SetToolSphere

This command defines a sphere fixed in the Flange Reference Frame (FRF). Interferences between that sphere and the robot links as well as the outside of a bounding box set with the SetWorkZoneLimits command can then be supervised, as defined by the SetWorkZoneCfg and SetCollisionCfg commands.

Syntax

SetToolSphere(x,y,z,r)

Arguments

• x, y, z: the coordinates of the center of the tool sphere in the FRF, in mm;

• r: the radius of the tool sphere, in mm.

Default values

This setting is persistent and retained after a power cycle (a reboot). It is restored to its factory default after a complete factory reset of the robot.

The factory default is x = y = z = 0 and r = 0. Note that setting all four arguments to zero is equivalent to disabling the tool sphere. However, if r = 0, but one of the coordinates is not zero, the tool sphere will be a point.

Responses

• [2168] [Tool sphere set successfully.]

Note

The MCS500 does not verify interferences between the tool sphere and the spline shaft.

Usage restrictions

This command can only be executed when the robot is deactivated.

Cyclic protocols

In cyclic protocols, the SetToolSphere command is represented by MotionCommandID 155. See Section 4.2 for more details.