posx(x=0, y=0, z=0, A=0, B=0, C=0, ori_type=None, sol=None, turn=None)
Features
This function designates the joint space angle in coordinate values.
Note
- From SW version V3.2, various orientation types are supported.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
x | float list posx | 0 | x position or position list or posx |
y | float | 0 | y position |
z | float | 0 | z position |
A | float | 0 | A orientation(z-direction rotation of reference coordinate system) |
B | float | 0 | B orientation(y-direction rotation of A rotated coordinate system) |
C | float | 0 | C orientation(z-direction rotation of A and B rotated coordinate system) |
ori_type | int | None | orientation type
|
sol | int | None | solution space
|
turn | int | None | joint multi turn - Will be supported later
|
Return
| Value | Description |
|---|---|
| Posx | task space point |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
movej([0,0,90,0,90,0], v=10, a=20)
x2 = posx(400, 300, 500, 0, 180, 0) # Euler ZYZ
x3 = posx([350, 350, 450, 0, 180, 0]) # x3=posx(350, 350, 450, 0, 180, 0), Euler ZYZ
x4 = posx(x2) # x4=posx(400, 300, 500, 0, 180, 0), Euler ZYZ
x5 = posx(400, 300, 500, 0, 180, 0, DR_ELR_ZYX) # Euler ZYX
x6 = posx([400, 300, 500, 0, 0, 0, 1], ori_type=DR_QUAT) # Quaternion, only list input available
x6.ori_type = DR_ROTVEC # Transform to rot vec (setter method)
x7 = posx(x6, ori_type=DR_FIX_XYZ) # Constructor as the other orientation type
movel(x2, v=100, a=200)Related commands
- movel(pos, vel, acc, time, radius, ref, mod, ra, app_type)
- movec(pos, pos2, vel, acc, time, radius, ref, mod, angle, ra, ori, app_type)
- movejx(pos, vel, acc, time, radius, ref, mod, ra, sol)
- amovel(pos, vel, acc, time, ref, mod, ra, app_type)
- amovec(pos, pos2, vel, acc, time, ref, mod, angle, ra, ori, app_type)
- amovejx(pos, vel, acc, time, ref, mod, ra, sol)