add_tool

This is a function for registering tool information that will be mounted on the flange of the robot. The tool information includes name, weight, center of gravity, and inertia, and is stored in the robot controller’s memory. The data remains available until reboot, unless saved and restored through the T/P initialization process.

Definition
DRFLEx.h within class CDRFLEx, public section (line 889)

bool add_tool(string strSymbol, float fWeight, float fCog[3], float fInertia[NUM_TASK]) {
    return _add_tool(_rbtCtrl, strSymbol.c_str(), fWeight, fCog, fInertia);
};

Parameter

Parameter Name	Data Type	Default Value	Description
strSymbol	string		Tool name (unique identifier for registration).
fWeight	float		Tool weight in kilograms.
fCog	float[3]		Center of gravity of the tool in millimeters.
fInertia	float[6]		Inertia tensor values (Ixx, Iyy, Izz, Ixy, Ixz, Iyz).

Return

Value	Description
0	Error — failed to register the tool
1	Success — tool successfully registered in memory

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    float fCog[3]     = {10.f, 10.f, 10.f};
    float fInertia[6] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f};

    // (1) Register a new tool
    bool success = drfl.add_tool("tool#1", 5.3f, fCog, fInertia);

    // (2) Set it as the active tool
    if (success)
        drfl.set_tool("tool#1");

    // (3) Remove the tool registration
    drfl.del_tool("tool#1");
}

This example registers a new tool (“tool#1”) with its weight, center of gravity, and inertia data, then activates it and finally deletes the registration.