Robot Tool

Description

Definition: Defines a robot tool based on attachment and end-effector planes. It will be automatically registered in the RAPID system code of any RAPID Generator component.

Input Parameters

Name (N): Defines the robot tool 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 tool mesh.

Attachment Plane (AP): Defines the attachment plane for the robot tool based on a plane.

Tool Plane (TP): Defines the effector plane for the robot tool based on a plane.

Variable Input Parameters

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

Mass (M): Defines the weight of the tool load in kg. The default value is set to 0.001 kg.

Center of Gravity (CG): Defines the position and orientation of the center of gravity of the tool load based on a plane. The default position is set to (0, 0, 0.001), and the default quaternion orientation is set to (1, 0, 0, 0).

Moment of Intertia (MI): Defines the moment of inertia of the tool load in kgm2. The default value is set to (0, 0, 0).

Output Parameters

Robot Tool (RT): Contains the robot tool information.

Usage

Definitions:
Plug the Robot Tool output of this component into the Robot Tool input of a Robot component.

Code Generation: Plug the Robot Tool output of this component into the Robot Tool input of a Override Robot Tool component.