parallel_axis(vect, axis, ref)
Features
This function matches the given vect direction based on the ref coordinate and the designated axis of the tool frame. The current position is maintained as the TCP position of the robot.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
vect | list (float[3]) | - | vector |
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
x0 = posj(0, 0, 90, 0, 90, 0)
movej(x0, v=60, a=30)
parallel_axis([1000, 700, 300], DR_AXIS_X, DR_WORLD)
# match the tool x axis and the vector([1000,700,300]) based on the world coordinate
#In the case of the P-series
x0 = posj(0, 0, 90, 0, 45, 0)
movej(x0, v=60, a=30)
parallel_axis([0, 0, 300], DR_AXIS_Z, DR_BASE)
Related commands
- (2.11.2_temp-en_US) movej()
- parallel_axis(x1, x2, x3, axis, ref)
- align_axis(vect, pos, axis, ref)
- align_axis(x1, x2, x3, pos, axis, ref)