ID : 3613

ChangeTool

Function

To change the current tool coordinates.

Syntax

ChangeTool tool coordinate number

Guaranteed Entry

Tool coordinate number: Designate a tool coordinate number (0-63) by Integer Type data.

Description

Current tool coordinate number of the acquired arm group is changed.

To execute this command, the task must acquire robot axis control.

Related Terms

Tool Coordinates (6-axis) , ChangeWork, Tool, Work, CurTool, CurWork, ToolPos, WorkPos

Attention

Execution with Next option during motion does not affect any instruction in motion.
The coordinate number specified by this command is retained until the COBOTTA power turns OFF. When the power turns ON, the coordinate number will be reset. To keep selecting the coordinate number you have set after the power OFF, set the user parameter [14:Restoration of TOOL/WORK/BASE data] to [1: Enabled].
The coordinate number can be changed with a teach pendant. For details, refer to the "Displaying and Changing Mode Selection Screen" of TP App Operation Guide. The coordinate number changed by a teach pendant will be retained after the COBOTTA power OFF.
To specify the work coordinate number at the COBOTTA power ON, set the user parameter [142: TOOL number setting] to a work coordinate number you want to use.
However, if [14: Restoration of TOOL/WORK/BASE data] is set to [1: Enabled], the work coordinate number used at the previous COBOTTA power OFF will be used.

Example

'!TITLE "Changing Tool Coordinates"
' Change the current tool coordinates to the specified tool coordinates
Sub Sample_ChangeTool

  Dim aaa As Position

  TakeArm Keep = 1

  aaa = P( 10, 5, 10, 0, 0, 0 )

  ' Declare tool coordinates that indicates position type variable aaa in tool coordinate number 1
  Tool 1, aaa

  ' Change to tool coordinates of the tool coordinates number 1
  ChangeTool 1

End Sub

ID : 3613

<< Prev Next >>