vcHelpers.Robot2

or

vcComponent robot_component

or

[no argument]

One option is to give the name of an interface a robot is connected to in a component as an argument, for example a robot mounted on a pedestal. If found, the robot connected at the interface is used by the constructor.

A second option is to give the component of a robot you want to program as an argument.

A third option is to not give any argument, thereby a component owning the script is used by the constructor.

Set this property to None to use the current configuration of the robot.

Note: The default configuration is -1/last configuration in ConfigurationsList.

If zero value, a motion's acceleration and speed determines its motion time. That is, this property has no effect.

This property must be defined before setting RecordRSL to True. You can refer to the main routine of robot program as 'MainRoutine', the name of an existing subroutine, or give a name for a new subroutine that will be created during the recording.

If True, statements are added to a routine defined by RecordRoutine.

If no value is given for a joint, the current value of the joint is used by the robot.

Optional arguments j1 to j6 are target values for joints 1 through 6 in a robot, with six joints being common in articulated robots.

An optional motiontime argument can be given to scale the acceleration and speed of the robot's motion to match the given time. The default value is zero in which scaling is disabled.

An optional relative argument can be used to set target values as relative to the current value of each joint. The default value is False in which target values are absolute joint values.

An optional ExtraJoints argument can be given as a list of joint values for additional joints in a robot, for example external joints of a robot mounted on a track and remotely connected to a workpiece positioner.

Tip: Joints can be individually driven by controller; see methods in vcServoController.

An optional FollowTime argument can be given to set the amount of time the robot should follow the target node. The default value is 1.0/one second.

Optional arguments Tx, Ty and Tz are translation movements in the XYZ coordinate axes.

Optional arguments Rx, Ry and Rz are rotation offsets for the XYZ coordinate axes.

Optional arguments Tx, Ty and Tz are offsets for target position. The default value for translations is zero.

Optional arguments Rx, Ry and Rz are offsets for target orientation. The default value for rotations is zero.

An optional ToFrame argument can be used to set the target location to be a Frame feature in a component. A Frame feature can be given as a vcFeature object or referenced by name.

An optional OnFace argument can be used to set the target location to be a face of a component's bound box. A bound box face can be referenced by using one of six recognized names (top, bottom, left, right, front, back).

If ToFrame and OnFace arguments are given, the method will first try to use ToFrame.

An optional ToMtx argument defines the target matrix in the selected coordinate system for this method. By default, the identity matrix is based on World origin.

Optional arguments Tx, Ty and Tz are offsets for target matrix position. The default value for translations is zero.

Optional arguments Rx, Ry and Rz are offsets for target matrix orientation. The default value for rotations is zero.

An optional CS argument can be used to set the coordinate system used for target calculation, which by default is the World coordinate system. The argument can be either "world" or "irobot" which is the robot's coordinate system.

The Tx, Ty and Tz arguments define the target's XYZ coordinate values.

The Rx, Ry and Rz arguments define the target's orientation or ABC values.

Rx
C target value (Roll)

Ry
B target value (Pitch)

Rz
A target value (Yaw)

The CS argument defines the coordinate system used for target calculation, which default is World coordinate system. The argument can be either "world" or "irobot" which is the robot's coordinate system.

After the target is calculated, a point-to-point motion statement is created in the robot's program which uses the robot's first indexed tool frame. The orientation of that tool frame can affect the TargetABC properties of the motion statement.

The Tx, Ty and Tz arguments are translation movements in XYZ coordinate axes.

The Rx, Ry and Rz arguments are rotation offsets for XYZ coordinate axes.

Optional arguments Tx, Ty and Tz are offsets for target position. The default value for translations is zero.

Optional arguments Rx, Ry and Rz are offsets for target orientation. The default value for rotations is zero.

An optional ToFrame argument can be used to set the target location to be a Frame feature in a component. A Frame feature can be given as a vcFeature object or referenced by name.

An optional OnFace argument can be used to set the target location to be a face of a component's bound box. A bound box face can be referenced by using one of six recognized names (top, bottom, left, right, front, back).

If ToFrame and OnFace arguments are given, the method will first try to use ToFrame.

An optional ToMtx argument defines the target matrix in the selected coordinate system for this method. By default, the identity matrix is based on World origin.

Optional arguments Tx, Ty and Tz are offsets for target matrix position. The default value for translations is zero.

Optional arguments Rx, Ry and Rz are offsets for target matrix orientation. The default value for rotations is zero.

An optional CS argument can be used to set the coordinate system used for target calculation, which by default is the World coordinate system. The argument can be either "world" or "irobot" which is the robot's coordinate system.

Generally, this method is used when a robot needs to motion to a moving part, for example a pallet on a conveyor.

Optional arguments Tx, Ty and Tz are offsets for target matrix position. The default value for translations is zero.

Optional arguments Rx, Ry and Rz are offsets for target matrix orientation. The default value for rotations is zero.

The Tx, Ty and Tz arguments define the target's XYZ coordinate values.

The Rx, Ry and Rz arguments define the target's orientation or ABC values.

Rx
C target value (Roll)

Ry
B target value (Pitch)

Rz
A target value (Yaw)

The CS argument defines the coordinate system used for target calculation, which default is World coordinate system. The argument can be either "world" or "irobot" which is the robot's coordinate system.

