L_MC4P_SetActiveTool

This FB serves to activate one of the tools defined in the axes group online (or no tool).

• The active tool remains active until a new tool or no tool will be selected.

Up to library L_MC4P_RoboticHandling V03.25.00 applies:

• A tool change is only possible when the axes group is at standstill. The FB may only be called in the "GroupDisabled" or "GroupStandby" axes group state, otherwise, an error message is output at the FB.

As of the library L_MC4P_RoboticHandling version V03.26.00 applies:

• A tool change with FB L_MC4P_SetActiveTool is also permitted between buffered movements. The tool change does not affect movements that have already been commissioned. The changed tool is taken into account for all subsequent movements.

• If a tool is changed during buffered movements, any programmed grinding is not taken into account.

Note! When the tool is changed, the coordinates of the drive axes remain constant, the position and orientation of the MCS axes usually change erratically.

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Outputs