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ID : 9024

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, 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 controller 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 data] to [1:Enabled].
  • The coordinate number can be changed with a Smart TP. For details, refer to "Displaying and Changing Mode Selection Window" in Smart TP operation guide. The coordinate number changed by a Smart TP will be retained after the controller power OFF.

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 : 9024

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