set_ref_coord(coord)
Features
This function sets the reference coordinate system.
Parameter
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
coord | int | - | Reference coordinate system
|
Return
| Value | Description |
|---|---|
0 | Success |
Negative value | Failed |
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(0,0,90,0,90,0)
movej(p0, v=30, a=30)
x1 = posx(370.9, 419.7, 651.5, 90,-180,0)
movel(x1, v=100, a=100) # Base Coordinate basis
uu1 = [-1, 1, 0] # x-axis vector of the user coordinate system (base coordinate basis)
vv1 = [1, 1, 0] # y-axis vector of the user coordinate system (base coordinate basis)
pos = posx(370.9, -419.7, 651.5, 0, 0, 0) # Origin point of the user coordinate system
DR_USER1 = set_user_cart_coord(uu1, vv1, pos) # Sets the user coordinate system.
set_ref_coord(DR_USER1) # Sets DR_USER1 of the user coordinate system to the global coordinate system.
movel([0,0,0,0,0,0],v=100,a=100) # The global coordinate system is used if the reference coordinate system is not specified.
# Moves to the origin point and direction of the DR_USER1 coordinate system.
movel([0,200,0,0,0,0],v=100,a=100) # Moves to the (0,200,0) point of the DR_USER1 coordinate system.