You can attach or detach tools to or from assemblies that are available in the view by using the . To access the function, right-click the assembly in the view and run the command from the contextual menu.
The following assembly types are supported:
Lexium Cobot
Delta robots
Carriers of a Lexium™ MC multi carrier track
You can attach tools that are available in EcoStruxure Machine Expert Twin or that you create using the menu.
To attach a tool to an assembly, right-click the assembly in the view and run one of the following commands from the contextual menu:
to attach a tool that is available in the scene but not attached to an assembly.
to attach a new tool in two different ways:
Select to attach a tool that you create by using the menu.
Attach a tool that is available by default, for example, by running to attach the default gripper provided for the Lexium Cobot or to attach the default gripper provided for delta robots.
To attach a new tool that is provided by default by EcoStruxure Machine Expert Twin, proceed as described in this example for attaching the to a Lexium Cobot:
|
Step |
Action |
|---|---|
|
1 |
Select an object in the catalog and add it to the view. |
|
2 |
Right-click the Cobot assembly in the view and run the command from the contextual menu. Result: The tool is attached to the Cobot assembly in the view and is displayed in the view as subnode of the Cobot node. |
|
3 |
Select the node and subnodes , in the view to configure the properties of the gripper in the view according to your individual requirements. |
You can attach a tool that you create using the menu as follows:
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Step |
Action |
|---|---|
|
1 |
Right-click an assembly in the view and run the command from the contextual menu. Result: A small black cube is displayed at the assembly in the view and in the view, a new subnode including another subnode is added to the node of the selected assembly. |
|
2 |
Select the subnode , open the menu and attach body assemblies or container assemblies as described in Kinematization Menu. Result: The body assemblies or container assemblies are attached as a tool to the selected assembly and are displayed as subnodes of the in the view. This relationship as well as the container assembly itself is saved with the .Experior project and is preserved when the project is closed and reopened. |
To attach a tool that is available in the scene, proceed as follows:
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Step |
Action |
|---|---|
|
1 |
Right-click an assembly in the view and run the command from the contextual menu. Result: The tools that are available in the scene but not attached to an assembly are provided for selection. |
|
2 |
Select the tool you want to attach. Result: A message is displayed requesting to you to decide whether you want to preserve the position and orientation of the tool with respect to the assembly. Proceed with step 3a clicking or with step 3b by clicking . |
|
3a |
Click to preserve the position and orientation of the tool with respect to the assembly. Result: The tool is attached to the assembly without changing its position or orientation in the view but with an offset to the assembly. This offset is preserved and the tool is moved in accordance with the assembly changing position and or orientation within the scene. |
|
3b |
Click to attach the tool to the assembly. Result: The tool is moved within the scene and attached to the assembly. Use the parameters to adjust the orientation of the tool relative to the assembly. |
To detach a tool from an assembly, proceed analog to the example for attaching a cubic gripper to a Lexium Cobot:
Right-click the Cobot assembly in the view and run the command from the contextual menu.
This results in two separate stand-alone assemblies indicated in the view and in the view:
The Cobot assembly
The gripper assembly
When you detach a container assembly from an assembly, the container assembly is preserved as stand-alone in the scene and is displayed in the view as a separate node.
To create a kinematization chain with the menu and to prepare it for use as kinematization tool, proceed as follows:
|
Step |
Action |
|---|---|
|
1 |
Create a kinematization chain by creating body assemblies and / or kinematic axes using the menu, selecting them in the scene or in the by holding down the key and clicking the button from the menu. Result: A node for this kinematization chain is created in the view. |
|
2 |
Click the button in the menu to create a container assembly as described in the Section of the Menu. Result: An node is created in the view for this empty container assembly. |
|
3 |
Select the node in the , hold down the key, select the node of the kinematization chain and click the button from the menu. Result: The kinematization chain is grouped within the container assembly and displayed as subnode of the node in the . |
To attach a kinematization chain that is available as a container assembly as described in Preparing a Kinematization Chain for Use as Kinematization Tool, proceed as follows:
|
Step |
Action |
|---|---|
|
1 |
Right-click an assembly, for example, a Lexium Cobot, in the view and run the command . Result: The container assemblies that are available in the scene but not attached to an assembly are provided for selection. |
|
2 |
Select the suitable container assembly Assembly[n] from the contextual menu. Result: A message is displayed requesting to you to decide whether you want to preserve the position and orientation of the container assembly with respect to the assembly. Proceed with step 3a clicking or with step 3b by clicking . |
|
3a |
Click to preserve the position and orientation of the container assembly with respect to the assembly. Result: The container assembly is attached to the assembly without changing its position or orientation in the view but with an offset to the assembly. This offset is preserved and the container assembly is moved in accordance with the assembly changing position and or orientation within the scene. |
|
3b |
Click to attach the container assembly to the assembly. Result: The container assembly is moved within the scene and attached to the assembly. Use the parameters to adjust the orientation of the tool relative to the assembly. |
A new node is displayed as subnode of the assembly, for example, the Lexium Cobot. The node provides the container assembly including the kinematization chain as subnode.