Definition
check_tool_limit(tool)
Features
Check whether the tool to be applied can be configured, and if not, return the corresponding error number indicating the cause. During program execution, you can set temporary tools through set_temp_tool(). Additionally, verify if the tool is an allowable tool using check_tool_limit(). In the case of set_temp_tool(), if the setting value exceeds the permitted limit, the program will terminate; however, that command only returns the error number. You can pre-check the tool to be set using that command and identify the cause of any errors.
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 |
|---|---|
|
1 |
Success |
|
0 |
The mass has a negative value. |
|
-1 |
The mass is over the maximum limit. |
|
-2 |
The cog norm is greater than 1000 mm. |
|
-3 |
The inertia tensor has negative values on its diagonal. |
|
-4 |
The inertia tensor has singular values less than zero. |
|
-5 |
The center of gravity is too far relative to the weight. |
|
-6 |
The inertia exceeds the allowable limit for the joint 6. |
|
-7 |
The inertia exceeds the allowable limit. |
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]])
rst = check_tool_limit(tool1)
Related commands
Keyword
check / check_ / tool/ limit