set_tool(name, start_time, transition_time)
Features
Teach Pendant>Workcell Manager>Activate the Tool Weight workcell item with the entered name from among the Tool Weight workcell items registered in the robot.
Tool weight can be changed after setting time(start_time) and during setting time(transition_time).
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
PY
set_tool ("tool1",start_time=1,transition_time=2)
# After 1s and then aActivate the information of "tool1" registered in TP during 2s.