MANY DIFFERNT LOADING DATA FOR A SINGLE TOOL

You could, but why not just increase the load_data[] size? Or if that's a no-go, just create your own array and assign data from that.

Quote from IlFincoITA

Is it possible/advisable to change "LOAD_DATA[N]=" during the program?

Yes. But after an assignment like that, you must use inline movement statements, or something like bas(#tool,N) to activate the new load.

If your program uses Inline Forms (ILFs), then you must alter LOAD_DATA[ x ]. If your motions are "raw" KRL, you need to alter $LOAD.

Inside every ILF motion command is a call to BAS.SRC which, among other things, sets $ACT_TOOL to the number of the tool selected in the ILF, and then sets $LOAD = LOAD_DATA[$ACT_TOOL]

TOOL_DATA and LOAD_DATA are parallel arrays in $CONFIG.DAT. When an ILF motion is using Tool 11, the contents of TOOL_DATA[ 11 ] are assigned to $TOOL (the "live" TCP, XYZABC values), and the contents of LOAD_DATA[ 11 ] are assigned to $LOAD (the "live" payload data, mass, CoG, inertias).

So, for an ILF program that has a gripper but multiple loads, you could simply use multiple Tools:

Tool 1 : Gripper with no parts

Tool 2: Gripper with one part

Tool 3: Gripper with a different part

In this scenario, TOOL_DATA 1,2, and 3 would all the the same, but LOAD_DATA 1,2 and 3 would each be different. So when picking up a part, you would program the approach with Tool 1, but the depart with Tool 2 or Tool 3. And during the dropoff, you would program the approach with Tool 2 or 3, and the depart with Tool 1. This approach is pretty typical.

The alternative would be to use only one Tool, and dynamically change the LOAD_DATA entry for that tool number. Something like:

PTP HOME
LOAD_DATA[1] = EmptyGripperPayload
PTP ApproachPick ; using Tool 1
LIN PickPosition ; using Tool 1
Close Gripper
LOAD_DATA[1] = GripperWithPartPayload
LIN DepartPick ; using Tool 1

Of course, in this scenario, you would have to create your own LOAD variables in place of EmptryGripperPayload and GripperWithPartPayload.