NRC_SetToolCoordParm(int toolNum, NRC_Position& deviation)
Set tool hand parameters
Set the deviation of the tool end position relative to the robot end position, so as to determine the tool coordinate system
In practical use, this parameter is usually directly filled in based on the design size chart of the tool hand
Type
int =>Set tool hand parameters
| Return value | Description |
|---|---|
| 0 | The function is called successfully |
| -101 | Invalid input parameter |
| -102 | The target object does not exist. This typically occurs when the system initialization is incomplete, and calling other functions may return this value |
| -103 | The target object is currently in an inoperable state |
Parameter Option
| Parameter | Type | Description |
|---|---|---|
| toolNum | int | The number of the tool to be set, parameter range: 1 < toolNum < 10 |
| deviation | NRC_Position& | The deviation of the tool end position relative to the robot end position. The parameter "deviation.coord" is useless. Deviation.pos[0]-deviation.pos[2] are the deviations of the positions on the x, y, and z axes respectively, unit: mm; deviation.pos[3]-deviation.pos[5] are the rotation angles around the x, y, and z axes respectively, unit: radian. This parameter is not applicable for a 4-axis SCARA robot |
Sample code
int toolNum = 1;//0 < toolNum < 10
NRC_Position deviation = {NRC_ACS,100,1,300,0.5,1,1.5};
NRC_SetToolCoordParm(toolNum,deviation);