Hello all.
Is there any way to change TCP to many different UTool while jogging robot in teach mode.
Thanks
Hello all.
Is there any way to change TCP to many different UTool while jogging robot in teach mode.
Thanks
How many utools do you need?
Are you familiar with how to change the current utool by pressing shift+coord?
How many utools do you need?
Are you familiar with how to change the current utool by pressing shift+coord?
I have set 5 Utool from UT1 to UT5. But I don't know how to apply it rapidly into jogging.
Not sure what you mean by "rapidly" but you can press shift+coord then arrow down to utool and press the number for which utool and it is set.
You can run this in BG logic
This will allow you to set UTool number to 1 or whatever you want it to be, and set jogging method to User when you initially turn the pendant ON.
Once the pendant is on, you can change it to whatever else you want.
Keep in mind that you can also indirectly assign the tool number by using a Register
Hope this helps!
$JCR_GRP[1].$jog_coord : Jogging methods System Variable
0 : Joint
1: Jog Frame
2: World Frame
3: Tool Frame
4: User
Program Start
1: IF (UO[8:ON :TP enabled] AND F[2:ON :Set UTool Num]=OFF) THEN ;
2: $JCR_GRP[1].$jog_coord=4 ;
3: $MNUTOOLNUM[1]=1 ;
4: F[2:ON :Set UTool Num]=(ON) ;
5: ENDIF ;
6: IF (UO[8:ON :TP enabled]=OFF),F[2:ON :Set UTool Num]=(OFF) ;
Program End