2.3.5.2 Mount Tool

The Mount Tool option enables you to mount a tool or a gun on a robot. The mounted tool is attached to the robot's tool frame. If a tool is mounted on a robot, it moves together with the robot's tool frame, if the robot moves.

Generally a tool is mounted on a robot to perform certain tasks. For example, a welding gun can be mounted on the robot so that the robot can perform several welding tasks in different locations in a workstation. If a tool required to perform a task may be too large to mount on the robot, you can mount the object on the robot, so that the robot can bring the object to the tool's location in order to perform the required task.

Figure: Mount Tool Option

Mounting a Tool to a Robot

1. Select Kinematics > Mount Tool from the menu bar to open the Mount Tool window (if the Mount Tool option is disabled, select a device or a robot first).
2. Under Mounted Tool section select a tool in the Tool field, either in the Graphic Viewer or from the Resource Tree, and choose the reference frame in the Frame dropdown list to determine how the tool is mounted on the robot.
3. Under Mounting Tool section, select a robot in the Mount on field, either in the Graphic Viewer or from the Resource Tree, and choose the reference frame in the Frame dropdown list.
4. By clicking Apply, the tool moves to the robot so that the selected frame on tool is matched to the selected frame on robot. If the tool is mounted incorrectly, you can change the reference frame or click Flip Tool to change the position.
5. When you are satisfied with the position and the orientation of the mounted tool, click Close.

Figure: Mounting a Gripper to a Robot