align_axis(vect, pos, axis, ref)
Features
This function matches the given vect direction based on the ref coordinate and the designated axis of the tool frame. The robot TCP moves to the pos position.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
| vect | list (float[3]) | - | vector |
| pos | posx | - | posx or position list |
| list (float[6]) | |||
| axis | int | - | axis
|
ref | int | DR_BASE | reference coordinate
|
Note
In the case of the P series,
- Input vect can only be applied to vectors about the z-axis ([0,0,±z]). (z != 0)
- Input axis can only use DR_AXIS_Z, and input ref can only use DR_BASE.
Return
| Value | Description |
|---|---|
0 | Success |
Negative value | Error |
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
PY
p0 = posj(0,0,45,0,90,0)
movej(p0, v=30, a=30)
vect = [10, 20, 30]
pos = posx(100, 500, 700, 45, 0, 0)
align_axis(vect, pos, DR_AXIS_X)
#In the case of the P-series
p0 = posj(0,0,45,0,90,0)
movej(p0, v=30, a=30)
vect = [0,0,-10]
pos = posx(100, 500, 700, 45, 0, 0)
align_axis(vect, pos, DR_AXIS_Z, DR_BASE)Related commands
- (2.11.2_temp-en_US) movej()
- align_axis(x1, x2, x3, pos, axis, ref)
- parallel_axis(vect, axis, ref)
- parallel_axis(x1, x2, x3, axis, ref)