set_tool() | V3-manual

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 set_temp_tool() 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.
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.

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 set_workpiece_weight() 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

Python

set_tool ("tool1",start_time=1,transition_time=2)  
# After 1s and then aActivate the information of "tool1" registered in TP during 2s.

Keyword

set / tool