virtual or real ABB IRC5 robot controller can be defined by using the Get Controller component.

Output Parameters

Robot Joint Position (RJ): Contains the current Robot Joint Position of the robot. In case multiple robots are connected to one controller (e.g. Multi Move) this parameter outputs a list with multiple Robot Joint Positions with a Robot Joint Position for each robot.

External Axis Values (EAV): Contains a datatree of numbers with the current robot external axis values. For each mechanical unit the axis values are placed in a separate datatree branch. Since it is not possible to acces the axis logic number of the mechanical units in the controller, the axis values may not be placed in the correct order to work with the Forward Kinematics component. The user has to order the axis values to create an External Joint Position for the Forward Kinematics component.

Usage

Simulation: The Axis Values output of this component can be plugged into the Axis Values input parameters of a Forward Kinematics component to visualize the robot geometry inside of Rhino.

Code Generation: The Internal and External Axis Values outputs of this component can be plugged into the Axis Values input parameters of a Forward Kinematics component to calculate the robots end plane. That end plane could then be used to define a Robot Target for the RAPID program module generation.

Code Generation: The Internal and External Axis Values outputs of this component can be used to define a Robot Joint Position or External Joint Position.