I have a application where I will need to have a tool change within my program. Is there a way to change the TCP based on a certain DI? I am using DI0 and DI1 for detecting which tool is currently active on my UR. Thanks
Assuming this is just as part of a regular polyscope program, then I would suggest just using a thread which assesses the state of your inputs and sets the TCP accordingly using a normal set node.
Agreed with above, although you might need some flag handshaking. Changing the TCP during an active move will probably fault.