Features
This is a function for checking information on the tool flange pose of the robot in the robot controller. At this time, the posture is based on ‘eTargetRef’.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
eTargetRef |
enum.COORDINATE_SYSTEM |
COORDINATE_SYSTEM_BASE |
Refer to the Definition of Constant and Enumeration Type |
Return
|
Value |
Description |
|
struct.ROBOT_POSE |
Refer to definition of structure |
Example
C++
LPROBOT_POSE lpPose1 = drfl.get_current_tool_flange_posx(COORDINATE_SYSTEM_BASE);
LPROBOT_POSE lpPose2 = drfl.get_desired_posj(COORDINATE_SYSTEM_TOOL);