Robot Presets

Description

Definition: A collection of predefined ABB robot components.

Inputs

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.

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.

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.