You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

coord_transform (Manual Mode)

This section explains how to use coord_transform during Manual (Teach) operations. It converts a given pose (position + orientation) from one coordinate system to another — for example, from BASE to USER, or from TOOL to WORLD.

During manual teaching, this function is commonly used to validate frame definitions, check transformation consistency, or preview how a measured point appears in another reference frame before committing frame calibration with set_user_cart_coord1.

Typical usage

• Convert a pose captured in the BASE frame into the USER frame for verification.

• Compare two poses under different coordinate references.

• Confirm that the calculated user frame aligns with the expected workpiece geometry.

• Preview pose relationships before writing to permanent frame data.

Note

• Input and output are both ROBOT_TASK_POSE or float[6] arrays in order [X, Y, Z, Rx, Ry, Rz].

• Source and target coordinate systems can be BASE, TOOL, WORLD, or any defined USER frame.

• This function performs only mathematical transformation — it does not change the active coordinate frame of the controller.

• Combine with calc_coord to validate computed frames before saving.

Example: Transform a Measured Pose from BASE → USER Frame

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Step 1. Assume the robot is in Manual Mode with servo ON
    // and a user frame has been previously defined (USER[1]).
    printf("Verifying pose transformation between BASE and USER[1]...\n");

    // Step 2. Get the current TCP pose in the BASE frame
    LPROBOT_TASK_POSE pBasePose = drfl.get_current_posx(COORDINATE_SYSTEM_BASE);
    printf("[BASE Pose]\n");
    printf("X: %.3f, Y: %.3f, Z: %.3f | Rx: %.3f, Ry: %.3f, Rz: %.3f\n",
           pBasePose->_fX, pBasePose->_fY, pBasePose->_fZ,
           pBasePose->_fRx, pBasePose->_fRy, pBasePose->_fRz);

    // Step 3. Transform that pose into the USER frame (temporary check)
    LPROBOT_TASK_POSE pUserPose =
        drfl.coord_transform(pBasePose, COORDINATE_SYSTEM_BASE, COORDINATE_SYSTEM_USER);

    // Step 4. Display transformed pose for comparison
    printf("\n[Transformed Pose - USER Frame]\n");
    printf("x: %.3f, y: %.3f, z: %.3f | rx: %.3f, ry: %.3f, rz: %.3f\n",
           pUserPose->_fX, pUserPose->_fY, pUserPose->_fZ,
           pUserPose->_fRx, pUserPose->_fRy, pUserPose->_fRz);

    // Step 5. Optionally, verify by transforming back USER → BASE
    LPROBOT_TASK_POSE pBaseCheck =
        drfl.coord_transform(pUserPose, COORDINATE_SYSTEM_USER, COORDINATE_SYSTEM_BASE);

    printf("\n[Re-Transformed Pose - BASE Frame]\n");
    printf("X: %.3f, Y: %.3f, Z: %.3f | Rx: %.3f, Ry: %.3f, Rz: %.3f\n",
           pBaseCheck->_fX, pBaseCheck->_fY, pBaseCheck->_fZ,
           pBaseCheck->_fRx, pBaseCheck->_fRy, pBaseCheck->_fRz);

    return 0;
}

Tips

• Use this function to numerically verify frame correctness after teaching a new user coordinate.

• If the transformed position of a known reference point appears offset or rotated, recheck the input sequence used in calc_coord.

• During teaching, prefer previewing with coord_transform before saving to controller memory.

• Combine with get_current_rotm to confirm orientation integrity across frames.