align_axis(x1, x2, x3, pos, axis, ref)
Features
This function matches the normal vector of the plane consists of points(x1, x2, x3) based on the ref coordinate(refer to get_normal(x1, x2, x3)) and the designated axis of the tool frame. The robot TCP moves to the pos position.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
x1 | posx | - | posx or position list |
list (float[6]) | |||
x2 | posx | - | posx or position list |
list (float[6]) | |||
x3 | posx | - | posx or position list |
list (float[6]) | |||
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,
- The z values of Input x1, x2 and x3 must all be the same.
- 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)
x1 = posx(0, 500, 700, 30, 0, 0)
x2 = posx(500, 0, 700, 0, 0, 0)
x3 = posx(300, 100, 500, 0, 0, 0)
pos = posx(400, 400, 500, 0, 0, 0)
align_axis(x1, x2, x3, pos, DR_AXIS_X, DR_BASE)
# match the tool x axis and the normal vector in the plane consists of points(x1, x2,
# x3) based on the base coordinate
#In the case of the P-series
p0 = posj(0,0,45,0,90,0)
movej(p0, v=30, a=30)
x1 = posx(0, 500, 700, 30, 0, 0)
x2 = posx(500, 0, 700, 0, 0, 0)
x3 = posx(300, 100, 700, 0, 0, 0)
pos = posx(400, 400, 600, 0, 0, 0)
align_axis(x1, x2, x3, pos, DR_AXIS_Z, DR_BASE)
Related commands
- (2.11.2_temp-en_US) movej()
- get_normal(x1, x2, x3)
- align_axis(vect, pos, axis, ref)
- parallel_axis(vect, axis, ref)
- parallel_axis(x1, x2, x3, axis, ref)