External Linear Axis

Description

Definition: Defines a custom external linear axis.

Input Parameters

Name (N): Defines the name of the external linear axis as a text value.

Attachment Plane (AP): Defines the attachment plane for the robot. This overrides the robot position plane.

Axis (A): Defines the axis movement direction as a vector.

Axis Limits (AL): Defines the Axis Limits as a domain.

Base Mesh (BM): Defines the Mesh for the External Linear Axis Base.

Link Mesh (LM): Defines the Mesh for the External Linear Axis Link.

Variable Input Parameters

Through the right-click menu of the component the following variable input parameters can be added:

Axis Logic Number (AL): Defines the axis logic number of the External Linear Axis. By default this value is set to -1. For that case the axis logic number will be assigned automatically when a new Robot is constructed based on the list order of all attached external axes. The user can overwrite this value by using this Axis Logic Number input parameter. Allowed text values are A, B, C, D, E and F. Lower case text values are also allowed.

Moves Robot (MR): Defines if the External Linear Axis moves a Robot. For an External Linear Axis the default value is set to True.

Output Parameters

External Linear Axis (ELA): Contains the External Linear Axis information.

Usage

Note: You can use the Quarternion to Plane component to define the attachement plane from the Base Frame data that is defined in controller configuration. The position and orientation of the attachment plane has to match with the Base Frame that is defined in the configuration file of the virtual or physical controller.

Definitions: Plug the External Linear Axis output parameter of this component into the External Linear Axis input parameter of a Robot component. The robot will be attached to the External Linear Axis.