For information on the latest version, please have a look at GL013301.
calc_coord (Manual Mode)
This section explains how to use calc_coord during Manual (Teach) operations. It computes a user frame (pose) from a small set of measured poses (points / vectors), so you can validate or refine a workpiece frame without permanently writing it.
Typical use is to probe 2–4 points on a surface, compute an orthonormal frame, then verify by transforming and comparing positions.
Typical usage
Quickly derive a temporary work frame from 3 points (origin, X-direction point, XY-plane point).
Use the 2-vector method (X-vector + Y-vector + origin) to align the TCP with known fixture directions.
Validate an existing frame by recomputing and comparing with coord_transform before saving.
Note
All input poses are arrays in the order
[X, Y, Z, Rx, Ry, Rz]and are interpreted ineTargetRef(e.g., BASE).
Example: 3-point plane probing → compute frame → verify with a test point
#include "DRFLEx.h"
#include <thread>
#include <cstdio>
using namespace DRAFramework;
// Helper: copy ROBOT_TASK_POSE into a float[6] buffer
static void copy_pos6(float out[6], const LPROBOT_TASK_POSE p) {
out[0] = p->_fX; out[1] = p->_fY; out[2] = p->_fZ;
out[3] = p->_fRx; out[4] = p->_fRy; out[5] = p->_fRz;
}
int main() {
CDRFLEx drfl;
// Assume: connected, Manual mode, servo ON, safe workspace.
// --- Step 1. Touch three points on a flat workpiece (BASE frame) ---
// O: intended frame origin (corner), Xp: point along +X, Yp: point within XY plane
float O[6], Xp[6], Yp[6], Zz[6] = {0}; // Zz unused for 3-point
{
// Operator jogs to the corner (origin) and records
// (In your GUI: bind a button to snapshot current pos)
auto pO = drfl.get_current_posx(COORDINATE_SYSTEM_BASE);
copy_pos6(O, pO);
printf("Captured Origin O: (%.3f, %.3f, %.3f)\n", O[0], O[1], O[2]);
// Jog along the edge that defines +X
// (small jog here is illustrative; real flow uses pendant jogging)
drfl.jog(JOG_AXIS_TASK_X, MOVE_REFERENCE_BASE, 5.0f);
std::this_thread::sleep_for(std::chrono::milliseconds(600));
drfl.stop(STOP_TYPE_SLOW); drfl.mwait();
auto pXp = drfl.get_current_posx(COORDINATE_SYSTEM_BASE);
copy_pos6(Xp, pXp);
printf("Captured X-edge Xp: (%.3f, %.3f, %.3f)\n", Xp[0], Xp[1], Xp[2]);
// Move within the surface to define XY plane (+Y direction)
drfl.jog(JOG_AXIS_TASK_Y, MOVE_REFERENCE_BASE, 5.0f);
std::this_thread::sleep_for(std::chrono::milliseconds(600));
drfl.stop(STOP_TYPE_SLOW); drfl.mwait();
auto pYp = drfl.get_current_posx(COORDINATE_SYSTEM_BASE);
copy_pos6(Yp, pYp);
printf("Captured Y-plane Yp: (%.3f, %.3f, %.3f)\n", Yp[0], Yp[1], Yp[2]);
}
// --- Step 2. Compute a frame from the three captured points ---
// nCnt = 3, nInputMode = (3-point method; see your enum), eTargetRef = BASE
unsigned short nCnt = 3;
unsigned short nInputMode = /* INPUT_MODE_3POINT */ 0; // Refer to constants
LPROBOT_POSE pFrame = drfl.calc_coord(
nCnt, nInputMode, COORDINATE_SYSTEM_BASE,
O, Xp, Yp, Zz /* unused in 3-point */
);
printf("\nComputed Frame (pose in BASE):\n");
printf("X: %.3f Y: %.3f Z: %.3f Rx: %.3f Ry: %.3f Rz: %.3f\n",
pFrame->_fPosition[0], pFrame->_fPosition[1], pFrame->_fPosition[2],
pFrame->_fPosition[3], pFrame->_fPosition[4], pFrame->_fPosition[5]);
// --- Step 3. Verify: transform a nearby measured point into the new frame ---
float testP[6];
{
// Take a fresh measurement (e.g., another corner/feature near the origin)
auto pTest = drfl.get_current_posx(COORDINATE_SYSTEM_BASE);
copy_pos6(testP, pTest);
}
// Transform BASE->UserFrame (preview). For a permanent save, use set_user_cart_coord2/3.
// Here we only sanity-check by seeing if coordinates look local to the new frame.
auto pLocal = drfl.coord_transform(testP, COORDINATE_SYSTEM_BASE, COORDINATE_SYSTEM_USER);
// (Note: The active "USER" frame depends on controller state; for preview,
// compare relative deltas against O/Xp/Yp manually or apply your own math.)
printf("\nTest point in target frame (preview):\n");
printf("x: %.3f y: %.3f z: %.3f rx: %.3f ry: %.3f rz: %.3f\n",
pLocal->_fX, pLocal->_fY, pLocal->_fZ,
pLocal->_fRx, pLocal->_fRy, pLocal->_fRz);
// --- Step 4. (Optional) If satisfied, persist via set_user_cart_coord2/3 ---
// e.g., set_user_cart_coord2({O, Xp, Yp}, O, COORDINATE_SYSTEM_BASE);
return 0;
}
Tips
For 3-point: pick points with good spacing; avoid nearly collinear samples to reduce numerical noise.
For 2-vector: normalize source vectors and verify they are not nearly parallel.
Use get_current_rotm and get_orientation_error to check orthogonality and alignment drift before saving.
If you intend to save this frame, compute/verify with
calc_coordfirst, then persist with set_user_cart_coord2 / set_user_cart_coord3.