Robot

Description

Definition: Defines a custom 6-axis robot.

Input Parameters

Name (N): Defines the robot name based on a string. This name must be unique and shouldn’t start with a number or use special characters.

Mesh (M): Defines the robot mesh based on a list of meshes. For a six-axis robot, this would make regularly a list of seven meshes. One mesh for the robot base and an additional mesh for every robot axis.

Axis Planes (AP): Defines the robot axis planes based on a list of planes. The list lenght should be equal to six since an axis plane has to be defined for every axis.

Axis Limits (AL): Defines the robot axis limits based on a list of intervals. The list lenght should be equal to six since an axis limit has to be defined for every axis.

Position Plane (PP): Defines the position plane of the robot based on a plane. The position plane is the plane the robot is standing on.

Mounting Frame (MF): Defines the mounting frame of the robot based on a plane. The mounting frame is the frame any robot tool is attached to.

Robot Tool (RT): Defines the robot tool. A robot tool can be generated by using the Robot Tool component. The robot tool will be placed on the mounting frame.

External Axis (EA): Defines the robot external axis based on a list of external axis parameters. A custom external axis can be created by using the External Linear Axis or External Rotational Axis component. It is only allowed to use one External Axis that can move a Robot.

Output Parameters

Robot (R): Contains the robot information.

Usage

Note: You can use the Quarternion to Plane component to define the position plane from the Base Frame data that is defined in controller configuration. The position plane has to match with the Base Frame that is defined in the configuration file of the virtual or physical controller. Be aware that if you attach an external axis to the robot that can move this robot the position plane will be overwritten by the attachment plane of this external axis.

Note: The Forward Kinematics component can be used for debugging this component by testing out different axis values.

Simulation: Plug the Robot output parameter of this component into the Robot input parameter of the Inverse Kinematics or Forward Kinematics component.

Code Generation: Plug the Robot output parameter of this component into the Robot input parameter of the RAPID Generator component.