Creating and Editing an Object or Reference Profile

This procedure explains how to create or edit the object profile associated with a robot.  All robots have profiles that make up part of their controller data.  The object profile usually defines a reference for the product in the work station.
To perform this procedure, you must have a robot loaded in the PPR tree (a .CATProcess document).
The table shows how object profiles impact the simulation.
Joint target Home No effect
DOFs No effect
Cartesian target Coordinates The target gets offset by the object frame coordinates in the world.
Tag/Weld No effect, the TCP goes to the tag or weld.
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Create an Object Profile
 

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

  2. Select the robot from the PPR tree.

    The Object Frame Profile dialog box appears.
    The compass also moves to the world origin.

  3. Set the coordinates for the frame in one of three ways:

    • Use the spinners on the dialog box
    • Manipulate the compass
    • Select a tag.
    You can accept the default name given the object frame profile or you can alter it.

  4. Click the OK button.

    The new profile becomes one of the profiles associated with controller of the selected robot.
 

Edit the Object or Reference Profile
 

  1. Right-click the object profile you wish to edit on the PPR tree, select Object Frame Profile object > Definition.

    An Object Frame dialog box appears, containing the parameters you set.

  2. Alter the data that applies.

  3. Select the OK button.

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

The green check mark beside a particular profile indicates that it is set as current.

If you have the Realistic Robot Simulation (RRS) product add-on, RRS takes into account the offset for the robot base while solving inverse kinematics.
 

Use Teach to Modify the Object or Reference Frame Profile
  In addition to the method described above, users can modify the object frame profile from the Table view of the Teach dialog box by right-clicking on the operation and selecting Object Frame Profile > object frame 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.