add_tool

This function registers the information of a tool to be mounted on the robot flange. 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.

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. 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.

Definition
DRFLEx.h within class CDRFLEx, public section

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.

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

Note

The name is limited to 32 bytes; longer names are truncated. Adding a name that already exists replaces that entry, and if the tool (TCP) is active the new values take effect immediately. The controller holds up to 50 tools and 50 TCPs; adding beyond that raises an alarm and stops the running program.

Example

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.