CDRFLEx.parallel_axis(fTargetPos1, fTargetPos2, fTargetPos3, eTaskAxis, eSourceRef)
Features
This function matches the normal vector of the plane consists of points(fTargetPos1, fTargetPos2, fTargetPos2) based on the ref coordinate(eTargetRef) and the designated axis(eTaskAxis) of the tool frame. The current position is maintained as the TCP position of the robot.
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 |
eTaskAxis | enum.TASK_AXIS | - | Refer to the Definition of Constant and Enumeration Type |
eSourceRef | enum.COORDINATE_SYSTEM | - | Refer to the Definition of Constant and Enumeration Type |
Return
Value | Description |
0 | Failed |
1 | Success |
Example
CPP
float x0[6] = {0, 0, 90, 0, 90, 0};
Drfl.movej(x0, 60, 30);
float x1[6] = {0, 500, 700, 30, 0, 90};
float x2[6] = {500, 0, 700, 0, 0, 45};
float x3[6] = {300, 100, 500, 45, 0, 45};
Drfl.parallel_axis(x1, x2, x3, TASK_AXIS_X);