Features
Return the currently set temporal Tool information. To retrieve the safety Tool information, use the get_current_tcp() 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 reset_temp_tool() command.
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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 reset_temp_tool() command, it will revert to the currently set safety Tool.
Return
|
Value |
Data Types |
Description |
|---|---|---|
|
ret |
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) |
Example
ret = get_temp_tool()
print(ret.weight) # tool weight
print(ret.xyz) # tool xyz
print(ret.inertia) # tool inertia
Related commands
Keyword
get / get_ / tool