How to Change Robot Types

General

In this chapter a type change of a robot is shown as an example.

Restrictions

Within the Robot Type Change Feature dialog box, it is not possible to change the following configured parameters / data:

  • Robot name

  • Node type

  • Generate POU instance (option if node type is equal to Non-Template)

Selecting the Robot Type

This example includes a P4 robot with the following basic configuration parameters as shown below:

The P4 robot should be changed to a P5 robot with the following configuration parameters:

  • VRKP4S0C0200000:P4, SH motor, LXM62 drive, with Rotation axis

  • VRKP5L0FNC00000: P5, ILM motor, ILM62 drive, no Rotation axis

Step Action

1

Open the Robot Type Change dialog box. Select MyRobot.ConfiurationData > Basic configurations and press the corresponding button.

2

Select the desired robot by entering the number of the robot or by using the different filters.

Result: The new robot is displayed in the Change Robot Type dialog box.

Starting Robot Type Change

Step Action

1

Select ‘Start Robot Type Change’ > Yes.

NOTE: It will take few minutes to process all the changes.
NOTE: During the program execution, do not operate in other windows until the process is finished.

2

Press OK the ‘Robot Type Change’ Feature dialog box.

Result: The Basic configuration window will be updated with the new robot type.

Results of Type Change Procedure

The results of the type change procedure is shown in the updated Basic configurations tab:

The robot configuration changes are:

Parameter Before Type Change After Type Change

VRK Reference

VRKP4S0C0200000

VRKP5L0FNC00000

Robot size

P4

P5

Motor type

SH

ILM

Drive type

LXM62

ILM62

Rotational axis

Yes

No

Sercos devices tree

Drive types modified to Lexium ILM62 and rotation axis drive has been deleted.

NOTE: The Operation mode tab is also updated to the new robot type picture.