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CONFIG_TOOL

This structure defines the tool parameters used in the robot controller, including its mass, center of mass, and inertia for dynamic compensation. It is typically applied when setting or modifying a tool attached to the robot flange.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fWeight	float	[kg]	Tool mass
4	_fXYZ	float[3]	[m]	Tool center of mass position (X, Y, Z)
16	_fInertia	float[NUMBER_OF_JOINT]		Tool inertia tensor values per joint

Total size: 40 bytes

Defined in: DRFS.h

typedef struct _CONFIG_TOOL
{
    /* Tool mass [kg] */
    float _fWeight;
    /* Center of mass [m]: X, Y, Z */
    float _fXYZ[3];
    /* Tool inertia for each joint */
    float _fInertia[NUMBER_OF_JOINT];

} CONFIG_TOOL, *LPCONFIG_TOOL;