In the VW standard the tool change programs (UP81 ... UP86) put the tool down in the point with SPSMAKRO420 = EIN (DS abdocken) and take the next tool in the point with SPSMAKRO421 = EIN (DS andocken). The Auto-Docking repeats this in the simulation of VKRC programs. Simulation

Tool change at the docking points – when a program reaches the put-down command the tool stays in the station, at the take command the robot takes the free tool nearest to the flange, Put down the tool (DS abdocken) / Take the tool (DS andocken) – the commands in the VKRC programs: name (MAKRO = PLC macro, UP = subprogram call, A = robot output, or any text), number and condition. Default: SPSMAKRO420 = EIN and SPSMAKRO421 = EIN; an empty condition accepts everything except AUS / FALSE, Max. distance of the tool from the flange – tools further away are ignored; increase it (e.g. 500–1000 mm) when the tool models in the layout do not stand exactly at the docking position of the program, the kind of the tool is taken from the name of the tool used after the take (e.g. Greifer = gripper, Zange = gun); a tool of the other kind is never taken, Tool change on all robots runs the given UP (e.g. UP81) on every robot, Detach all tools from all robots / Attach default tools to all robots return the cell to the state of the study.

Every put-down and take is written to the console with the point, the station and the distance:

The last message means that the tool expected by the program is not at the docking position in the layout – attach it by hand or increase the maximum distance.

The tools in the docking stations always stay opaque, also with transparent components.

Tool change rules (all standards)

The group Tool change rules extends the two commands above with rules from an XML file – for other standards and other controllers. A rule is a regular expression on the text of a program command and the action detach (the tool stays in the station) or attach (the robot takes the tool):

• VKRC – the title of the fold without the step number, e.g. SPSMAKRO420 = EIN, UP81 = M83, A17 = EIN,
• FANUC – the program line (LS, English) without the line number and without ';', e.g. CALL MAKRO420.

Built-in rules (VW standard): VKRC SPSMAKRO420 = EIN / SPSMAKRO421 = EIN, Fanuc CALL MAKRO420 / CALL MAKRO421; GUN DETACH / GUN ATTACH (Fanuc servo guns) are included but switched off, because they are also used outside the docking (e.g. GUN ATTACH at the start of programs).

The table lists the rules in use; a grey row is a rule switched off with enabled="false" (it is read, but not used).

Creating your own rules

1. Save built-in rules as... – save the template (e.g. tool_change_rules.xml next to the study) and answer Yes to Use the saved file as the tool change rules?
2. Edit in the editor – change, add or remove rules; to use a switched off rule (e.g. GUN DETACH / GUN ATTACH when the servo guns are really docked with these commands) set enabled="true" or remove the attribute. Save the file.
3. Reload – the table shows the new rules, the console the number of rules or the error with the line.

The installation contains the rules file template\RCS\tool_change_rules.xml (in the installation folder of DReS, the same rules as the built-in ones). It is used when no rules file is set yet. Another file is selected with Open rules file... or with the folder icon on the right of the file name (a long path is shortened in the middle, the tool tip shows the full path); the file name is stored in the settings of Robot Cell Simulator and used at the next start. Built-in rules switches back to the VW standard (the file is not changed). Copy the template before changing it – a new installation overwrites the files in template\RCS.

A rule file with an error (wrong regular expression, rule without action) is not used – the message names the line and the previous rules stay active. The commands above have priority over the rules. The rules are part of the work zone calculation (tool on the flange between detach and attach); a change of the rules calculates the zones again.