Author Topic: Multi state tools for xml files & sunrise  (Read 211 times)

z5113452

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Multi state tools for xml files & sunrise
« on: October 16, 2019, 06:08:57 AM »
Hi Everyone,

I am new to using PRC and I am using an iiwa 14 r820 via sunrise workbench. I have noticed there is a component for multi state tools and I am wondering how it works and if it possible to control the attached gripper (robotiq 2f85 gripper) through the commands exported from PRC or if I have to add code into the "run_xml.java" file in sunrise ?

Many thanks in advance.  :)

Johannes @ Robots in Architecture

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Re: Multi state tools for xml files & sunrise
« Reply #1 on: October 16, 2019, 07:32:36 AM »
Hello,

Multistate tools basically allow you to easily switch the geometry of a tool, e.g. so that a gripper also shows the workpiece it's holding.
Regarding the gripper: If it's controlled via IOs then you can just toggle the IOs via KUKA|prc. If the gripper is using its own library, you can just "hack" a bit into the *.java code that is provided by us.
So that e.g. when you toggle output 5, it actually actuates the gripper via the library.

Best,
Johannes