Positioner RobTarget
Description
Section titled “Description”Positioner Robtarget defines a RobTarget including the rotation angle of the positioner (external axis). You can switch between Dynamic and Static modes by right-clicking the component icon.
Inputs
Section titled “Inputs”Dynamic Mode
| Name | Type | Description |
|---|---|---|
| Positioner | Positioner | ABB Positioner |
| Target Planes | Plane | Planes to convert into RobTargets |
| Z Rotation | Angle | Rotates the RobTarget around its own Z-axis (Unit: degrees) |
| Target Base | Plane | Reference plane where the input Target Plane is defined. The input Target Plane defines the RobTarget oriented to the Positioner’s Mounting Plane based on this plane. |
| WobjData | WobjData | Redefines the Target Plane based on the ABB work object coordinate system. (Optional) |
Top View
Required Parameter
Section titled “Required Parameter”| 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 robot’s target position and orientation. |
| Name | Type | Description |
|---|---|---|
| Split Start | String | Extracts and outputs the data corresponding to the first index within each branch of the input data TargetPlane. |
| Split End | String | Extracts and outputs the data corresponding to the last index within each branch of the input data TargetPlane. |
Outputs
Section titled “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 |