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RobTarget

Description

Section titled “Description”

robtarget is a data type that defines the target position, tool orientation, and axis configuration for the robot and auxiliary axes to move to. It defines a RobTarget for robot-only motion without external axes. The external axis values are automatically set to 9E9 (unused).

Inputs

Section titled “Inputs”

Align Disabled Mode

Name Type Description
Target Planes Plane Input planes to be converted into RobTarget.
Z Rotation Number Rotates the RobTarget around its own Z-axis (Unit: degrees).
WobjData WobjData Redefines the Target Plane based on the ABB Work Coordinate System (Optional).
Chaining Boolean Locks the relationship between the Work Object (WorkObj) and the target (RobTarget). Allows target position and orientation to change when the work object is modified in the viewport (Optional).

Align Enabled Mode

Name Type Description
Target Planes Plane Planes to be converted into RobTarget.
Z Rotation Number Rotates the RobTarget around its own Z-axis (Unit: degrees).
WobjData WobjData Redefines the Target Plane based on the ABB Work Coordinate System (Optional).
Chaining Boolean Locks the relationship between the Work Object (WorkObj) and the target (RobTarget). Allows target position and orientation to change when the work object is modified in the viewport (Optional).
Robot Base Plane Sets the reference coordinate system that the +X axis of the RobTarget will point toward. The origin of this plane serves as the alignment target point, typically inputting the robot’s base coordinate system (Optional).
Align Weight Number Interpolation ratio between the original orientation and the fully aligned orientation. 0 = retains original RobTarget orientation, 1 = fully aligns the +X axis toward the Robot Base origin.

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 target position and orientation of the robot.
Name Type Description
Align X String An option to interpolate and correct the orientation so that the +X axis of the RobTarget points toward the Robot Base origin. Disabled by default (False). Adds inputs for ‘Robot Base’ (Plane) and ‘Align Weight’ (0 = original, 1 = fully aligned).

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.