[torayeff]

It takes additional steps to trigger a program call when you are connected to the robot and using the driver.

对发那科robots, you'll find an LS/TP program called GO_PROG.TP. This program is called for any subprogram you want to trigger using the driver. You should create your program call inside this program. Example:

Code:

1: IF R[52]=1,CALL TOOLSELECT(1) ;
2: IF R[52]=2,CALL TOOLSELECT(2) ;

The register R[52] will be set by RoboDK driver to the program Id. The Program Id is a number you pass to your program as the first argument (the name of the program is ignored).

So, to trigger TOOLSELECT(2) you could have a program call to AnyName(2). Example:

Hi @Albert! Can you please comment on this? It seems we are not able to call the GO_PROG.TP at all. The registers are not set at all. Is this some bug?

Best,
Agajan