Data type for storing tool data.
Data structure used by MLxRobotSetToolProperties and MLxRobotSelectTool.
Contains tool TCP offset and load values.
If the robot is used to manipulate a product with a gripper (or any kind of tool), consider the load value of both the product and the tool.
If several products are manipulated by the robot, simply consider the worst case load.
Version history
0.1.0
deGroot
Changes
Changed:
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| ToolName_LEN | DINT | Stringlength for platform compatibility | |
| ToolName | STRING[82] | User-defined name of the tool | |
| ToolOffset | ARRAY[0..5] OF REAL | The tool offset position (X,Y,Z,RX,RY,RZ) | |
| CenterOfGravity | ARRAY[0..2] OF REAL | Tool Center of Gravity (Xg, Yg, Zg) | |
| MomentOfInertia | ARRAY[0..2] OF REAL | Tool Moment of Inertia (Ix, Iy, Iz) | |
| Mass | REAL | Mass in kg |
Details
ToolName_LEN
DINTStringlength for platform compatibility
ToolName
STRING[82]User-defined name of the tool
ToolOffset
ARRAY[0..5] OF REALThe tool offset position [X,Y,Z,RX,RY,RZ] relative to the robot flange.
Distance are in mm.
Angle are in degrees (°).
CenterOfGravity
ARRAY[0..2] OF REALTool Center of Gravity [Xg,Yg,Zg] relative to the robot flange in mm.
MomentOfInertia
ARRAY[0..2] OF REALTool Moment of Inertia [Ix,Iy,Iz] in Kg.m².
Mass
REALMass in Kg.