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parallel_axis()

parallel_axis(x1, x2, x3, axis, ref)

Features

This function matches the normal vector of the plane consists of points(x1, x2, x3) based on the ref coordinate(refer to get_normal(x1, x2, x3)) and the designated axis of the tool frame. The current position is maintained as the TCP position of the robot.

Parameters

Parameter Name

Data Type

Default Value

Description

x1

posx

-

posx or

position list

list (float[6])

x2

posx

-

posx or

position list

list (float[6])

x3

posx

-

posx or

position list

list (float[6])

axis

int

-

axis

  • DR_AXIS_X: x-axis

  • DR_AXIS_Y: y-axis

  • DR_AXIS_Z: z-axis

ref

int

DR_BASE

reference coordinate

  • DR_BASE: base coordinate

  • DR_WORLD: world coordinate

  • user coordinate : user difined

Return

Value

Description

0

Success

Negative value

Error

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

Python
x0 = posx(0, 0, 90, 0, 90, 0)
movej(x0)
x1 = posx(0, 500, 700, 30, 0, 90)
x2 = posx(500, 0, 700, 0, 0, 45)
x3 = posx(300, 100, 500, 45, 0, 45)
parallel_axis(x1, x2, x3, DR_AXIS_X, DR_WORLD) 
# match the tool x axis and the normal vector of the plane consists of points(x1,x2,x3) # based on the world coordinate

Keyword

parallel / axis / parallel_


parallel_axis(vect, axis, ref)

Features

This function matches the given vect direction based on the ref coordinate and the designated axis of the tool frame. The current position is maintained as the TCP position of the robot.

Parameters

Parameter Name

Data Type

Default Value

Description

vect

list (float[3])

-

vector

axis

int

-

axis

  • DR_AXIS_X: x-axis

  • DR_AXIS_Y: y-axis

  • DR_AXIS_Z: z-axis

ref

int

DR_BASE

reference coordinate

  • DR_BASE: base coordinate

  • DR_WORLD: world coordinate

  • user coordinate: user defined

Return

Value

Description

0

Success

Negative value

Error

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

Python
x0 = posx(0, 0, 90, 0, 90, 0)
movej(x0)
parallel_axis([1000, 700, 300], DR_AXIS_X, DR_WORLD)
# match the tool x axis and the vector([1000,700,300]) based on the world coordinate

Keyword

parallel / axis / parallel_