Features
-
Input parameter(pos) based on the ref coordinate is translated/rotated as delta based on the same coordinate and this function returns the result that is converted to the value based on the ref_out coordinate.
-
In case that the ref coordinate is the tool coordinate, this function retuns the value based on input parameter(pos)’s coordinate without ref_out coordinate.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
pos |
float64[6] |
- |
position list |
|
delta |
float64[6] |
- |
position list |
|
ref |
int8 |
0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
|
ref_out |
int8 |
0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
-
The ref argument DR_WORLD is only available in M2.40 or later versions.
-
The ref_out argument is only available in M2.40 or later versions.
Return
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
trans_pos |
float64[6] |
- |
Task space point |
|
success |
bool |
- |
True or False |