Quick Tool Changer

19woodos

What is the proper way/order of attaching a quick tool changer and it's tool?  Here is link to help you visualize: http://www.staubli.com/en/connectors/tool-changer/light-duty-tool-changer/

I tried just using attach to, in this order:
Robot->QC_Master->QC_tool->My_custom_laser_tool

But the robot doesn't use the tool center point of My_custom_laser_tool.

Both of the quick change pieces were just regular geometries, and the laser was a tool with TCP at the time it was attached..  Do I have to make all of them into tools before attaching?

Thanks,

Henrik Berlin

When you have a chain of attachments to the wrist, RobotStudio will check if there is a TCP frame of the first attachment and automatically create a tooldata for it if it exists. For tools further down the chain you need to manually create the tooldata using "Create tooldata". (This is a known limitation that we have in our to-do list.) The tooldata will be static, since neither RobotWare nor RobotStudio supports 'dynamic' tooldata (with values that change). Of course, you can change the actual values of the tooldata in RAPID during runtime, but if your tools are always at the same spot, there is not point in doing it this way.

Finally you can visualize the tool change by a SmartComponent that takes inputs from the controller.

/Henrik