Community documentation for Grasshopper add-ons & plugins
Robot Components
ADDON. Version 1.5.1. Released on 2022-Jan-22. Provides 109 components. Created by Arjen Deetman, Gabriel Rumpf, Benedikt Wannemacher, Mohamed Dawod, Zuardin Akbar, Andrea Rossi. Features 0 video tutorials.
Robot Components is a plugin for intuitive robot programming for ABB robots inside of Rhinoceros Grasshopper. Robot Components offers a wide set of tools to create toolpaths, simulate robotic motion and generate RAPID code within Grasshopper. Main features include: 40+ predefined ABB robot models, Possibility to add your own robot models, Support for external axes (both linear and rotational), Possibility to define custom strategies for all external axis values, Support for work objects (including movable work objects), Efficient forward and inverse kinematics, Possibility to add your own custom code lines, Real-time connection with IRC5 controllers, Robot Components API to develop your custom components using either Python or C#.
Definitions
| External Linear Axis Defines an External Linear Axis for any Robot. Robot Components: v1.5.1 | |
| External Rotational Axis Defines an External Rotational Axis. Robot Components: v1.5.1 | |
| ABB IRB1010-1.5/0.37 (IRB1010) An ABB IRB1010-1.5/0.37 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1100-4/0.475 (IRB1100) An ABB IRB1100-4/0.475 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1100-4/0.58 (IRB1100) An ABB IRB1100-4/0.58 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB120-3/0.58 (IRB120) An ABB IRB120-3/0.58 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1200-5/0.9 (IRB1200) An ABB IRB 1200-5/0.9 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1200-7/0.7 (IRB1200) An ABB IRB 1200-7/0.7 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1300-10/1.15 (IRB1300) An ABB IRB 1300-10/1.15 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1300-11/0.9 (IRB1300) An ABB IRB 1300-11/0.9 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1300-7/1.4 (IRB1300) An ABB IRB 1300-7/1.4 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB140-6/0.81 (IRB140) An ABB IRB140-6/0.81 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1520ID-4/1.5 (IRB1520ID) An ABB IRB1520ID-4/1.5 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1600-X/1.2 (IRB1600) An ABB IRB1600-X/1.2 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1600-X/1.45 (IRB1600) An ABB IRB1600-X/1.45 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB1660ID-X/1.55 (IRB1660ID) An ABB IRB1660ID-x/1.55 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB2600-12/1.85 (IRB2600) An ABB IRB2600-12/1.85 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB2600-X/1.65 (IRB2600) An ABB IRB2600-X/1.65 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB2600ID-15/1.85 (IRB2600) An ABB IRB2600ID-15/1.85 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB2600ID-8/2.0 (IRB2600) An ABB IRB2600ID-8/2.0 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB4600-20/2.5 (IRB4600) An ABB IRB4600-20/2.5 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB4600-40/2.55 (IRB4600) An ABB IRB4600-40/2.55 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB4600-X/2.05 (IRB4600) An ABB IRB4600-X/2.05 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6620-150/2.20 (IRB6620) An ABB IRB6620-150/2.20 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6640-185/2.8 (IRB6640) An ABB IRB6640-185/2.8 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6640-235/2.55 (IRB6640) An ABB IRB6640-235/2.55 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6650-125/3.2 (IRB6650) An ABB IRB6650-125/3.2 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6650-200/2.75 (IRB6650) An ABB IRB6650-200/2.75 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6650S-125/3.5 (IRB6650S) An ABB IRB6650S-125/3.5 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6650S-200/3.0 (IRB6650S) An ABB IRB6650S-200/3.0 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6650S-90/3.9 (IRB6650S) An ABB IRB6650S-90/3.9 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6700-150/3.2 (IRB6700) An ABB IRB6700-150/3.2 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6700-155/2.85 (IRB6700) An ABB IRB6700-155/2.85 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6700-175/3.05 (IRB6700) An ABB IRB6700-175/3.05 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6700-200/2.6 (IRB6700) An ABB IRB6700-200/2.6 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6700-205/2.8 (IRB6700) An ABB IRB6700-205/2.8 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6700-235/2.65 (IRB6700) An ABB IRB6700-235/2.65 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6700-245/3.0 (IRB6700) An ABB IRB6700-245/3.0 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6700-300/2.7 (IRB6700) An ABB IRB6700-300/2.7 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6790-205/2.8 (IRB6790) An ABB IRB6790-205/2.8 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB6790-235/2.65 (IRB6790) An ABB IRB6790-235/2.65 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB7600-150/3.5 (IRB7600) An ABB IRB7600-150/3.5 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB7600-325/3.1 (IRB7600) An ABB IRB7600-325/3.1 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB7600-340/2.8 (IRB7600) An ABB IRB7600-340/2.8 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB7600-400/2.55 (IRB7600) An ABB IRB7600-400/2.55 Robot preset component. Robot Components: v1.5.1 | |
| ABB IRB7600-500/2.55 (IRB7600) An ABB IRB7600-500/2.55 Robot preset component. Robot Components: v1.5.1 | |
| Robot (Rob) Defines a robot which is needed for Code Generation and Simulation Robot Components: v1.5.1 | |
| Robot Preset (RobPres) Defines a robot which is needed for Code Generation and Simulation Robot Components: v1.5.1 | |
| Robot Tool (RobTool) Generates a robot tool based on attachment and effector planes. Robot Components: v1.5.1 | |
| Work Object (WorkObj) Defines a new work object. Robot Components: v1.5.1 |
Code Generation
| Set Analog Output (SAO) Defines an instruction to change the state of a analog output of the robot controller. Robot Components: v1.5.1 | |
| Code (C) Defines manually an instruction or declaration. Robot Components: v1.5.1 | |
| Code Types (CT) Defines a value list with code types Robot Components: v1.5.1 | |
| Comment (C) Defines a single comment line. Robot Components: v1.5.1 | |
| Set Digital Output (SDO) Defines an instruction to change the state of a digital output of the robot controller. Robot Components: v1.5.1 | |
| External Joint Position (EJ) Defines an External Joint Position for a Robot Target or Joint Target declaration. Robot Components: v1.5.1 | |
| Inequality Symbols (IS) Defines a value list with inequality symbols. Robot Components: v1.5.1 | |
| Set Joint Configuration Control (SJCC) Defines an instruction to activate or deactivate joint configuration control for all following MoveJ instructions. Robot Components: v1.5.1 | |
| Joint Target (JT) Defines a Joint Target for a Move instruction. Robot Components: v1.5.1 | |
| Set Linear Configuration Control (SLCC) Defines an instruction to activate or deactivate linear configuration control for all following MoveL instructions. Robot Components: v1.5.1 | |
| Move (M) Defines a linear or joint movement instruction. Robot Components: v1.5.1 | |
| Movement Types (MT) Defines a value list with movement types Robot Components: v1.5.1 | |
| Override Robot Tool (Overrides cuurent RobotTool) Defines an instruction to change the current robot tool of the ABB robot. Robot Components: v1.5.1 | |
| RAPID Generator (RG) Generates the RAPID program and system module for the ABB robot controller. Robot Components: v1.5.1 | |
| Robot Joint Position (RJ) Defines a Robot Joint Position for a Joint Target declaration. Robot Components: v1.5.1 | |
| Robot Target (RT) Defines a Robot Target declaration for an Instruction : Movement or Inverse Kinematics component. Robot Components: v1.5.1 | |
| Speed Data (SD) Defines a speed data declaration for Move components. Robot Components: v1.5.1 | |
| Predefined Speed Data (PSD) Defines a value list with predefined speed data Robot Components: v1.5.1 | |
| Wait for Analog Input (WAI) Defines an instruction to wait for the signal of a Analog Input from the ABB robot controller. Robot Components: v1.5.1 | |
| Wait for Digital Input (WDI) Defines an instruction to wait for the signal of a Digital Input from the ABB robot controller. Robot Components: v1.5.1 | |
| Wait for Time (WT) Defines an instruction to wait a given amount of time between two other RAPID instructions. Robot Components: v1.5.1 | |
| Zone Data (ZD) Defines a zone data declaration for robot movements in RAPID program code generation. Robot Components: v1.5.1 | |
| Predefined Zone Data (PZD) Defines a value list with predefined zone data Robot Components: v1.5.1 |
Deconstruct
| Deconstruct External Linear Axis (DeConELA) Deconstructs an External Linear Axis component into its parameters. Robot Components: v1.5.1 | |
| Deconstruct External Rotational Axis (DeConERA) Deconstructs an External Rotational Axis component into its parameters. Robot Components: v1.5.1 | |
| Deconstruct External Joint Position (DeConExtJoint) Deconstructs an External Joint Position Component into its parameters. Robot Components : v1.5.1 | |
