Features
This function set a new user cartesian coordinate system using input pose [pos] and reference coordinate system[ref]. Up to 100 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.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
pos |
posx |
- |
coordinate information
|
|
list (float[6]) |
|||
|
ref |
int |
- |
reference coordinate
|
Return
|
Value |
Description |
|---|---|
|
Positive integer |
Successful coordinate setting
|
|
-1 |
Failed coordinate setting |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
pos1 = posx(10, 20, 30, 0, 0, 0)
pos2 = posx(30, 50, 70, 45, 180, 45)
user_id1 = set_user_cart_coord(pos1, ref=DR_BASE)
user_id2 = set_user_cart_coord(pos2, ref=DR_WORLD)