Creating and Editing a Tool Profile

This procedure explains how to create or edit the tool profile associated with a robot.  All robots have profiles that make up part of their controller data.  The tool profile defines tool data such as the weight of the tool and its TCP offset. 
To perform this procedure, you must have a robot loaded in the PPR tree (a .CATProcess document).
ascenari.gif (1223 bytes)

  1. From the Robot Controller toolbar, click New Tool Profile .

  2. Select the robot from the PPR tree.

    A new tool profile appears under the controller node, which is under the robot node, on the PPR tree (in the example, the new tool profile is Tool.2; the current tool profile is Rocker1, which is the mounted tool).

  3. Right-click the new tool profile, and select Tool Profile object > Definition.

    The Tool Profile dialog box appears (the version below shows both what is available before and after you select the More button).

  4. Enter the data that applies.

    ascenari.gif (1223 bytes) For more information about the data fields, see About Robot Controller Profiles.
      If you select Non RTCP, see below.

  5. (Optional) Click the Set TCP button.

    The Set TCP Offset dialog box appears.  Once this dialog box is completed, click its OK button.

  6. Click the OK button on the Tool Profile dialog box.

    The tool profile is now defined.
If you want the tool profile you just created and defined set as the tool profile for the robot, right-click the tool profile on the PPR tree, and select Tool Profile object > Set as current.

The green check mark beside a particular profile indicates that it is set as current (see the ROCKER1 profile).
 

Non RTCP Profiles  
  If you select the Non RTCP, the Non RTCP Profile dialog box appears.
 
  From the lists, select the Fixed Tool Profile and Mobile Tool Profile and click OK.
 

Using Teach to Modify the Tool Profile
  In addition to the method described above, users can modify the tool profile from the Table view of the Teach dialog box by right-clicking on the operation and selecting Tool Profile > tool profile.  The profiles listed depend upon those defined for the robot, although the profile named Current is always available.  Current, in this case, is defined as the profile from the previous operation that had a profile defined.