RobotStudio event

Tool change / smart component

polykleth
polykleth ✭
in RobotStudio

Hello,


I'm trying to create a tool changing Station in RobotStudio. How do I manage to connect and disconnect the different tools to the robotflange when a DO is set? As far as I got, I have to create a smart component, but in all the tutorials I found, the tool is picking up something and isn't picked up itself...
I plan on creating a System module with the different Routines for toolpickup and tooldrop. So I don't have a DI that causes the toolchange. It seems to me however, that in order to create a smart component, a DI is required?!

I would be really thankful for some help!

Thanks in advance

polykleth

Comments

  • Robin_S
    Robin_S ✭
    It's a very late answer, but I did exactly that earlier this year (actually around apr-may). 
    So I had the robot go to a position, detach the tool from the flange, move to a position just besides and attach another tool to the flange.

    This was done with setting DI's (which set DO's).

    I tried opening the program recently, but I believe it has been corrupted or something, since very much is lost when opening it (including the paths and targets).


    But it's not too hard to do actually. Just do as you would when attaching a detail to a tool, except with a tool and the robot flange.

    Don't forget to have the robot to WaitDI so it won't move along before the tool has been picked up.

    Use an Attacher and Detacher for each tool, and different signals. But it shouldn't be worse than doing something like this:

    "Robot Signal" DI_1 -> Attacher, Executed -> Station Signal DO_1 (WaitDO DO_1,1; before you let the robot move from that position so it won't "forget" or "miss" the tool).

    Likewise with the Detacher:

    "Robot Signal" DI_2 -> Detacher, Executed -> Station Signal DO_2 (WaitDO DO_2,1; here too)

    This means that the robot will go to the defined position, Attach the tool and wait until the output says the tool is attached (which you do yourself like this : WaitDI DI_1,1; SetDO DO_1,1; // Which states that when your DI is set to 1, the DO-signal will be set to 1 also).
    This will tell the system that it's okay to move along from this position (hopefully with the tool attached / or detached if that's what you're after).

    Your problem was probably already solved in one way or another, but if it wasn't I hope this shed some light at the matter!

    /Robin_S

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