del_tool

This function deletes the information of a tool registered in the robot controller in advance. Once deleted, the tool information cannot be used until it is re-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. 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 del_tool(string strSymbol) {
    return _del_tool(_rbtCtrl, strSymbol.c_str());
};

Parameter

Parameter Name	Data Type	Default Value	Description
strSymbol	string		Name of the tool to delete. Must match a tool that has been previously registered.

Return

Value	Description
0	Error — failed to delete the tool
1	Success — tool successfully deleted from memory

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 and activate a new tool
drfl.add_tool("tool#1", 5.3f, fCog, fInertia);
drfl.set_tool("tool#1");

// (2) Delete the registered tool
drfl.del_tool("tool#1");

This example registers a new tool (“tool#1”), activates it, and then deletes its registration data from the controller memory.