There are Two Grippers for the Application: Gripper #1 and Gripper #2. The Robot has to switch to Gripper #1 after transferring work piece to Secondary positioning table using Gripper #2.
It's not a big deal in real world, but Is it possible to complete the simulation with roboguide, and what's worse is that each of these 2 grippers has fingers. I have searched a blogger showed a way of tool quick change simulation with "Part", but how to simulate the fingers motion with parts?
Whenever you pick/place with the tool, you can use the tool as a tool (with movements of the fingers), but when changing tool in a tool changer, I did it like this:
Use the tool stand as a fixture, add the tool CAD in the correct position as a part on that fixture, also add the tool CAD as a part on the toolframe with the same position as the real (simulated) tool.
Then, approach the tool stand, go to tool change position, DROP the tool CAD (part) from robot to tool stand (fixture) and at the same time switch UT to one without the tool CAD. For attaching the other tool, do the opposite.
If you dont care about seeing the EAOT move from the tool holder then Id just set up like normal with each tool cad being set as the EAOT and the tool will only be visible on the robot when that tool frame is active. Then simply call Each tool frame when you want that EAOT to appear. Youll need a third Blank tool frame but Id do that anyways when switching tools
