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).

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 Meca500 does not check interferences between the tool sphere and the robot flange, the tool sphere and link 5 (the one with the I/O port and the “−A6+” engraving), and the tool sphere and the MPM500 module. Note that, if you set your tool sphere too large, e.g., with SetToolSphere(0,0,060), it will always interfere with link 4, i.e., the yoke one with the “−A5+” engraving.

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.