GERTY Core
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Description
GERTY Core is a component that computes robot motions based on defined robot setups and instructions. It generates the basic data required to run the Display Solver and CodeSolver.
| Input
| Name | Type | Description |
|---|---|---|
| Robot Setup | Robot Setup | Configured robot setup. Robot definition bundling base, tool, positioner, and surrounding models. |
| Instructions | Instructions | Collection of ABB instructions to execute. Since the list order directly corresponds to the robot execution sequence, ordering them to match the intended motion sequence is required. |
| SubProc | SubProc | Called ABB Procedure (Optional) |
| Required Parameter
| Name | Type | Description |
|---|---|---|
| Simulation Window | Toggle | Open/Close simulation control window |
| Outputs
| Name | Type | Description |
|---|---|---|
| GERTY Solver | GERTY Solver | Connect to GERTY Solver |
| GERTY Code | GERTY Code | Connect to GERTY Code |