For information on the latest version, please have a look at 1.33.5.
set_tool (Manual Mode)
This section explains how to use set_tool in Manual mode 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.
Available in Manual mode. In any other mode the function returns false and prints this command can only be used in manual mode. please change to manual mode as robot mode. The mode check uses the value returned by get_robot_mode.
Caution
On a real robot the safety board also refuses the call while the robot is moving; the motion is quick-stopped and a running program is stopped.
Typical usage
Switch between different end-effectors (e.g., gripper, screwdriver, probe).
Activate the correct tool before switching to Auto mode for 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 Motion
// 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 the next motion
float pickPose[6] = {300.f, 200.f, 250.f, 180.f, 0.f, 0.f};
float vel[2] = {100.f, 50.f}, acc[2] = {300.f, 100.f};
drfl.movel(pickPose, vel, acc);
In this example, the robot selects a tool configuration and executes a 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.