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From the Robot Controller toolbar, select Define Auxiliary device
.The Define Auxiliary Devices dialog box appears. 
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Select the robot from the PPR tree.
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Select the auxiliary device on the PPR tree.
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From the list in the Available types field, select the type of auxiliary device.
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Click the Apply button.
The device's data appears in the list: 
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Repeat above steps for any additional devices; then click Close.
The device appears as part of the robot's Controller node on the PPR tree: 
