get_current_tool_flange_posx(ref)
Features
Returns the current tool flange pose based on the reference coordinate (ref). The tool flange will return to tcp=(0,0,0,0,0,0).
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
ref | int | DR_BASE | reference coordinate
|
Return
| Value | Description |
|---|---|
posx | Pose of tool flange |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_RUNTIME) | C extension module error occurred |
Example
PY
x1 = get_current_tool_flange_posx()
#x1 : Flange pose base on the base coordinate(default value)
x2 = get_current_tool_flange_posx(DR_BASE)
#x2 : Flange pose based on the base coordinate
x3 = get_current_tool_flange_posx(DR_WORLD)
#x3 : Flange pose based on the world coordinate