10-09-2018, 07:29 PM
Hi All.
I have an automatic tool changer I am attempting to use from within RoboDK. It consists of a master plate that is permanently attached to the UR5 tool flange, and a number of slave tools that may be attached and detached from the master plate using pneumatics.
I have written a couple of functions to pick up a tool from the tool stand where the slave tools are stored and then deposit the tool back. The problem I am facing is that I cannot figure out how to take a slave tool that is attached to the robot, detach it from the master, and leave it in the tool stand (ie attach it back to the appropriate tool stand reference). Ithinkthe answer involves converting the slave tool to an object when detaching, and then converting it back to a tool when attaching, but I am not sure if this is correct, or how to do it.
Any suggestions?
I have an automatic tool changer I am attempting to use from within RoboDK. It consists of a master plate that is permanently attached to the UR5 tool flange, and a number of slave tools that may be attached and detached from the master plate using pneumatics.
I have written a couple of functions to pick up a tool from the tool stand where the slave tools are stored and then deposit the tool back. The problem I am facing is that I cannot figure out how to take a slave tool that is attached to the robot, detach it from the master, and leave it in the tool stand (ie attach it back to the appropriate tool stand reference). Ithinkthe answer involves converting the slave tool to an object when detaching, and then converting it back to a tool when attaching, but I am not sure if this is correct, or how to do it.
Any suggestions?