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set_user_cart_coord1

This function defines a new user Cartesian coordinate system using an input pose (fTargetPos) and a reference coordinate system (eTargetRef). Up to 20 user coordinate systems can be created, either automatically or manually (IDs 101–120). Since coordinate systems set via this function are not persistent after program termination, it is recommended to register them within the Workcell configuration for long-term use.

Definition
DRFLEx.h within class CDRFLEx, public section (line 972)

int set_user_cart_coord(
    int iReqId,
    float fTargetPos[NUM_TASK],
    COORDINATE_SYSTEM eTargetRef = COORDINATE_SYSTEM_BASE
) {
    return _set_user_cart_coord1(_rbtCtrl, iReqId, fTargetPos, eTargetRef);
};

Parameter

Parameter Name	Data Type	Default Value	Description
iReqId	int		Requested coordinate ID 0: Auto-created by the system (next available ID) 101-120: Manual coordinate ID
fTargetPos	float[6]		Target task position for six axes (X, Y, Z, Rx, Ry, Rz) defining the new user frame.
eTargetRef	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Reference coordinate system from which the new user coordinate is defined.

Return

Value	Description
int	ID of the successfully created or modified user coordinate system (101–200). Returns negative on failure.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Define a new user coordinate system using current robot pose
    float pose[6] = {200.0f, 30.0f, 500.0f, 0.0f, 0.0f, 0.0f};

    // Create coordinate system ID automatically
    int coord_id = drfl.set_user_cart_coord(0, pose, COORDINATE_SYSTEM_BASE);

    printf("New user coordinate system set with ID: %d\n", coord_id);
}

This example creates a new user-defined Cartesian coordinate frame using a target pose relative to the base coordinate system and prints the assigned coordinate ID.