After the target is calculated, a linear motion statement is created in the robot's program which uses the robot's first indexed tool frame. The orientation of that tool frame can affect the TargetABC properties of the motion statement.

An optional Tz argument can be given to set retraction distance, which by default is 200.

Action 1
Robot executes a joint movement based on target component origin and Approach, OnFace and ApproachAxis values.

Action 2
Robot executes a linear movement to target component based on OnFace value.

Action 3
Target component is grabbed by robot.

Action 4
Robot executes a linear retraction movement based on Approach value.

All three motions executed by the robot are created dynamically during a simulation.

By default, the robot will use an approach distance of 200 aligned to Z-axis in order to pick from the top face of a given component's bound box.

The pick location can be offset using the optional Tx, Ty, Tz, Rx, Ry, and Rz arguments.

An optional OnFace argument allows you to set which face of Part bound box to use for Action 2.

An optional ApproachAxis argument sets the axis of alignment.

Action 1
Get a list of components attached to Pallet. That is, a list of child components.

Action 2
Select child component to pick based on InversedOrder and Index values.

Action 3
Robot executes a joint movement based on child component origin and Approach value.

Action 4
Robot executes a linear movement to top face of child component.

Action 5
Child component is grabbed by robot.

Action 6
Robot executes a linear retraction movement based on Approach value.

All three motions executed by the robot are created dynamically during a simulation.

By default, the robot will use an approach distance of 200 to pick the last component of a list of child components for Pallet.

An optional Approach argument can be used to change the approach and retract distance used by robot.

An optional InversedOrder argument can be used to reverse the list of child components acquired in Action 1. A True value reverses the order, so last component attached to Pallet is first in list. The default value is False.

An optional Index argument can be used to select which child component of Pallet is picked by robot. The default value is -1, so last component in Action 1 child components list.

Action 1
Robot executes joint movement based on target component origin and Approach value.

Action 2
Robot executes linear movement to top face of target component bound box.

Action 3
Target component is grabbed by robot.

Action 4
Robot executes a linear retraction movement based on Approach value.

All three motions executed by the robot are created dynamically during a simulation.

By default, the robot will use an approach distance of 200 and calculate motion targets based on speed of Part.

The pick location can be offset using the optional Tx, Ty, Tz, Rx, Ry, and Rz arguments.

Action 1
Robot executes joint movement based on ToComp origin, Approach and ApproachAxis values.

Action 2
Robot executes linear movement to top face of ToComp.

Action 3
Grasped component is released by robot to ToComp.

Action 4
Robot executes a linear retraction movement based on Approach value.

All three motions executed by the robot are created dynamically during a simulation.

By default, a robot will use an approach distance of 200 and the bound box of grasped component to calculate motion targets.

The place location can be offset using optional Tx, Ty, Tz, Rx, Ry, and Rz arguments.

An optional Part argument can be used to define which component is placed to ToComp. The default is the first component listed in robot's GraspContainer.

An optional ApproachAxis argument can be used to define the axis of alignment.

Action 1
Robot executes joint movement to ToComp.

Action 2
Robot executes linear movement to place location.

Action 3
Grasped component is released by robot to ToComp.

Action 4
Robot executes linear retraction movement away from place location.

All three motions executed by the robot are created dynamically during a simulation.

By default, a robot will use an approach distance of 200, the bound box of grasped component and the given pattern to calculate motion targets.

The X_index, Y_index and Z_index arguments define the index position for placing a component based on pattern size.

The PatternSize_X, PatternSize_Y and PatternSize_Z arguments define the pattern size.

An optional ApproachAxis argument can be used to define the axis of alignment.

An optional Part argument can be used to define which component is placed to ToComp. The default is the first component listed in robot's GraspContainer.

Optional StepSizeX, StepSizeY and StepSizeZ arguments can be used to define the pattern step size for XYZ axes. The default step size values are length, width and height of Part.

An optional Rz argument can be used to define a Z-axis rotation offset for place location.

If ToObject is a component, a target container is searched for automatically in the component. If not found, the components are directly attached to the given node.

If ToObject is a component, a target container is searched for automatically in the component. If not found, the released component is directly attached to the given node.

The ReleaseThis argument is the component to be detached from robot; otherwise the method will search the robot's GraspContainer.

The Index argument defines the port in the robot's inputs, Boolean Signal Map behavior. The Value argument defines the value that should be received at the port in order to complete execution.

If RecordRSL is set to True, this action is recorded as a new input statement in the robot's program.

The Index argument defines the port in the robot's outputs, Boolean Signal Map behavior. The Value argument defines the value that should be sent to the mapped signal.

If RecordRSL is set to True, this action is recorded as a new output statement in the robot's program.

The Index argument defines the index position of a tool frame in the robot's Tools which is mapped to a port used for tracing.

The Index argument defines the index position of a tool frame in the robot's Tools which is mapped to a port used for tracing.

or

vcComponent Tool, vcComponent ToObject

The Tool argument needs to be a tool component mounted on the robot.

The list of data contains the following: robot program, current routine, robot controller, name of active base frame, name of active tool frame, list of names for all base frames, list of names for all tool frames, index of current configuration, and list of names for all configurations.