TOOL program instruction TOOL program instruction Syntax TOOL transformation_value Function Set the internal transformation used to represent the location and orientation of the tool tip relative to the tool mounting flange of the robot. Usage Considerations The TOOL instruction causes a BREAK in continuous-path motion. The TOOL instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task. The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the TOOL instruction causes an error. The word "tool" cannot be used as a program name or variable name.
Parameter transformation_value Optional transformation variable or function, or compound transformation expression, that is the new tool transformation. If the transformation value is omitted, the tool is set to NULL. Details Causes a BREAK in the robot continuous-path motion and sets the value of the tool transformation equal to the transformation value given. Refer to the TOOL monitor command for a complete description of the effect of this instruction.
(For information on how to define a tool transformation, see the section Tool Transformations in the eV+ Language User's Guide .) Related Keywords SELECT program instruction SELECT real-valued function TOOL monitor command TOOL transformation function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 540