set_tool

This is a function for setting the information on the tool currently mounted among the tool information registered in the robot controller in advance. When there is currently no tool mounted, if an empty character string is delivered, the currently set information is initialized.

Definition
DRFLEx.h within class CDRFLEx, public section (line 885)

bool set_tool(string strSymbol) {
    return _set_tool(_rbtCtrl, strSymbol.c_str());
};

Parameter

Parameter Name	Data Type	Default Value	Description
strSymbol	string		Tool name to activate. Must match a pre-registered tool. If an empty string “” is passed, current tool information is cleared.

Return

Value	Description
0	Error — failed to select the tool
1	Success — tool selection completed

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    float fCog[3] = {10.0f, 10.0f, 10.0f};     // Center of gravity
    float fInertia[6] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f};

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

    // (2) Select that tool for use
    bool success = drfl.set_tool("tool#1");
    if (success)
        printf("Tool successfully set to tool#1\n");

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

This example registers a new tool (“tool#1”), sets it as the active tool in the controller, and then optionally clears or deletes the tool information.

Note

If you call set_tool() and set_workpiece_weight() consecutively, you must insert a delay using mwait for at least transition_time seconds to ensure the weight update is processed correctly. Otherwise, the workpiece weight data may not be applied properly.