GERTY Solution

🌐 KR

Description

  • This component is mounted on the 6th axis of the robot and is responsible for providing and previewing information about the tool (end effector) to the robot.

Input

  • Name [Text/Item] : Enter the unique variable name of the tool as a string.
  • Base Plane[Plane] : Set the base plane of the tool mounted on the robot.
  • TCP [Plane] : Set the reference plane representing the TCP of the mounted tool.

Mass, Centroid, and Inertia should be entered based on the measurement results from the LoadIdentify Routine of the ABB robot system with the tool installed.

  • Mass [double/string] : Enter the measured tool load. The maximum weight that is not recognized as a collision varies depending on the robot model. If the unspecified weight exceeds the default maximum weight, it will be recognized as a collision object and the operation will stop.
  • Centroid [Text/String] : Enter the measured center of mass of the tool. The format should be 0d,0d,0d.
  • Inertia [Text/String] : Enter the measured moment of inertia of the tool according to the robot’s movement. The format should be 0d,0d,0d.
  • Export [Boolean] : The user can save the entered tool information for future use.

Tool Export

Built-in Param | Basic Params​

  • Display Colour : Changes the color of the tool model.


Output

  • ToolData : Outputs the entered ToolData.