Features
This function matches the given vect direction(eTargetVec) 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 |
|---|---|---|---|
|
eTargetVec |
float[3] |
- |
vector |
|
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
Python
float v1[3] = {400, 400, 500};
float v2[3] = {350, 37, 430};
Drfl.align_axis(v1, v2, TASK_AXIS_X, COORDINATE_SYSTEM_BASE);