get_tool_force(ref)
Features
This function returns the external force applied to the current tool based on the ref coordinate. The force and 1)moment are based on the reference coordinate.
1)Before V2.8 software version, moment is based on the tool coordinate.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
ref | Int | DR_BASE | reference coordinate
|
Return
| Value | Description |
|---|---|
float[6] | External force applied to the tool |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_RUNTIME) | C extension module error occurred |
주의
External force errors may be large in non-FTS models (A0509, A0912, A0509F, A0912F, E0509).
Example
PY
force_ext = get_tool_force(DR_WORLD) # force_ext: external force of the tool based on the world coordinate