Creating or Editing the Object Profile

This procedure explains how to create and edit the object profile associated with a robot.

All robots have profiles that make up part of their controller data. The object profile defines a reference for the product in the work station.

Object frames are defined to facilitate position update, position calculation, and coordinated motions in robot programs.

  • All moves are relative to an object frame.
  • If an object in the workcell is moved, the object frame can be manually updated which will adjust all motions which use that reference location.
  • The object frame is relative to the robot mount plate for fixed TCP moves.
  • The object frame moves with the positioner in some robot languages.

Object frames can be attached to a port, resource, or tag in the same cell as the robot.

This task shows you how to:

Before you begin: To perform this procedure, you must have a robot and at least one robot task defined.

Create an Object Profile

This task shows you how to create an object profile.

  1. In the Motion Controller section of the action bar, click Object Profile .
    You are prompted to select the resource that the object profle will be attached to.
  2. Select a robot in the work area.

    The Object Frame Profile dialog box appears.

    The orientation Robot also moves to the world origin.

  3. You can enter a Name for the profile, or accept the default name provided.
  4. Optional: Enter a positive integer value or zero as an Index number for the current profile. When left unset, Robot Programming and Realistic Robot Simulation will parse the name of the profile to obtain an index.

    Many robot controllers refer to the profile by an index number that acts as an identifier. Index provides a neutral naming convention for all controllers and is used by apps such as Robot Programming and Realistic Robot Simulation to identify the profile.

  5. In the Defined from: section, select the context that coordinates are evaluated from.

    • Base: Coordinates are evaluated from the base port of the robot.
    • World: Coordinates are evaluated in the local context.
    • Object: Coordinates are evaluated with respect to a specified object in the work area, such as:
      • A tag
      • An axis system
      • A product within the same cell as the robot

      When Object is selected, you are prompted to select an object in the work area that will act as the reference object.

      Upon selection, the orientation Robot snaps to the selected object.

  6. In the Coordinates section, select the format in which the coordinates will be expressed from the As: list.

  7. From the with referential list, select the origin from which coordinates are displayed.

  8. Coordinates (X, Y, Z, Yaw, Pitch, Roll) can be entered directly, or manipulated via the orientation Robot in the work area.

  9. Click OK to create the object profile.
    The new profile appears in the Profiles side tab for the selected robot.

Edit the Object or Reference Profile

This task shows you how to edit the object profile.

  1. Right-click the object profile you wish to edit on the tree, and select Edit Profile.

    The Object Frame Profile dialog box appears, containing the current parameters defining the profile.
  2. Alter the data that applies.
  3. Click OK.

The object frame profile is updated.