RobTarget

🌐 KR

Description

robtarget is a data type that defines the target position, tool orientation, and axis configuration for the robot and auxiliary axes to move to. It defines a RobTarget for robot-only motion without external axes. The external axis values are automatically set to 9E9 (unused).

| Inputs

Align Disabled Mode

Name	Type	Description
Target Planes	Plane	Input planes to be converted into RobTarget.
Z Rotation	Number	Rotates the RobTarget around its own Z-axis (Unit: degrees).
WobjData	WobjData	Redefines the Target Plane based on the ABB Work Coordinate System (Optional).
Chaining	Boolean	Locks the relationship between the Work Object (WorkObj) and the target (RobTarget). Allows target position and orientation to change when the work object is modified in the viewport (Optional).

Align Enabled Mode

Name	Type	Description
Target Planes	Plane	Planes to be converted into RobTarget.
Z Rotation	Number	Rotates the RobTarget around its own Z-axis (Unit: degrees).
WobjData	WobjData	Redefines the Target Plane based on the ABB Work Coordinate System (Optional).
Chaining	Boolean	Locks the relationship between the Work Object (WorkObj) and the target (RobTarget). Allows target position and orientation to change when the work object is modified in the viewport (Optional).
Robot Base	Plane	Sets the reference coordinate system that the +X axis of the RobTarget will point toward. The origin of this plane serves as the alignment target point, typically inputting the robot’s base coordinate system (Optional).
Align Weight	Number	Interpolation ratio between the original orientation and the fully aligned orientation. 0 = retains original RobTarget orientation, 1 = fully aligns the +X axis toward the Robot Base origin.

| Required Parameter

• RobTarget

Name	Type	Description
Name	String	Defines the name of the `RobTarget` variable to be created. This variable is used as a unique identifier storing the target position and orientation of the robot.

• Orientation
• Output

Name	Type	Description
Align X	String	An option to interpolate and correct the orientation so that the +X axis of the `RobTarget` points toward the `Robot Base` origin. Disabled by default (`False`). Adds inputs for 'Robot Base' (Plane) and 'Align Weight' (`0` = original, `1` = fully aligned).

Name	Type	Description
Split Start	String	Enables separating and outputting data corresponding to the first index within each branch of the input data `TargetPlane`.
Split End	String	Enables separating and outputting data corresponding to the last index within each branch of the input data `TargetPlane`.

| Outputs

Name	Type	Description
Start Targets	RobTarget	Outputs the first branch data of ABB RAPID RobTargets.
RobTargets	RobTarget	Outputs ABB RAPID RobTargets data.
End Targets	RobTarget	Outputs the last branch data of ABB RAPID RobTargets.