2.x Toolchanger

Toolchanger

Both robots are outfitted with an SWS-020 toolchanger.

Operating

The SPS polls a program that checks position of TCP, and changes status if the TCP is inside a Cartesian workspace defined around the toolholders.

• From ROS

  The kvp_sws_node sets up services for locking, unlocking and getting the status of the toolchanger.

• From KRC

  Use the global variable sws_set to trigger release or lock via the SPS program. To force a change, just write to the correct digital output. (see sps/toolchanger.src)

Toolholders

There are two toolholders present in the lab. Workspace #1 and #2 have been defined to surround these. These workspaces are somewhat wide, but might still need customization dependeding on tools

• Workspace 1 Toolholder next to KRCs

  **Origin** X: -2450 Y: -862 Z: 700
  
  **Offset** X1: 0 Y1: 0 Z1: 0
  
  **Offset** X2: 100 Y2: 500 Z2: -100
  

• Workspace 2 Toolholder next to floor robot

  **Origin** X: -200  Y: 1650 Z: 700 
  
  **Offset** X1: 0 Y1: 0 Z1: 0
  
  **Offset** X2: 500 Y2: -100 Z2: -100