Features
This function set a new user cartesian coordinate system using input pose [fTargetPos] and reference coordinate system [eTargetRef]. Up to 20 user coordinate systems can be set including the coordinate systems set within Workcell Item. Since the coordinate system set by this function is removed when the program is terminated, setting new coordinate systems within Workcell Item is recommended for maintaining the coordinate information.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
iReqId |
int |
- |
Coordinate ID 0 : Auto creation 101 ~ 120 : Manual Creation |
|
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 |
Return
|
Value |
Description |
|
int |
Successful coordinate setting Set coordinate ID (101 - 200) |
Example
float pos1[6] = {500, 30, 500, 0, 0, 0};
int id = Drfl.set_user_cart_coord(0, pos1, COORDINATE_SYSTEM_BASE);