Change Tool
Function
The step is used to switch tools in the software and on the robot side. It can switch the tool of the real robot to a specified tool, or automatically switch to the appropriate tool according to the tool list configured when you set the pick point in the target object editor and try to pick with the corresponding pick point.
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Software side: Switch TCP and tool models.
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Robot side: Switch TCP. If you need to switch the tool of a real robot, you need to use DO signals to control the robot.
Usage Scenario
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Suitable for the scenario of using the same tool to pick target objects in multiple ways. If you want to pick a ring, you can expand the claw gripper inside the ring or close it outside.
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Not suitable for the scenario where the robot needs to move to the tool-switching platform to switch tools.
Parameter Description
Operation Mode
Switch to specified tool: Switch the current tool to the specified tool.
Auto-switch to appropriate tool: The software will plan according to the configuration in the target object editor, and automatically switch to the appropriate tool to attempt picking on all pick points in the vision result.
Select Tool
Select the tool that you need to use currently.
Before selecting the tool, you need to add and configure the corresponding tool in Project resource tree.
Limit Tools in Use
When the Operation Mode is Auto-switch to appropriate tool, select this parameter to specify the tool range, and the software will use only the selected tool for picking according to the configuration in the target object editor.
When this option is not selected, the software will use all enabled tools in the Tool list in the target object editor for picking.
Application Examples
Please refer to Auto Switch Tool.