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get_tool_force(ref)

Features

This function returns the external force applied to the current tool based on the ref coordinate. The force and 1)moment are based on the reference coordinate.

1)Before V2.8 software version, moment is based on the tool coordinate.

Parameters

Parameter Name

Data Type

Default Value

Description

ref

Int

DR_BASE

reference coordinate

  • DR_BASE : base coordinate

  • DR_WORLD : world coordinate

  • DR_TOOL : tool coordinate

Return

Value

Description

float[6]

External force applied to the tool

Exception

Exception

Description

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred


External force errors may be large in non-FTS models (A0509, A0912, A0509F, A0912F, E0509).

Example

Python
force_ext = get_tool_force(DR_WORLD) # force_ext: external force of the tool based on the world coordinate

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