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Automatic Gun Mount Xml

Experimenter
Experimenter

Hi all, I have 2 guns in tool stand and 1 robot in the study. i want to create a custom xml, so that the selected gun is mounted on the robot automatically.

 

Please help if anyone know how to do this

 

Thanks in advance

 

Saran

9 REPLIES

Re: Automatic Gun Mount Xml

Valued Contributor
Valued Contributor

I think you mean mountig the tool while you are docking? Automatic mount is not possible, unmount is possible:

 

<If>
<![CDATA[('adapter_motion'==\öffnen) || ('adapter_motion' == \oeffnen)]]>
<Line>
<Item Type="const"># UnMount ${ActiveGripper} TCPF</Item>
</Line>
<Line>
<Item Type="const"># UnMount ${ActiveGun} TCPF</Item>
</Line>
</If>

 

Re: Automatic Gun Mount Xml

Experimenter
Experimenter

Thanks a lot for your qucik respose. Is there any way to do the following activity

 

1. Gun docked on the docking stand

2. Option to be created for a relocate the gun from docking stand to Robot toolframe and Mount to the robot

3. Again Unmount the gun and relocate from Robot Toolframe to docking stand

 

From your reply i understood we cant do with the XML. Is there any other way to do this activity.

 

Thanks

Saran

 

Re: Automatic Gun Mount Xml

Valued Contributor
Valued Contributor

Unfortunately there is no relocate in # simulation commands.

Re: Automatic Gun Mount Xml

Siemens Legend Siemens Legend
Siemens Legend

Hello

 

another alternative is to use the snpshat, it can handle position of objects and attachments.

 

Best regards

Bernard

 

Re: Automatic Gun Mount Xml

Valued Contributor
Valued Contributor

Sounds interesting, could you please give us a quick example? Smiley Happy

Greetings,
Julian

Re: Automatic Gun Mount Xml

Solution Partner Legend Solution Partner Legend
Solution Partner Legend

It is easy to use. Open Snapshot Viewer from View - Viewers - Snapshot Viewer a and make snaphots of you project. It saves device poses, annotation PMIs, point of views, etc.

Re: Automatic Gun Mount Xml

Experimenter
Experimenter

Hi Dave,

Thank you very much and it Works!.... It reduces lots of my work......

 

1 more question, i cant see the snapshots which i created in Line simulation mode....... everytime we need to switch to standard mode or any other ways to do....

 

Thanks

Saran

Re: Automatic Gun Mount Xml

Solution Partner Legend Solution Partner Legend
Solution Partner Legend

Hi,

 

that's correct. I cannot use snaphots viewer in the Line Sim mode too. All buttons are inactive. I'm afraid that it's featureMan Happy

 

Dave

Re: Automatic Gun Mount Xml

Experimenter
Experimenter

Hi,

 

you can also try to create two Locations for the Robot, where the Robot moves to the Docking Stand and use the OLP Commands to Mount/Unmount the tool.

This works with default controller, and the other Robot Controllers support the default controller syntax.

 

  • Create first Location, lets say "Dock_Off"
  • Open Teachpendant/Click OLP Command in Path Editor
  • Add > Standard Commands > Tool Handling > Unmount Tool
  • Repeat with a second Location for mounting the Tool

Now, if you want to change your tool, you just need to move to the two locations.

But be aware that TCP Setup is correct and the locations move the robot to exactly the same position, as the Tool is mounted in its current location, it will not be relocated.

 

--

regards

Jürgen