set_tool

This function sets the currently mounted tool, chosen from the tools registered in the robot controller in advance. When no tool is mounted, passing an empty string resets the current tool setting.

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 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

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.