CDRFLEx.overwrite_user_cart_coord
Features
This function changes the pose and reference coordinate system of the requested user coordinate system [iReqId] with the [fTargetPos] and [eTargetRef], respectively.
This function is only available in M2.5 version or higher.
Parameter
Parameter Name | Data Type | Default Value | Description |
bTargetUpdate | bool | - | 0 : local update 1 : global update(with TP) |
iReqId | int | - | coordinate ID |
fTargetPos | float[6] | - | Target task location for six axes |
eTargetRef | enum.COORDINATE_SYSTEM | COORDINATE_SYSTEM_BASE | Refer to the Definition of Constant and Enumeration Type |
When the coordinate system change (bTargetUpdate) variable is 0, the user coordinate system must be changed and maintained only when the program is executed.
Return
Value | Description |
int | Successful coordinate setting Set coordinate ID (101 - 200) |
Example
CPP
float pos1[6] = {30, 40, 50, 0, 0, 0};
int pose_user1 = Drfl.set_user_cart_coord(0, pos1, COORDINATE_SYSTEM_BASE);
float pos2[6] = {100, 150, 200, 45, 180, 0};
int result = Drfl.overwrite_user_cart_coord(0, pose_user1, pos2);
cout << result << endl;