set_user_cart_coord()

set_user_cart_coord(pos, ref)

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

Return

Exception

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)

Related commands

• (3.4.0-en_US) set_ref_coord()

set_user_cart_coord(x1, x2, x3, pos, ref)

Features

This function sets a new user cartesian coordinate system using [x1], [x2], and [x3] based on ref coordinate system[ref]. Creates a user coordinate system with ux, uy, and uz as the vector for each axis and origin position is the position of [pos] based on [ref]. ¹⁾ux is defined as the unit vector of x1x2 , uz is defined as the unit vector defined by the cross product of x1x2 and x1x3 (x1x2 cross x1x3). uy is can be determined by right hand rule (uz cross ux). 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.

1. In software versions lower than M2.0.2, ux is used as the unit vector of x2x1

Parameters

Return

Exception

Example

x1 = posx(0, 500, 700, 0, 0, 0) # Ignores the Euler angle.
x2 = posx(500, 0, 700, 0, 0, 0)
x3 = posx(300, 100, 500, 0, 0, 0)
x4 = posx(300, 110, 510, 0, 0, 0)
pos = posx(10, 20, 30, 0, 0, 0)
user_tc1 = set_user_cart_coord(x1, x2, x3, pos, ref=DR_BASE)
user_tc2 = set_user_cart_coord(x2, x3, x4, pos, ref=DR_WORLD)

Related commands

• (3.4.0-en_US) set_ref_coord()

set_user_cart_coord(u1, v1, pos, ref)

Features

This function sets a new user cartesian coordinate system using [u1] and [v1] based on [ref] coordinate system. The origin position the position of [pos] based on the [ref] coordinate while the direction of x-axis and y-axis bases are given in the vectors u1 and v1, respectively. Other directions are determined by u1 cross v1. If u1 and v1 are not orthogonal, v1’, that is perpendicular to u1 on the surface spanned by u1 and v1, is set as the vector in the y-axis direction. 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

Return

Exception

Example

u1 = [1, 1, 0]
v1 = [-1, 1, 0]
pos = posx(10, 20, 30, 0, 0, 0)
user_tc1 = set_user_cart_coord(u1, v1, pos)
user_tc2 = set_user_cart_coord(u1, v1, pos, ref=DR_WORLD)

Related commands

• (3.4.0-en_US) set_ref_coord()