get_pattern_point(pos1, pos2, pos3, pos4, index, pattern, row, column, stack, stack_offset, point_offset)
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) |
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
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