get_projected_posx()

Definition

get_projected_posx(pos, rel, ref)

Features

It converts the pos (pose) defined based on the ref coordinate system into a pos that can be expressed with P series robots using the same coordinate system and returns it.
It returns the pos that has the minimum joint movement distance based on the current robot's position.
In the pos, the position does not change, and it returns the coordinates that can be expressed with the minimum rotational transformation.

Parameters

Parameter Name	Data Type	Default Value	Description
pos	posx	-	posx or position list
pos	list (float[6])	-	posx or position list
rel	int	DR_MV_MOD_ABS	Movement basis DR_MV_MOD_ABS : absolute DR_MV_MOD_REL : relative
ref	int	DR_BASE	reference coordinate DR_BASE : base coordinate DR_WORLD: world coordinate DR_TOOL : tool coordinate user coordinate: user defined

Return

Value	Description
posx	Task space point
status	0 : Task point return fail 1 : Task point return success

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

q1 = posj(180, 0, 90, 0, 90, 0)
movej(q1, v=30, a=30)
x1 = posx(-670, 113, 573, 8, 178, 96)
x1_prj, status = get_projected_posx(x1, rel=DR_MV_MOD_ABS, ref=DR_BASE)
movel(x1_prj, v=1000, a=1000)