Grouping with a Motion Group

You can use motion groups to program a set of devices as a single entity.

  1. Create the initial set of data, such as the robot, gun and rails shown below.




  2. Right-click at the station level and select Insert > Product to create a product that will act as the control device.





    Once inserted, the control device appears in the tree:





  3. To type the control device as a resource, click Generate a Resource
    You are prompted to select a product.
  4. Select the control device you just created.

    The Generate a Resource dialog box appears.

  5. Type the control device product as a resource of type Control device.



  6. Create motion groups at the device level.


  7. Use Set Tool to create an attachment between the rail and robot.

    Note that:

    • The ports have been predefined
    • The link goes from PARENT (rail mount port) to CHILD (robot base port)
    • The Motion Group field is valuated



  8. Use Set Tool to create an attachment between the robot and the gun.

    Note that:

    • The ports have been predefined
    • The link goes from PARENT (robot mount port) to CHILD (gun base port)
    • The Motion Group field is valuated
    • For programmation purposes, the working TCP is valuated (for inverse kinematic programming only)