Overview of the Migration of Mounted Devices

This section describes how mounted devices are migrated from V5 to V6.

V5 mounted devices are migrated into V6 as engineering connections. The connection is owned by the same resource that owns the instance controllers for the devices. If the lowest common parent for the driving device and the driven devices is not the instance controller owner, the migration of the V5 mounting cannot be done and a warning is displayed.

This page discusses:

Explanation

Migrating a mounted device involves converting the V5 attachment into a V6 engineering connection. A V5 attachment is between either a FOI or part on the robot and the origin of a weld gun. The position of the gun relative to the robot is stored as a transform. No FOI on the gun is used in the attachment.

A V6 engineering connect is an offset between two ports: a mount port and a base port. If the V5 robot has an FOI that is used in the attachment, the port created during migration of the FOI is used in the V6 engineering connection. Otherwise, a new axis system and port are created on the robot. A new axis system and port are always created on the weld gun.

Note: Mounting of V5 and D5 robots and guns are handled different in V5. D5 weld guns have their mount point at their origin while V5 weld guns have their tool point at their origin. The mount point for a D5 robot is defined in a mount frame in the D5 data that cannot be viewed with the V5 GUI.

Although you can choose the FOI for the gun base in the V5's Set Tool command, these selections are not persisted. Only offset (transform) between the gun and robot is stored.

Data for V5 Mounted Devices

Location Object V5 Model V6 Model
Mount Point V5 Robot IK Data: Either mount part origin or mount offset (FOI) Axis/Port is created during import at the location.
Mount Point D5 Robot D5 UTool D5I creates axis/port during import. Mount finds it by name.
Base Point V5 Weld Gun FOI (But not used by mount plug) Axis/Port is created during import, coincident with the robot mount point.
Base Point D5 Weld Gun Origin Axis/Port is created during import, coincident with the robot mount point