CDRFLEx.align_axis(fTargetPos1, fTargetPos2, fTargetPos3, fSourceVec, eTaskAxis, eTargetRef)

Features

This function matches the normal vector of the plane consists of points(fTargetPos1, fTargetPos2, fTargetPos3) based on the ref coordinate(eTargetRef)) and the designated axis of the tool frame. The robot TCP moves to the pos position.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos1	float[6]	-	Target task location for six axes
fTargetPos2	float[6]		Target task location for six axes
fTargetPos3	float[6]		Target task location for six axes
fSourceVec	float[3]		vector
eTaskAxis	TASK_AXIS	-	Refer to the Definition of Constant and Enumeration Type
eTargetRef	COORDINATE_SYSTEM	-	Refer to the Definition of Constant and Enumeration Type

Return

Value	Description
0	Failed
1	Success

Example

float x1[6] = {0, 500, 700, 30, 0, 0};

float x2[6] = {500, 0, 700, 0, 0, 0};

float x3[6] = {300, 100, 500, 0, 0, 0};

float pos[3] = {400, 400, 500};

Drfl.align_axis(x1, x2, x3, pos, TASK_AXIS_X, COORDINATE_SYSTEM_BASE);

PY

float x1[6] = {0, 500, 700, 30, 0, 0};                
float x2[6] = {500, 0, 700, 0, 0, 0};                 
float x3[6] = {300, 100, 500, 0, 0, 0};                
float pos[3] = {400, 400, 500};
Drfl.align_axis(x1, x2, x3, pos, TASK_AXIS_X, COORDINATE_SYSTEM_BASE);