SMC_GroupSetTool (FB)¶

FUNCTION_BLOCK SMC_GroupSetTool

This function block is used to configure a new tool.

A tool is described by the tool offset from the flange position and the tool orientation relative to the flange coordinate system. The new tool is considered for all movements commanded after the call to this function block.

Please note that not all tool offsets are compatible with all kinematics. If the kinematic does not support the given tool offset, an error is returned.

If the tool is changed between two movements, then blending between the movements is not supported. The second movement is treated as a buffered movement in this case. A tool change before a circular movement (MC_MoveCircularAbsolute or MC_MoveCircularRelative), is only supported if the coordinate system of the start- and end-position of the circular movement is static. (I.e. no tracking is done.)

Note: The tool cannot be changed in state ErrorStop or Disabled.

Hint

If you configure a new tool offset after MC_GroupInterrupt and before MC_GroupContinue, then the old tool offset is used for the interrupted movements. The new tool offset is used only for movements that are commanded afterwards.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to a group of axes
Input	`Execute`	`BOOL`	Executes the FB at the rising edge
Input	`ToolOffset`	MC_COORD_REF	Tool offset
Output	`Done`	`BOOL`	The defined tool offset has been added to the axisgroup
	`Error`	`BOOL`	Signals that an error has occurred within the function block
	`ErrorID`	`SMC_ERROR`	Error identification