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CDRFLEx.parallel_axis(eSourceVec, eTaskAxis, eTargetRef)

Features

This function matches the given vect direction(eSourceVec) based on the ref coordinate(eTargetRef) and the designated axis of the tool frame. The current position is maintained as the TCP position of the robot.

Parameter

Parameter Name

Data Type

Default Value

Description

eSourceVec

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

PY
float v[3] = {1000, 700, 300};
                
Drfl.parallel_axis(v, TASK_AXIS_X, COORDINATE_SYSTEM_BASE);

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