AlignAxis2.srv
Features
This serivce matches the given vect direction based on the ref coordinate and the designated axis of the tool frame. The robot TCP moves to the source_vect position.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
target_vect | float64[3] | - | vector (XYZ) |
source_vect | float64[3] | - | vector (XYZ) |
axis | int | - | TASK_AXIS_X = 0 TASK_AXIS_Y = 1 TASK_AXIS_Z = 2 |
ref | int | 0 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
Note
The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions.
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
success | bool | - | True or False |