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overwrite_user_cart_coord (Manual Mode)

This section explains how to use overwrite_user_cart_coord to update (overwrite) a previously saved user frame during manual teaching. It allows fine recalibration of an existing coordinate system without recreating it from scratch.

Typical usage

  • Adjust a stored user frame after fixture replacement or thermal drift.

  • Re-teach the frame using new measurement points and overwrite the existing one.

  • Combine with calc_coord to recompute the frame pose before overwriting.

Note

  • The overwrite operation permanently replaces the target user frame in controller memory.

  • Ensure that no motion program is using the frame during modification.

  • For consistency, confirm updated values using get_user_cart_coord after overwriting.

Example: Overwrite User Frame after Visual Recalibration

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

int main() {
    CDRFLEx drfl;

    // Step 1. Operator visually adjusts tool to new origin position
    printf("Adjusting workpiece origin...\n");
    std::this_thread::sleep_for(std::chrono::seconds(2)); // manual movement assumed

    // Step 2. Capture current TCP as new frame origin
    LPROBOT_TASK_POSE pPose = drfl.get_current_posx(COORDINATE_SYSTEM_BASE);

    // Step 3. Overwrite USER1 frame with new base-relative pose
    drfl.overwrite_user_cart_coord(1, pPose, COORDINATE_SYSTEM_BASE);

    printf("USER1 frame overwritten with current TCP pose.\n");

    // Step 4. Verify by retrieving updated frame
    auto pNew = drfl.get_user_cart_coord(1);
    printf("New Origin: X=%.2f, Y=%.2f, Z=%.2f\n",
           pNew->_fOriginPos[0], pNew->_fOriginPos[1], pNew->_fOriginPos[2]);

    return 0;
}

Tips

  • Use after small physical adjustments to maintain positional consistency.

  • Avoid overwriting frames that are used in active motion programs.

  • Always confirm by reading the updated frame and comparing before and after.