TOOL monitor command TOOL monitor command Syntax TOOL @task:program transform_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 command applies to the robot selected by the eV+ monitor (with the SELECT command). The command can be used while programs are executing. However, an error will result if the robot is attached by any executing program. If the eV+ system is not configured to control a robot, use of the TOOL command will cause an error.
Parameters @task:program These optional parameters specify the context for any variables referenced by the command. The variables will be treated as though they are referenced from the specified context. If no context is specified, the variables will be considered global (if the eV+ program debugger is not in use). See Variable Context for details on specifying context. transform_value Optional transformation variable or function, or compound transformation expression, that will be the new tool transformation. If the transformation value is omitted, the tool is set to NULL.
Details If no transformation value is specified, the tool transformation is set equal to the "null tool." The null tool has its center at the surface of the tool-mounting flange and its coordinate axes parallel to those of the last joint of the robot (represented by the transformation [0,0,0,0,0,0]). The tool transformation is automatically set equal to the null tool when the system is turned on and after a ZERO command.
The relative tool transformation is automatically taken into consideration each time the location of the robot is requested, when a command is issued to move the robot to a location defined by a transformation, and when manually controlled motions are performed in eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 184