Tool Statement

Selects or displays the current tool.

Syntax
(1) Tool toolNumber

(2) Tool

Parameters

toolNumber

Optional. Integer expression from 0 to 15 representing which of 16 tool definitions to use with subsequent motion instructions.

Return Values
Displays current Tool when used without parameters.

Description
Tool selects the tool specified by the tool number (toolNum). When the tool number is “0”, no tool is selected and all motions are done with respect to the center of the end effector joint. However, when Tool entry 1, 2, or 3 is selected motion is done with respect to the end of the tool as defined with the tool definition.

Note

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• Power Off and Its Effect on the Tool Selection

  Turning main power off does not change the tool coordinate system selection.

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See Also
TGo, TLSet, Tmove

Tool Statement Example
The example shown below shows a good test which can be done from the command window to help understand the difference between moving when a tool is defined and when no tool is defined.

>tlset 1, 100, 0, 0, 0   'Define tool coordinate system for Tool 1 (plus 100 mm in
                         'x direction from hand coordinate system)
>tool 1                  'Selects Tool 1 as defined by TLSet
>tgo p1                  'Positions the Tool 1 tip position at P1
>tool 0                  'Tells robot to use no tool for future motion
>go p1                   'Positions the center of the U-Joint at P1