Positioner RobTarget
🌐 KR
Description
Supports writing user-defined positioner RAPID code based on the positioner-specific RobTarget. Dynamic and Static modes can be toggled via the right-click context menu.
| Inputs
Dynamic Mode
| Name | Type | Description |
|---|---|---|
| Positioner | Positioner | ABB Positioner |
| Target Planes | Plane | Target planes to be converted into RobTargets |
| Z Rotation | Angle | Rotates the RobTarget around its own Z-axis (Unit: Degrees) |
| Target Base | Plane | The reference plane where the inputted Target Plane is defined. The inputted Target Plane defines the RobTarget oriented to the Positioner’s Mounting Plane based on this plane. |
| WobjData | WobjData | ABB Workobject coordinate system |
Static Mode
| Name | Type | Description |
|---|---|---|
| Positioner | Positioner | ABB Positioner |
| Target Planes | Plane | Target planes to be converted into RobTargets |
| Z Rotation | Angle | Rotates the RobTarget around its own Z-axis (Unit: Degrees) |
| Target Base | Plane | The reference plane where the inputted Target Plane is defined. The inputted Target Plane defines the RobTarget oriented to the Positioner’s Mounting Plane based on this plane. |
| Reference Plane | Plane | Reference plane for positioner orientation in Static mode |
| WobjData | WobjData | ABB Workobject coordinate system |
| Required Parameters
- RobTarget
- Name: Defines the name of the RobTarget variable to be created. This variable serves as a unique identifier to store the robot’s target position and orientation.
- Output
- Split Start: Extracts and outputs the data corresponding to the first index within each branch of the inputted TargetPlane data.
- Split End: Extracts and outputs the data corresponding to the last index within each branch of the inputted TargetPlane data.
| Outputs
| Name | Type | Description |
|---|---|---|
| RobTargets | RobTarget | Outputs the ABB RAPID RobTargets code |