Definition
set_tool(name, start_time, transition_time)
Features
This function calls the name of the Tool registered in the Teach Pendant and sets it as a safety Tool and a temporal Tool. To configure only the temporal Tool, use the https://doosanrobotics-manual.atlassian.net/wiki/x/LQABIw 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.
Tool weight can be changed after setting time(start_time) and during setting time(transition_time).
When changing safety and temporal Tool settings, the workpiece weight configured with https://doosanrobotics-manual.atlassian.net/wiki/x/PQPgIg is reset to zero.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
name |
string |
- |
The name of the tool weight registered in the Workcell Manager. |
|
start_time |
float |
None |
Tool weight is changed after setting time |
|
transition_time |
float |
None |
Tool weight is changed during setting time |
Note
When using the set_tool and set_workpiece_weight functions in succession, you must use the wait(transition_time) function as much as transition_time between them. Otherwise, there may be errors in the weight change.
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Error |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
set_tool ("tool1",start_time=1,transition_time=2)
# After 1s and then aActivate the information of "tool1" registered in TP during 2s.