add_tool (Auto Mode)

This section explains how to use add_tool in Auto (Run) operations or initialization routines to register a new tool (end-effector) on the robot controller.

A tool definition includes weight, center of gravity (CoG), and inertia information, all of which are necessary for accurate trajectory generation and force estimation. Once registered, a tool can be activated using set_tool.

Typical usage

  • Register a new gripper, probe, or custom end-effector.

  • Load tool data measured from Smart Setup or CAD specifications.

  • Prepare multiple tool configurations for automated tool-changing processes.

  • Initialize tool definitions during system startup or commissioning.

Note

  • strSymbol must be unique across all tool names.

  • Weight and CoG values should match the physical tool as closely as possible.

  • Tool registration is typically performed once—not every cycle.

Example: Registering a New Tool Configuration

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

int main() {
    CDRFLEx drfl;

    float cog[3]     = {0.f, 0.f, 40.f};       // in mm relative to flange/TCP
    float inertia[6] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f};

    // Register a new tool
    if (drfl.add_tool("NEW_END_EFFECTOR", 1.2f, cog, inertia)) {
        printf("Tool registered successfully.\n");
    } else {
        printf("Failed to register tool.\n");
        return -1;
    }

    // Select the new tool for Auto Mode operation
    drfl.set_tool("NEW_END_EFFECTOR");

    return 0;
}

In this example, a new tool is created and then enabled for subsequent Auto Mode motion using set_tool().

Tips

  • Register all tools during initialization, then switch tools using set_tool.

  • Use accurate mass/CoG values to ensure safe motion and torque estimation.

  • Store tool symbols in a central recipe table for multi-tool automation.