Good morning,
I have an application with the dual end effector: one being the HandE and the other an EPick. The program can be started at random points in the code as specified by the user where either one of the tools can be used based on the starting position. So, I wanted to ask if there is a way to find out which tool has the current active TCP in order to switch to the correct tool for the selected piece of code.
The Move screen will show this information for you.
If this ends up not being the correct TCP for you and you need to change it, the only “official” way of setting a TCP as active is to go into a “Set” node and click the “Test” button in the bottom right.
If you find yourself manually changing which TCP is active often, please see this thread, where I have included a simple URCap that makes this more straightforward: