GERTY Solution

🌐 KR

Description

  • A component used to manage ABB industrial robots. It allows users to select a specific robot model from 25 supported ABB types and apply the selected model to the simulation environment.

Input

  • Robot Base [Optional] : This is the OrientPlane of the robot, with the default being the World Base Plane. 
  • Tool Data : This takes the input value of ToolData. 
  • Positioner [Optional] : This connects the additional axis robot data.

ABB Robots | Built-in Params

  • Model : Select the ABB industrial robot model. 
  • Display Colour : Change the robot color.

ABB Robots | Robot Linear Control

  • Config Opt : Inverts the rotation values of robot axes 4 and 6 by 180 degrees.
  • Align TCP : Aligns the Z-axis of the Tool Center Point (TCP) to the nearest direction.
  • Reset Pose : Changes the robot to its default home position.

ABB Robots | Robot Joint Control

  • Robot Axis 1 : Sets the 1st axis of the robot model (range: -180° to 180°).
  • Robot Axis 2 : Sets the 2nd axis of the robot model (range: -90° to 150°).
  • Robot Axis 3 : Sets the 3rd axis of the robot model (range: -180° to 75°).
  • Robot Axis 4 : Sets the 4th axis of the robot model (range: -400° to 400°).
  • Robot Axis 5 : Sets the 5th axis of the robot model (range: -125° to 120°).
  • Robot Axis 6 : Sets the 6th axis of the robot model (range: -400° to 400°).

ABB Robots | External Joint Control

  • Robot Axis 1 : Sets the 1st axis of the robot model (range: -180° to 180°).
  • Robot Axis 2 : Sets the 2nd axis of the robot model (range: -180° to 180°).

Output

  • GERTY Robot : Outputs the configured robot information.
  • Current Pose : Outputs the robot axis information.
  • TCP : Outputs the TCP information of the tool mounted on the ABB robot.