CDRFLEx.set_tool

Features

This is a function for setting the information on the tool currently mounted among the tool information registered in the robot controller in advance. When there is currently no tool mounted, if an empty character string is delivered, the currently set information is initialized.

Parameter

cause

• If you use the set_tool and set_workpiece_weight functions consecutively, you must use the wait(transition_time) function as much as transition_time in between. Otherwise, the weight change may be erroneous.

Return

Example

float fCog[3]  = {10, 10, 10};
float finertia[6] = { 0, 0, 0, 0, 0, 0 };
// Registers tool.
drfl.add_tool("tool#1", 5.3f, fCog, finertia);

// Selects current tool.
drfl.set_tool("tool#1");

// Releases registration of tool.
drfl.del_tool("tool#1");