Tool Changing Setups

Robot Programming
1

Hi everyone :slight_smile:

I’m quite new here and currently trying to model a simple toolchanger with the UR5e.

So far I had my tools both working but the TCP for my Tool2 was off. When I changed it to grip a cube I suddenly cannot change to my tool1 anymore.

Any help appreciated!

TestSim.vcmx (303.0 KB)

2

Hi, what doesn’t work exactly?

I tried DismountVac, MountGripper, DismountGripper, MountVac and they all worked

1 Like
3

Hi, thank you for your reply!

For me the “MountGripper” didn’t work. The robot would move to the position of the gripper but didn’t pick it up and just waited indefinitely for the “Gripper Closed” signal.

I’ll try again to see if it was just a bug and let you know!

4

Just tested it: For me it doesn’t work correctly https://youtu.be/IrUEFIfWy9Y

5

I have reviewed your example. When installing the new tool, the original tool needs to be removed. In your case, you merely hid the original tool.

3 Likes
6

as Alexander said, the robot can’t grasp 2 tools on the same interface. When I tried I used the DismountVac before the MountGripper routine

2 Likes
7

Ohhh now I get it. The robot doesn’t automatically dismount when you reset the simulation?

Thank you!

8

Resetting the simulation will return to the state before the simulation began. For example: Before the simulation started, the robot had tool A installed. During the operation, tool B was replaced. After resetting the simulation, it will revert to the state where tool A was already installed.

9

Okay jep, that’s what I was thinking previously.

Now I know where my mistake was - thank you very much everyone!