SetUserCartCoord1.srv
Features
This service set a new user cartesian coordinate system using input pose [pos] and reference coordinate system[ref]. Up to 20 user coordinate systems can be set including the coordinate systems set within Workcell Item. Since the coordinate system set by this function is removed when the program is terminated, setting new coordinate systems within Workcell Item is recommended for maintaining the coordinate information.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
pos | float64[6] | - | coordinate information (position and orientation) |
ref | int8 | - | reference coordinate DR_BASE: base coordinate DR_WORLD: world coordinate |
Note
The ref argument is only available in M2.40 or later versions.
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
id | int8 | - | user coordinate ID(101~120) or fail(-1) |
success | bool | - | True or False |