Positioner
๐ KR
Description
This is a component that imports and defines the ABB positioner robot to be used. It supports and allows you to select ABB IRBP series positioners owned by the user. You can configure detailed tasks and simulations for the specified model.
| Input
| Name | Type | Description |
|---|---|---|
| Mounting Plane | Plane | Flange plane of the positioner. The upper reference plane where the WorkBench is mounted. Default: WorldXY. |
| Workbench | Workbench | Defines the WorkBench mounted on the positioner flange (Optional). |
| Required Parameter
| Name | Type | Description |
|---|---|---|
| MechUnit Name | String | Positioner (MechUnit) variable name |
| Positioner Model | String | ABB positioner model |
| Spec | String | Selected ABB positioner model specifications โ Working diameter (D) and plate height (H) |
| Name | Type | Description |
|---|---|---|
| Enable Arm | Toggle | Enables the arm motion of the positioner |
| Approach Direction | Number | Approach direction of the TCP relative to the positioner. Determines the rotation posture based on approach in this direction. |
| TCP Dir | Number | Direction of the TCP that the positioner ultimately aligns with |
| Name | Type | Description |
|---|---|---|
| Mechanical Unit | String | MechUnit mapping parameter in RAPID statements |
| Name | Type | Description |
|---|---|---|
| Color | Color | Visualization color |
| Output
| Name | Type | Description |
|---|---|---|
| Positioner | Positioner | External axis positioner to be linked with the robot. |