Features
This service returns the pose of the current tool flange based on the ref coordinate. In other words, it means the return to tcp=(0,0,0,0,0,0).
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
ref |
Int8 |
0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 |
The ref argument is only available in M2.40 or later versions.
Return
|
Return Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
pos |
float64[6] |
- |
Pose of tool flange |
|
success |
bool |
- |
True or False |