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);