URscript command for Tool I/O Interface Control

[b.j.schumer]

Hi,

I am trying to configure an automatic tool changer such that the robot can use different tools from different brands. In order to do this, I need to be able to toggle the I/O interface control to give control to the different URcaps. Currently, I can only do this manually and I cannot find a function that allows me to do this inside a program.

Is this even possible? Or are there different methods by which it could be accomplished.

Thankyou in advance!

[aahe]

Hi BJ,

I don’t believe their is a script command or way to programatically toggle the tool I/O interface to allow different URCaps control at different times.
Another option would be to communicate to the tools though Modbus, using the Modbus URCap.
Here’s a link to another forum post for a similar issue.

RS485 tool communication with URCap

Hey, I am using a UR3e robot, and I am trying to communicate through URCaps with my Custom end-effector tool, using RS485. I want to build my own URCaps where I can select different states, which are then sent to my Custom end-effector tool via RS485. Does anyone have a simple example how I could do that? I also tried to work my way through the forum, which gave me new ideas, but now I’m stuck. Excuse me, I’m new to this field, I’d appreciate any help or advice.

Here’s a link to the Modbus URCap Github page:

GitHub - EbbeFuglsang/Modbus_URCap: A tool modbus RTU URCap

I hope this helps.