Array of tooldata

RAPID Programming
1

Hello,

My goal is to have a parametric tooldata that depends on a variable input and use the following:

MoveL AnyPos, v100, fine, ToolInUse{tool_idx};

With ToolInUse being an array of tooldatas defined as

TASK PERS tooldata ToolInUsed{3} := [
[TRUE,[[x,y,z]…],
[TRUE,[[a,b,c]…],
[TRUE,[[d,e,f]…],
];
and tool_idx an integer from that can take values 1,2,3

I know such a trick is possible with robtarget, e.g.
MoveL Pos{idx_pos}, v100,fine, toolxyz

but I couldn’t figure out how to make it work with tooldata in the same way.

Is there any workaround someone knows ?

2

VAR tooldata CurrentTool;

CurrentTool:=ToolInUse{tool_idx};
MoveL AnyPos, v100, fine, CurrentTool;

3

Thank you so much for your quick reply, really appreciate