Abb robot command builder

Build commands that can be sent via RMQ Node to ABB robot.

Inputs

Field	Type	Description
id	number	sequence number for command.

Outputs

Field	Type	Description
metadata	number	Integer including sequence number.

Details

Input message values are not mandatory. They override defaults set in the node configuration. Still using msg.id field is recommended to track responses for particular command message (by default it equals 1).

msg.id should be integer within range 1 and 8191.

ℹ️ NOTE: When msg.id is equal 0 then no response is sent back.

msg.payload object could include:

• msg.payload.procedure - RAPID procedure name (case sensitive) to call.
• msg.payload.<argument name>.<argument type> - argument value passed to the procedure.

Example msg.payload for pickAndDrop procedure with 3 arguments dpItemPose, dpIn, dpOut:

{
    "procedure": "pickAndDrop",
    "dpItemPose": {
        "pose": [
            [0, 0, 0],
            [1, 0, 0, 0]
        ]
    },
    "dpIn": {
        "num": 1
    },
    "dpOut": {
        "num": 1
    }
}

⚠️ IMPORTANT: Each argument in called RAPID procedure must be dataPointer type.

Example output for above input (with default msg.id value 1):

{
    "metadata": 8193,
    "payload": "command;[[\"\",\"\",0,\"\",\"\",0,\"\"],\"pickAndDrop\",[\"pose\",\"\",0,\"[[0.00,0.00,0.00],[1.000000,0.000000,0.000000,0.000000]]\",\"\",0,\"\"],[\"num\",\"\",0,\"1\",\"\",0,\"\"],[\"num\",\"\",0,\"1\",\"\",0,\"\"],[\"\",\"\",0,\"\",\"\",0,\"\"],[\"\",\"\",0,\"\",\"\",0,\"\"]]"
}

ℹ️ NOTE: msg.metadata field starts from 8193, so for msg.id = 2, msg.metadata = 8194 and so on.

Configuration

Property	Description
Name	Name of the node instance
Config	A config node with robot connection parameters
Config ID	ID of config node
Include System Files	Switch to include system modules in modules list below
Include Local Procedures	Switch to include procedures defined as LOCAL in procedures list below
Tasks	List of available RAPID program tasks
Modules	List of available RAPID modules
Procedures	List of available RAPID procedures
Values	Procedure's arguments with type selector and default value to set
Sample Message	Example msg.payload content based on above Values

ℹ️ NOTE: When procedure in RAPID uses argument that is not a dataPointer type [ invalid ] tag is displayed.