Sample Code - Calulate Offset()
CaloffsetPos()
# Calulate Offset
def CaloffsetPos(ref_Pos, offset_Dist, offset_Frame, ref_Frame):
# Input data (Example):
# ref_Pos = posx(X, Y, Z, A, B, C)
# offset_Dist = [X, Y, Z]
# offset_Frame = DR_TOOL
# ref_Frame = DR_BASE
pos_Trans = posx(0,0,0,0,0,0)
if ref_Frame == DR_BASE or ref_Frame == DR_TOOL:
pos_Trans = trans(ref_Pos, [offset_Dist[0], offset_Dist[1], offset_Dist[2], 0, 0, 0], offset_Frame, DR_BASE)
else:
pos_Trans = trans(ref_Pos, [offset_Dist[0], offset_Dist[1], offset_Dist[2], 0, 0, 0], offset_Frame, ref_Frame)
return pos_Trans