RobotTool Property

Application
Force Monitor object FM#, Force Motion Restriction Object FMR#

Description
Sets or returns the tool that will serve as the basis for robot position posture or position posture used for trigger accomplished condition of force motion restriction function recorded by the force monitor function.

Immediate Execution
No

Usage
FGet Object.RobotTool, iVar
FSet Object.RobotTool, iValue

• Object
  Object name
  The object is specified as either of FM (numerical value), FMR (numerical value), FM (label) or FMR (label).

• iVar
  An integer variable defining the value of the property

• iValue
  An integer value or formula defining the new value of the property

Values
iValue

	Values
Minimum	-1 (Constant name: FG_CURRENT_TOOL) (default)
Maximum	15

Detailed Explanation
When using this property for force monitor function:
This property is used when setting or checking the tool that will serve as the basis for robot positions/orientations to be recorded.
This property changes the basis used to find robot positions/orientations that will be recorded by the RecordStart property. When “-1” is specified, the position/orientation is recorded with reference to the current tool. Therefore, when the tool number is changed by the Tool statement during recording, the position/orientation to be recorded will correspond to the changed tool. When a number from “0” to “15” is specified, the position/orientation will continue as per the tool specified.
The position/orientation of the robot recorded by the RecordStart property is recorded by the position/orientation of the tool specified by this property in the local coordinate system specified by the RobotLocal property.
This property is effective when you want to set the recording position as the specified tool position. When setting “-1”, position seems like shifting if changing the tool. Therefore, use each tool number to check continuity.
If the tool setting is changed by the TLSet statement after this property is set, the tool setting used with the force function will apply rather than the tool setting used when this property was set.
When using this property for force motion restriction function:
This property is used when setting or checking the local coordinate system that will serve as the basis for robot positions/orientations that judge the accomplishment condition of set trigger.
This property changes the basis used to judge robot positions/orientations that will judge the accomplishment condition of trigger. When “−1” is specified, the position/orientation is judged accomplishment condition of robot positions/orientations with reference to the current tool. Therefore, when the tool number is changed by the Tool statement during force controlling, the position/orientation to be judged will correspond to the changed tool. When “0” to “15” is specified, positions / orientations will correspond to the specified tool.
This property is effective when you want to set the position of judging accomplishment condition of trigger as the specified tool position. When setting “−1”, position seems like shifting if changing the tool. Therefore, use each tool number to be sure continuity.
If the tool setting is changed by the TLSet statement after this property is set, the tool setting used with the force function will apply rather than the tool setting used when this property was set.

Usage Example
The following is an example of recording positions/posture with Tool 1 as the basis.

Function RobotLocalTest
  FSet FM1.ForceSensor, 1
  FSet FM1.RobotTool, 1  ' Set Tool 1 for RobotTool.
  FSet FM1.FCMRecordEnd
  FSet FM1.RecordStart, 60, 0.01
  Wait 60
  FSet FM1.FCMRecordEnd
Fend

See Also
Force Monitor object FM#, RecordStart Property