Hi,
We have have a robot with Automatic gripper change station.....but how do i change the toolcenter when i make the gripper change.
Thank you...
Hi,
We have have a robot with Automatic gripper change station.....but how do i change the toolcenter when i make the gripper change.
Thank you...
Questions, are you teaching jobs and need to rotate around another TCP or are you running jobs? What controller do you have? Do you have an FSU? Did you buy the tool change option?
Thank you for your answer,
I need to change the actual Tool number in the running job,
I know how to do it in teach (and set the different tools)
controller DX
I think the active tool number changes only if you do a move with a certain tool. You could do an IMOV of zero distance to change the tool number without moving. Create a Cartesian P-variable with all zeros and set the tool number with the CNVRT instruction. Or derive the P-variable from another P-variable with the correct tool.
You need the GETTOOL and SETTOOL instructions. This is a purchased option.