GERTY Solution

🌐 KR

Description

  • This is a component that allows for user-defined modeling of ABB Positioner models.

Input

  • Name [Text] : Allows setting a unique name for the Positioner. If not set, the default value will be STN1.
  • PositionerFCPL [Plane]: Stands for Positioner Flange Center Plane, allowing you to input the center plane of the positioner flange.
  • WorkBench [WorkBench Data] : Allows you to input the workbench modeling for the Positioner.

Built-in Param : Preview Params​

  • Model : Specifies the positioner model.
  • Positioner Colour : Redefines the color of the positioner model.

Built-in Param : Vector Params​

  • Enable Arm : Allows you to lock the position of the positioner. By default, the positioner arm is unlocked.
  • Approaching Dir. : Redefines the direction of the approach path to the positioner.
  • TCP Dir. : Redefines the direction of the TCP (Tool Center Point) approach to the positioner.

Output

  • GERTY Positioner : Exports the information of the user-defined positioner.
  • Arm : Exports the coordinate values of the current position of the robot arm.
  • Plate : Exports the coordinate values of the current plane of the robot workbench.
  • ConnectPl : Outputs the coordinate plane linking the robot workbench and the positioner.