universalrobots/toolchangerswing

URCap sample describing the use of TCP's from a URCap.

ToolChangerSwing

Tool Changer Swing is a toy example that shows how contribute TCPs to PolyScope as well as access the list of available TCPs in PolyScope. In the installation contribution, the user can define a tool change position, enable/disable different tool TCPs and define a translational offset between the toolfange and all the enabled tool TCPs.

In the program node contribution, the user can select a TCP for the new tool from the list of all available TCPs in PolyScope. When the program node is executed, the robot will move to the user-defined tool change position, change the tool (simulated by a waiting period) and finally change the active TCP to the selected TCP.

Information:

• Available from:
  • URCap API version 1.5.0.
  • PolyScope version 3.8.0/5.2.0.

Main API interfaces: TCPContributionModel, TCPModel.

toolchangerswing's Issues

Missing Screenshots

I took some screenshots to add to the README.md file.