Features
This function matches the normal vector of the plane consists of points(fTargetPos1, fTargetPos2, fTargetPos3) 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 |
|
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 |
|
fSourceVec |
float[3] |
|
vector |
|
eTaskAxis |
enum.TASK_AXIS |
- |
Refer to the Definition of Constant and Enumeration Type |
|
eTargetRef |
enum.COORDINATE_SYSTEM |
- |
Refer to the Definition of Constant and Enumeration Type |
Return
|
Value |
Description |
|
0 |
Failed |
|
1 |
Success |
Example
C++
float x1[6] = {0, 500, 700, 30, 0, 0};
float x2[6] = {500, 0, 700, 0, 0, 0};
float x3[6] = {300, 100, 500, 0, 0, 0};
float pos[3] = {400, 400, 500};
Drfl.align_axis(x1, x2, x3, pos, TASK_AXIS_X, COORDINATE_SYSTEM_BASE);