10/21/2018 Mounting a Device

Mounting a Device on a Robot

This procedure describes how to mount a tool or device on a robot.

This procedure has four parts:

Mount a device
Unmount a device
Remount a device
Unset a device
Loading an instance of a robot and a mounted device
The steps in this procedure are illustrated using the file BodySide_RobotandGun.CATProcess.

Once a device is mounted on a robot, moving the robot necessarily moves the device accordingly.
The tool profile can be used to calculate an offset for the tool.

You can mount a device on a robot within either a CATProcess or CATProduct document. If you
mount the device onto the robot within the CATProduct document, you can load an instance of the
robot, with its mounted device, into a CATProcess document.

The devices that can be mounted may be kinematic or non-kinematic devices. If the device does not
have kinematics, it needs to have a tool frame and a base frame defined. For more information on
tool and base frames, see Device Building User's Guide.

Mount a Device

1. Click Set Tool .

The Robot Dressup dialog box appears.

2. Select both the device and the robot on which you wish to mount it.
The data appears in the dialog box.

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The table below provides an explanation of the fields.

Robot
Name Name of the robot
The reference frame, on the robot, to which any device is snapped. You can
use the compass to manipulate the Snap Ref, and the offset is stored in the
Translation Step field. You can also select from among more than one Snap
Snap Ref Ref. Tool tags and snap references not defined for the robot can be selected
on the geometry or from the PPR tree.

This field is unavailable when Fixed TCP is set.

Each robot controller has associated with it 4 profiles. The tool profile
specifies data about tools associated with robot, such as offset points. By
selecting New, you will create a new tool profile with this tool's name as part
Tool profile
of its name (e.g., selecting New for the Rocker1 tool creates a tool profile
with the default name Rocker1.1.ToolFrame). You can also select from
among any profiles already created, including the default profile.
Device
Name Name of device
The reference frame on the device for snapping the device to the robot. You
can use the compass to manipulate the Snap Ref, and the offset is stored in
the Translation Step field. You can also select from among more than one
Snap Ref Snap Ref. Tool tags and snap references not defined for the device can be
selected on the geometry or from the PPR tree.

This field is unavailable when Fixed TCP is set.

TCP Tool Center Point is determined on a specific location.
Mode
Snap/Fixed
Select either Snap or Fixed TCP
TCP
If this check box is selected, you can teach the robot using fixed TCP, and
External Axes
the device is considered part of the kinematics of the robot.
Orientation This field is the minimal angle change that can be applied to the device.
Step This field is unavailable when Fixed TCP is set.
Translation This field contains an offset from the Snap Ref. This field is unavailable
Step when Fixed TCP is set.

3. Click Apply.
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The tool snaps to the robot. The green manipulator appears on the 3D geometry.

4. (Optional) Use the compass to rotate the geometry until the device is oriented correctly.
The orientation defines the minimal angle change that can be applied to the device.
5. Click OK.
The device is mounted on the robot.

The robot's listing on the PPR tree is modified accordingly. Under the robot's listing, the
device is listed as a mounted device. The tool profile of the device appears as part of the
robot controller.

If you selected External Axes check boxes, the device appears listed as an auxiliary
device.

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Unmount the Device

Selecting unmount means that the device and robot are no longer considered connected; they may
move independently of each other. The software, however, continues to recognize that the device
was once mounted to the robot, and selecting remount from the same menu automatically remounts
the same device with the same orientation.

1. To unmount a device (that is, enable the robot and device to move independently of each
other), select the device under the Mounted Devices node, under the robot's node, on the PPR
tree.

2. Right-click the device and select UnMount Device.

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Note that the device remains listed in the PPR tree, under mounted devices, but the
green check mark has disappeared from the icon next to the device. The tool remains
listed under the robot so that it can be remounted when desired; but the removal of the
green check indicates that the device is unmounted.
To sever all links and all recognition that the device ever was mounted to the robot,
select unset from the context menu; the device will disappear from the mounted
devices node.

Remount the Device

You can remount a device whether it has been unmounted or not. Therefore, if the device moves
from the snap reference of the robot, it can be remounted easily. If you have unset the device from
the robot, and you wish to have the device mounted to the robot again, follow the directions for
mounting a device.

1. To remount a device (that is, restore the connection between an unmounted device and the
robot to which it was originally mounted), select the device under the Mounted Devices node,
under the robot's node, on the PPR tree.

2. Right-click the device and select ReMount Device.

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The device and robot now move as one again.

Unsetting the Device

You can unset a device. This removes all record of a relationship between the device and the robot
within the software. If you later wish to mount the device onto the robot, you must use the mount
rather than the remount procedure.

1. To unset a device (that is, destroy the connection between the device and the robot on which
it was mounted), select the device under the Mounted Devices node, under the robot's node,
on the PPR tree.

2. Right-click the device and select UnSet Device.

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To create actions that pick and drop the mounted device, see Device Task Definition User's Guide:
User Tasks: Device Task Programming Tasks: Creating Actions and Activities: Picking a Tool and
Dropping a Tool.

Load an Instance of a Robot and a Mounted Device

When a device is mounted onto a robot within a CATProduct document, an instance of the
CATProduct document can be loaded into a CATProcess document and the robot's mount status
remains in effect. The instance can be modified within the CATProcess document and the changes
made to it will not affect the reference information within the CATProduct document. However, any
changes made to the reference robot or mounted device within the CATProduct document will be
reflected within the CATProcess document, so long as the robot and device maintain their link to the
reference CATProduct.

The table below details the relationship:

Instance Reference
Mounted in Reference Mounted Mounted
Mounted in Instance Mounted Not Mounted
Unmounted in Reference Unmounted Unmounted
Unmounted in Instance Unmounted Mounted
Remount in Reference Remounted Remounted
Remount in Instance Remounted No remounted
Unset in Reference Unset Unset
Unset in Instance Unset Set

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