Two tools attached to one robot

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Modelling a simple tool changer

My simple tool changer cannot grab another tool during simulation. This is tool changer behavior:[image] I try to use “Set OUT[33] == True” to grab another tool when the changer approaches the tool. The signal 33 of the robot has been configured with the “UsingTool” which is located at the end of the changer. How to fix my tool changer ? Is there any tutorials to modeling tool changer ?