You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

set_tool (Auto Mode)

This section explains how to use set_tool during Auto (Run) operations to activate a predefined tool configuration. The active tool determines the robot’s payload, center of gravity, and motion behavior, making it essential for accurate task-space control and safe automated operation.

This function selects a tool definition that was previously registered using add_tool.

Typical usage

  • Switch between different end-effectors (e.g., gripper, screwdriver, probe).

  • Activate the correct tool before executing Auto Mode pick/place sequences.

  • Ensure consistent dynamics and force-control performance.

  • Validate tool configuration in recipes with multiple tool types.

Note

  • The symbol must match the tool name registered via add_tool.

  • Changing tools during motion is not recommended; switch at a safe pose.

  • The active tool affects payload, CoG, and force/torque estimation.

Example: Selecting a Tool Before Auto Mode Operation

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

int main() {
    CDRFLEx drfl;

    // Activate a predefined tool configuration
    if (!drfl.set_tool("RG2_GRIPPER")) {
        printf("Failed to activate tool RG2_GRIPPER.\n");
        return -1;
    }

    // Use this tool in Auto Mode motion
    float pickPose[6] = {300.f, 200.f, 250.f, 180.f, 0.f, 0.f};
    drfl.movel(pickPose, (float[2]){100.f, 50.f}, (float[2]){300.f, 100.f});

    return 0;
}

In this example, the robot selects a tool configuration and executes an Auto Mode movement using the chosen tool’s properties.

Tips

  • Match the tool symbol exactly with the controller configuration.

  • Use this function when switching between tool types in automated workflows.

  • Use get_tool() to confirm which tool is currently active.