Greetings RobotIqCommunity,

In my installation I have three different TCP and Payloads (three different tools). I would like to know if it is possible to remotely know the current payload. By this I do not mean the Active Payload since the latter and the former may not necessarily be the same.

E.g Let’s say my installation, by default, has Payload_1 as Active but I have Tool_2 in the robot. If I use the function get_target_payload() I will receive the payload for Tool_1 even though Tool_2 is the one attached to the robot. In other words, If I swtiched tools without changing the active payload manually, I would like to know if it is possible to always get the payload of whatever tool is attached to the robot regardless of whether the active payload corresponds to it.

Any help is much appreciated,
Best Regards

Get_target_payload should work. It return the current payload.

Lets say that you have payload of tool 1 set as default in installation. If you install tool 2 on the robot and change the payload to tool 2 payload in your program using set command or set_target_payload() script function, get_target_payload() should return tool 2 payload.

Thank you for answering. Unfortunately, that's not what I am looking for. What you said is true and I've tried it, but it is not sufficient for what I need. In simpler terms, I would like to get the tool 2 payload without having to change it. I don't know if this is possible in the first place (I don't think it is), but I wanted to clear my doubts

That is, to get the tool 2 payload without having to change the active payload

Unfortunately i don t know if you can get the different payload set in installation menu from outside.