ExplanationMigrating 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
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