I was wondering if anyone has come across a way to tell which tool is currently active on the robot through programming?
Motoman DX200 Controller, General Purpose
The tool we have on our end of arm is a 4 gripper tool, that has 5 different tool TCPs available. I'd like to know which TCP was last active to know what routine to call. (Based on which tool was last active, the robot would know to open that specific clamp and then back the tool away a certain path).
I have had luck with being able to back the tool away with a simple IMOV and some GETE functions, but for some reason you can't set or get the Tool number from a position variable.
I know I've been able to do something similar in Fanuc but haven't found a solution on Motoman DX200 robots.