Features
Teach Pendant>Workcell Manager>Activate the Tool Weight workcell item with the entered name from among the Tool Weight workcell items registered in the robot.
Tool weight can be changed after setting time(start_time) and during setting time(transition_time).
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
name |
string |
- |
The name of the tool weight registered in the Workcell Manager. |
|
start_time |
float |
None |
Tool weight is changed after setting time |
|
transition_time |
float |
None |
Tool weight is changed during setting time |
-
When using the set_tool and set_workpiece_weight functions in succession, you must use the wait(transition_time) function as much as transition_time between them. Otherwise, there may be errors in the weight change.
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Error |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
set_tool ("tool1",start_time=1,transition_time=2)
# After 1s and then aActivate the information of "tool1" registered in TP during 2s.
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