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
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
x1 | Posx | - | posx or |
list (float[6]) | |||
x2 | Posx | - | posx or |
list (float[6]) | |||
x3 | Posx | - | posx or |
list (float[6]) | |||
pos | Posx | - | posx or |
list (float[6]) | |||
ref | int | DR_BASE | reference coordinate
|
Return
| Value | Description |
|---|---|
Positive integer | Successful coordinate setting |
-1 | Failed coordinate setting |
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
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)