Hello Forum
I am using a DX100 and have an application with 2 tools. I am doing machine tending so in multiple machines Tool A will remove a finished part and Tool B will load a raw part. On the next machine the B removes and A loads. Well anyway this system require a homing mechanism and for the most part I have that working using the pulse based form of the zone to capture current location. In two machine that will not easily work so I want to use cubic zone. I have discovered the cubic zones are triggered off of the current tool so either of my tools will indicate as being in the zone.
what i would like to do in my application in code when the PLC give me a command to safehome I would like to set my current active tool to Tool 1, grab the current posiiton of the robot move to that current position if needed so as to trigger the zones, then inspect my interference zone.
My question is how do I FORCE a tool active from the Inform language, then I would probably grab the current position using the GETS PX000. $PX000 schema then move to that position with a MoveL or something. But prior to grabbing the curpos I want to force Tool 1 active which I cannot figure out how to implement. By having that tool active I would guarantee that my Cartesian interference zones will report properly.
Thanks in advance