Get Plane

Description

Controller Utility: Gets the position of a mechanical unit from the defined 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.

Coordinate System (CS): Defines the coordinate system whererin the returned plane is defined. Use 1 for World coordinate system, 2 for Base coordinate system and 4 for Workobject coordinate system. In case this input is left empty and an input is used for the Robot Controller parameter, a value list will automatically be created. You can select World, Base or Work Object from the value list to define the desired coordinate system.

Output Parameters

Plane (P): Contains the position of the mechanical unit as a plane.

Name (N): Contains the names of the mechanical units as a list of text values.