Features
Returns the current tool flange pose based on the reference coordinate (ref). The tool flange will return to tcp=(0,0,0,0,0,0).
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
ref |
int |
DR_BASE |
reference coordinate
|
Return
|
Value |
Description |
|---|---|
|
posx |
Pose of tool flange |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
Example
Python
x1 = get_current_tool_flange_posx()
#x1 : Flange pose base on the base coordinate(default value)
x2 = get_current_tool_flange_posx(DR_BASE)
#x2 : Flange pose based on the base coordinate
x3 = get_current_tool_flange_posx(DR_WORLD)
#x3 : Flange pose based on the world coordinate