Action: Movement - GabrielRumpf/RobotComponents GitHub Wiki

Code Generation: Defines a linear or nonlinear movement instruction for simulation and RAPID main code generation.

Target: Defines the movement target. A target can be generated by using an Action: Target component.

MovementSpeed: Defines the movement speed in mm/s for the robot movement based on an integer value. Can be set to 5, 10, 20, 300, 40, 50, 60, 80, 100, 150, 200, 300, 400, 500, 600, 800, 1000, 1500, 2000, 2500, 3000, 4000, 5000, 6000, 7000.

IsLinear: Defines if the robot movement is linear or nonlinear based on a boolean value. The robot movement is nonlinear by default. Nonlinear movements are always joint movements based on the target plane while linear movements are based on the target plane AND axis configuration. Linear movements cannot be simulated reliably in Robot Components but only approximated. Their correct behavior can only be validated by trial and error in a virtual or real ABB IRC5 robot controller.

Movement: Contains the movement instructions as Action for simulation and RAPID main code generation.

Code Generation: Plug the Movement output of this component into the Actions input of the RAPID Generator component to generate a single robot movement instruction in the RAPID Main Code.