Get/Set Current Tool & work Object with PC SDK

DavidLanham

I am looking for a way to Get the current tool of the robot and the work object, also being able to set the current tool and work object of the robot using PC SDK calls.  Does anybody know how to do this.  I have looked into this with the MotionSystem but have not been able to figure it out.

Thanks,
David

DanLars

Hi David

I think you can only get the tool and workobject using the PC SDK under ABB.Robotics.Controllers.MotionDomain.MechanicalUnit - this class has the properties. If you want to set it using the PC SDK, you could send a IPC message to the rapid task ,which would then be processed in the Trap rutine, where you can change tool / workobject. However this requires the RAPID to be running.

Alternatively you have to use the Flexpendant SDK and develop a user application here. Its in the same namespace ie. ABB.Robotics.Controllers.MotionDomain.MechanicalUnit - however in a different dll since its the flexpendant SDK.

Regards, Lars