In some application you may want to have to possibility to change from one gripper to another. This can be done using a tool changer.

The following illustration shows the hardware stack of such setup.



Here below is the program structure use for tool changing. It involve the use of rq_cycle_tool_voltage_until_connection command which is attached to this article.

• Before changing the tool, the wrist 24V power is cut using the set_tool_voltage script command.
• Then the tool change happen
• After the tool change is done, the command rq_cycle_tool_voltage_until_connection is executed. This script command establish the gripper connection.
• Finally the gripper is activated