I was working on a Flexpicker on an IRC5 for the first time and noticed that the tooldata Gripper is no longer declared in the PPAEXECUTING module. I am curious as to why it was removed from this location? I am used to modifying it directly through the RAPID using the Pickmaster project. Just wondering what advantages there are of not having it declared there.
The main reason for moving the Gripper from the program module to the system module, is that it’s genarally better to have a global tool for many projects, since the tool most often is the same for all projects.
If you want to customize the tool for different projects, then you can declare a local tool in the program you download from PickMaster.
Then you can choose if you want to use it directly in your program, or you can assign the Gripper you local tool data in the main procedure.