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overwrite_user_cart_coord

This function updates an existing user coordinate system (iReqId) with a new pose (fTargetPos) and reference coordinate (eTargetRef). If bTargetUpdate is set to true, the update also synchronizes with the Teach Pendant (TP), allowing global updates across both the controller and TP environment.

If bTargetUpdate is false, the coordinate system update only applies locally within the current program execution and is not saved after termination.

This function is supported in M2.5 version or higher.

Definition
DRFLEx.h within class CDRFLEx, public section (line 979)

int overwrite_user_cart_coord(
    bool bTargetUpdate,
    int iReqId,
    float fTargetPos[NUM_TASK],
    COORDINATE_SYSTEM eTargetRef = COORDINATE_SYSTEM_BASE
) {
    return _overwrite_user_cart_coord(_rbtCtrl, bTargetUpdate, iReqId, fTargetPos, eTargetRef);
};

Parameter

Parameter Name	Data Type	Default Value	Description
bTargetUpdate	bool		Determines whether the coordinate update is local or global 0: Local update (temporary; program-only) 1: Global update (synchronized with Teach Pendant)
iReqId	int		Target coordinate ID to be overwritten. Must reference an existing user coordinate system.
fTargetPos	float[6]		Target position and orientation values (X, Y, Z, Rx, Ry, Rz) for the updated coordinate.
eTargetRef	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Reference coordinate system for defining the new user coordinate frame

Return

Value	Description
int	Returns the coordinate ID (101–200) on success. Returns a negative value if update fails.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Step 1. Create a user coordinate
    float pose1[6] = {50.0f, 40.0f, 50.0f, 0.0f, 0.0f, 0.0f};
    int user_id = drfl.set_user_cart_coord(0, pose1, COORDINATE_SYSTEM_BASE);

    // Step 2. Prepare a new pose for overwriting
    float pose2[6] = {100.0f, 150.0f, 200.0f, 45.0f, 180.0f, 0.0f};

    // Step 3. Overwrite the coordinate globally
    int result = drfl.overwrite_user_cart_coord(true, user_id, pose2);

    printf("Overwrite Result: %d\n", result);
}

This example first creates a user-defined coordinate system, then overwrites its position and orientation with new values, synchronizing the change globally across the Teach Pendant and controller.