measure_welding_tcp

Features

This function measures the welding TCP (Tool Center Point) using the specified measurement mode and stick-out value. For measurement, the robot moves to 9 target positions specified in the fTargetPos array. The measurement results are stored in the LPMEASURE_TCP_RESPONSE structure. This structure includes the TCP position (X, Y, Z, RX, RY, RZ) and measurement status information.

Arguments

Argument Name	Data Type	Default Value	Description
`iMode`	unsigned char	None	Measurement mode (0: 4-point method, 1: 6-point method)
`fStickout`	float	None	Stick-out value (mm)
`fTargetPos`	float[9][NUMBER_OF_JOINT]	None	Target positions (X, Y, Z coordinates for 9 joints)

Return

Return Value	Data Type	Description
`result`	`LPMEASURE_TCP_RESPONSE`	Structure representing the TCP measurement results

Example

CODE

// Set TCP measurement mode
unsigned char iMode = 0; // Measurement mode (0: 4-point method, 1: 6-point method)

// Set stick-out value
float fStickout = 50.0; // Stick-out value (mm)

// Set target positions (X, Y, Z coordinates for 9 joints)
float fTargetPos[9][NUMBER_OF_JOINT] = {
  {0.0, 0.0, 0.0}, // Joint 1 position
  {100.0, 0.0, 0.0}, // Joint 2 position
  {100.0, 100.0, 0.0}, // Joint 3 position
  {0.0, 100.0, 0.0}, // Joint 4 position
  // ... remaining joint positions
};

// Declare a structure to store the TCP measurement results
LPMEASURE_TCP_RESPONSE result;

// Call the measure_welding_tcp function
result = Drfl.measure_welding_tcp(iMode, fStickout, fTargetPos);

if (result._iResult == 0) {
  printf("Welding TCP measurement successful\n");
  printf("TCP X: %f, Y: %f, Z: %f, RX: %f, RY: %f, RZ: %f\n", 
          result._fTCPPos[0], result._fTCPPos[1], result._fTCPPos[2], 
          result._fTCPPos[3], result._fTCPPos[4], result._fTCPPos[5]);
} else {
  printf("Welding TCP measurement failed (Error code: %d)\n", result._iResult);
}