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bcastetsbcastets Vacuum Beta tester Posts: 478 Expert
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
Here below is a summary video:



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