Positioner RobTarget
Description
Section titled “Description”Positioner RobTarget defines a RobTarget including the positioner (external axis) rotation angle. You can switch between Dynamic and Static modes by right-clicking the component icon.
Inputs
Section titled “Inputs”Static Mode
| Name | Type | Description |
|---|---|---|
| Positioner | Positioner | ABB Positioner |
| Target Planes | Plane | Planes to be converted into RobTargets |
| Z Rotation | Angle | Rotates the RobTarget based on its own Z-axis (Unit: degrees) |
| Target Base | Plane | Reference plane where the input Target Plane is defined. The input Target Plane defines a RobTarget oriented to the Positioner’s Mounting Plane based on this plane |
| Reference Plane | Plane | Reference plane for positioner orientation in Static mode |
| 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 to store the target position and orientation of the robot. |
| Name | Type | Description |
|---|---|---|
| Split Start | String | Extracts and outputs data corresponding to the first index within each branch of the input data TargetPlane. |
| Split End | String | Extracts and outputs 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 code of ABB RAPID RobTargets |
| RobTargets | RobTarget | Outputs ABB RAPID RobTargets code |
| End Targets | RobTarget | Outputs the last branch code of ABB RAPID RobTargets |