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get_pattern_point()

Definition

get_pattern_point(pos1, pos2, pos3, pos4, index, pattern, row, column, stack, stack_offset, point_offset, ori_type_out=None)

Features

This function calculates the pallet point for the index that fits the given pattern using the given 4 points. Only square and rectangular flat pallets are available. When teaching the 4 points of the pallet, please teach after fixing the Orientation.

Parameters

Parameter Name

Data Type

Default Value

Description

pos1

posx

-

posx or

position list

list (float[6])

pos2

posx

-

posx or

position list

list (float[6])

pos3

posx

-

posx or

position list

list (float[6])

pos4

posx

-

posx or

position list

list (float[6])

index

int

1

0 ~ [(row X column) – 1]

pattern

Int

0

Normal Pallet -> 0: Snake, 1: Zigzag  Rhombus Pallet -> 2: Snake, 3: Zigzag

row

Int

1

count (index of row)

column

Int

1

count (index of column)

stack

int

1

Pallet stack count

stack_offset

float

0.0

Pallet stack height

point_offset

float[3]

None

Teach point fine-tuning (Translation direction)

ori_type_out

int

None

output orientation type

  • None: Follows the orientation type of pos1 input parameter

  • DR_ELR_ZYZ: Euler Angles(z-y'-z'', in degrees)

  • DR_ELR_ZYX: Euler Angles(z-y'-x'', in degrees)

  • DR_ELR_XYZ: Euler Angles(x-y'-z'', in degrees)

  • DR_FIX_XYZ: Fixed Angles(x-y-z, in degrees)

  • DR_ROTVEC: 3D rotation vector (angle/axis representation, in degrees)

  • DR_QUAT: unit quaternion(x, y, z, w)

Return

Value

Description

pos

posx

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
base_pos = posx(400,500,800,0,180,15)
# If task position based on base reference coordinate base_pos = posx(400,500,800,0,180,15)

tool_pos = coord_transform(base_pos, DR_BASE, DR_TOOL)
# Transform task position(base_pos) expressed in base reference coordinate to task position expressed in tool reference coordinate
# This command returns task position expressed in tool reference coordinate and the result value is stored in tool_pos

Keyword

get / pattern / point / get_ / get_pattern / pattern_point