When you teach points in your job do you jog the robot, set the MOV type and the speed, then enter it into the job? Or do you write the MOVs from the INFORM LIST under MOTION?If you do the first, that is servo command. The controller grabs the pulse counts of each axis and writes it into the job. Also, the active tool is recorded. Once this is done it doesn't matter what tool you set in the Tool Sel menu. Tool 63 could be in active tool on the list, the job will run the same as before. The tool associated with the position is not going to change unless someone modifies the position with a different active tool. If can be prevented under SETUP, TEACHING COND., TOOL NO. INTERLOCK FOR STEP ENTRY.
Doesn't matter how you program it, even if you could get the tool number, without some feedback an operator can still screw it up.
Thank you so much, I am learning a lot.
Yes I do the first, I jog the robot and then enter a new point on my programs.
Will the job run as before? My problem is that I have 2 torches, one which has a length of about 100mm and another one with a length of about 300mm, so the TCP of each torch is in a different position regarding a fixed point on the base of the robot. I haven't yet tried but I am thinking that if I create a simple weld line with the smaller torch (for instance a corner joint with the torch vertical since it has a 45º swan neck). If I try to run the same program with torch 2 mounted and defined in the tool list, the robot will crash since it's swan neck is in a lower Z height with respect, for instance, to the robot wrist.
I agree with you, an operator can still mount torch 2 and leave torch 1 defined in the tool list. Can you recommend some type of sensors to avoid this problem?