Features
This function returns the target pose of the current tool. The pose is based on the ref coordinate.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
ref |
Int |
DR_BASE |
reference coordinate
|
-
ref: DR_BASE (base coordinate)/user coordinate (globally declared user coordinate)
-
DR_BASE is applied when ref is omitted.
Return
|
Value |
Description |
|---|---|
|
float[6] |
Tool velocity |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
Example
Python
x1 = get_desired_posx() #x1 w.r.t. DR_BASE
x2 = posx(100, 0, 0, 0, 0, 0)
x3 = posx(0, 0, 20, 20, 20, 20)
pos = x3
DR_USR1=set_user_cart_coord(x1, x2, x3, pos)
set_ref_coord(DR_USR1)
xa = get_desired_posx(DR_USR1) #xa w.r.t. DR_USR1
xb = get_desired_posx(DR_WORLD) #xb w.r.t. DR_WORLD