Definition
set_temp_tool(tool)
Features
Set a temporal Tool during program execution. Instead of using the Tool information registered in the teach pendant, you can generate values within the program and input them directly. The safety Tool setting remains unchanged while only the temporal Tool is modified. To change the safety Tool setting, use the https://doosanrobotics-manual.atlassian.net/wiki/x/JgPaIg command.
-
Safety Tool: Tool information configured using the data registered in the teach pendant. It is also used when resetting the temporal Tool with the https://doosanrobotics-manual.atlassian.net/wiki/x/WgD6Ig command.
-
Temporal Tool: Tool information used for robot control. It should be set as close as possible to the actual tool weight. If there is a significant difference, it may cause reduced position accuracy and malfunction of safety functions. When the temporal Tool is reset using the https://doosanrobotics-manual.atlassian.net/wiki/x/WgD6Ig command, it will revert to the currently set safety Tool.
When changing temporal Tool setting, the workpiece weight configured with https://doosanrobotics-manual.atlassian.net/wiki/x/PQPgIg is reset to zero.
Parameters
|
Value |
Data Types |
Default Value |
Description |
|---|---|---|---|
|
tool |
class.config_tool |
|
Tool Setup Infomation |
Class
class.config_tool
|
||
|
Field |
Data Types |
Description |
|---|---|---|
|
obj |
list |
Object information for that class |
|
weight |
float |
Tool Mass (kg) |
|
xyz |
float[3] |
Center of gravity information (mm) |
|
inertia |
float[6] |
Inertia Information (kg·mm2) |
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Failed |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
tool1 = config_tool([5.2, [0, 40, 250], [0.01, 0.01, 0.01, 0.0, 0.0, 0.0]])
set_temp_tool(tool1)