| Deconstruct Joint Target (DeConJointTar) Deconstructs a Joint Target Component into its parameters. Robot Components : v1.5.1 | |
| Deconstruct Move (DeConMove) Deconstructs a Move component into its parameters. Robot Components: v1.5.1 | |
| Deconstruct Robot Joint Position (DeConRobJoint) Deconstructs a Robot Joint Position Component into its parameters. Robot Components : v1.5.1 | |
| Deconstruct Robot (DeRob) Deconstructs a Robot component into its parameters Robot Components: v1.5.1 | |
| Deconstruct Robot Target (DeConRobTar) Deconstructs a Robot Target into its parameters. Robot Components: v1.5.1 | |
| Deconstruct Robot Tool (DeRobTool) Deconstructs a Robot Tool component into its parameters. Robot Components: v1.5.1 | |
| Deconstruct Speed Data (DeConSpeed) Deconstructs a Speed Data component into its parameters. Robot Components: v1.5.1 | |
| Deconstruct Work Object (DeConWobj) Deconstructs a Work Object into its parameters. Robot Components: v1.5.1 | |
| Deconstruct Zone Data (DeConZone) Deconstructs a Zone Data component into its parameters. Robot Components: v1.5.1 |
Utility
| Flip Plane X Flips the plane to the oposite direction by setting it's x-axis negative. Robot Components: v1.5.1 | |
| Flip Plane Y Flips the plane to the oposite direction by setting it's y-axis negative. Robot Components: v1.5.1 | |
| Get Object Manager Gets the Robot Components object manager of this Grasshopper document. Robot Components: v1.5.1 | |
| Group Actions (Group) Groups a set of Actions. Robot Components: v1.5.1 | |
| Info (I) Gives info about the plugin. | |
| Plane to Quaternion (PtoQ) Converts a plane to quaternion values.The first value a is the real part, while the rest multiplies i, j and k, that are imaginary. quarternion = a + bi + ci + dk Robot Components: v1.5.1 | |
| Plane Visualizer (PV) Visualizes the orientation vectors of a plane. Robot Components: v1.5.1 | |
| Quaternion to Plane (QtoP) Converts quaternion values to a plane.The first value a is the real part, while the rest multiplies i, j and k, that are imaginary. quarternion = a + bi + ci + dk Robot Components: v1.5.1 | |
| Robot Tool Calibration (ToolCal) EXPERIMENTAL: Calculates the robot tool TCP from given joint positions. Robot Components: v1.5.1 | |
| Ungroup Actions (Ungroup) Ungroup a set of Actions. Robot Components: v1.5.1 |
Controller Utility
| Get Axis Values (GA) Gets the current robot axis values from an ABB IRC5 robot controller. Robot Components: v1.5.1 | |
| Get Controller (GC) Connects to a real or virtual ABB IRC5 robot controller and extracts data from it. Robot Components: v1.5.1 | |
| Get Digital Input (GetDI) Gets the signal of a defined digital input from an ABB IRC5 robot controller. Robot Components: v1.5.1 | |
| Get Digital Output (GetDO) Gets the signal of a defined digital output from an ABB IRC5 robot controller. Robot Components: v1.5.1 | |
| Get Plane (GP) Controller Utility Gets the position of a mechanical unit from the defined ABB IRC5 robot controller. Robot Components: v1.5.1 | |
| Remote Connection Establishes a remote connection with the controller to upload an run RAPID code directly on a virtual or real ABB IRC5 robot controller. Robot Components: v1.5.1 | |
| Set Digital Input (SetDI) Changes the state of a defined digital input from an ABB IRC5 robot controller in Realtime. Robot Components: v1.5.1 |
Multi Move
| Sync Move Off (SMOFF) Defines a Sync Move Off synchronization point for Multi Move programming. Robot Components: v1.5.1 | |
| Sync Move On (SMON) Defines a Sync Move On synchronization point for Multi Move programming. Robot Components: v1.5.1 | |
| Task List (TL) Defines a collection of RAPID program tasks for a Task List declaration for Multi Move programming. Robot Components: v1.5.1 | |
| Wait Sync Task (WST) Defines a Wait Sync Task synchronization point for Multi Move programming. Robot Components: v1.5.1 |
Simulation
| Forward Kinematics (FK) Computes the position of the end-effector of a defined ABB robot based on a set of given axis values. Robot Components: v1.5.1 | |
| Inverse Kinematics (IK) Computes the axis values for a defined ABB robot based on an Action: Movement. Robot Components: v1.5.1 | |
| Path Generator (PG) Generates and displays an approximation of the movement path for a defined ABB robot based on a list of Actions. Robot Components: v1.5.1 |
Site design © Robin Rodricks.
Robot Components and associated data © 2023 Arjen Deetman, Gabriel Rumpf, Benedikt Wannemacher, Mohamed Dawod, Zuardin Akbar, Andrea Rossi.
Rhinoceros and Grasshopper are registered trademarks of Robert McNeel & Associates.
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