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get_tool_shape (Auto Mode)

This section explains how to use get_tool_shape during Auto (Run) operations to retrieve the currently active tool shape used for monitoring, simulation, and motion planning.

This function returns the full TOOL_SHAPE structure associated with the active tool.

Typical usage

  • Validate correct tool geometry before running an Auto Mode sequence.

  • Debug unexpected collision monitoring behavior.

  • Log shape information for process traceability.

  • Confirm which geometry is applied after switching tools.

Note

  • Use after activating a tool via set_tool.

  • Useful for verifying configuration when multiple tool shapes exist.

Example: Reading the Active Tool Shape

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    TOOL_SHAPE shape = drfl.get_tool_shape();

    printf("Active Tool Shape:\n");
    printf(" - Type: %d\n", shape.eShape);
    printf(" - Size: %.1f %.1f %.1f (mm)\n",
           shape.fSize[0], shape.fSize[1], shape.fSize[2]);

    return 0;
}

In this example, the active tool shape is retrieved and printed for verification before automated movements.

Tips

  • Use before Auto Mode motion when multiple tool shapes may be applied.

  • Compare returned values with expected geometry when debugging safety zones.

  • Combine with get_tcp() for complete end-effector configuration checks.