Using a Fixed TCP Pedestal Tool

You can interactively specify a fixed tool when creating an arc trajectory in Create/Edit Arc Trajectory. Additionally, an option in Create Operations can automatically create Grab and Release activities for the robot along with arc operations. This allows you to effectively program fixed TCP scenarios for arc welding, sealant and other curve-based applications.

This task shows you how to:

Before you begin: You have a manufacturing cell containing:
  • A pedestal tool.
  • A manufacturing product that sealant will be applied to.
  • A robot that will grab the product, move it for the application of sealant, and release it at a specified location in the work area.

Create the Required Tool Profiles

Tool profiles must be created for both the tool performing the arc operation (welding, sealant, etc.) and the tool that grabs the product, moves it to the tool perfoming the operation, and releases it at a specified location.

Click Play to watch the video:

  1. From the Setup section of the action bar, click New Tool Profile .
    You are prompted to select a resource to create the profile under.
  2. Select the robot.
    The Tool Profile dialog box appears.

  3. Define the profile for the fixed TCP tool (in this case, a gluing tool).

    1. Define a meaningful Name: for the profile.
    2. For a fixed TCP tool, select Stationary for the Tool Type:.
    3. Select the Related tool: from the list or in the work area.
    4. Select the port of the selected tool in the Ports: list.
    5. Click OK to create the profile.
  4. Repeat Steps 1 and 2 to create the profile for the handling tool.
  5. Define the profile for the tool on the robot that will grab and release the product.

    1. Define a meaningful Name: for the profile.
    2. Select On Robot for the Tool Type:.
    3. Select the Related tool: from the list or in the work area.
    4. Select the port of the selected tool in the Ports: list.
    5. Click OK to create the profile.

The new tool profiles appear in the Profiles side tab.

Create the Sealant Trajectory on the Product

Define the trajectory on the product that determines where the sealant will be applied.

Click Play to watch the video:

  1. From the Arc section of the action bar, click Create/Edit Arc Trajectory .
  2. In the work area, select the pedestal tool.
    The Create Arc Trajectory dialog box appears.

  3. Optional: Specify a meaningful Name for the trajectory.
  4. Select the method to use to define the trajectory from the list, and click .

    When Surfaces Intersection is selected, the Select Surfaces dialog box appears.

  5. Click No Selection in the Base Surface(s) box, and select one or more surfaces that will serve as the base surface to define the trajectory.
  6. Click No Selection in the Wall Surface(s) box, and select one or more surfaces that will serve as the wall surface to define the trajectory.
  7. Click OK.

    A trajectory appears on the product based on your selections, and the Create Trajectory dialog box reappears.
  8. Click OK.
    The trajectory is created and appears in the Behavior side tab.

Generate and Customize the Task

You are now ready to create a task and create robot motions for grabbing the product, moving the product to the pedestal tool, and placing the product at its end location, avoiding any obstacles in the work area.

  1. From the Setup section of the action bar, click New Tag Group .

    This tag group will initially contain a single tag on the product that indicates where the grab activity will grab the product.

  2. Create a single tag on the product where the robot will grab it.
  3. From the Arc section of the action bar, click Generate Robot Task and select the robot.
  4. From the Behavior side tab, select the sealant trajectory and tag group.
    The selected entities are added to the list in the Create Operations dialog box.

  5. Click for Grabbing Tag for Fixed TCP, and select the tag that was placed on the product.

  6. Click OK to create the task.
    The new task appears in the Behavior side tab.