For information on the latest version, please have a look at GL013301.
set_user_cart_coord (2-vector, Manual Mode)
This section explains how to use set_user_cart_coord3 during Manual (Teach) operations. It defines a user coordinate system using the 2-vector method, where two direction vectors and one origin point are provided.
This approach is preferred when direction vectors are already known (e.g., from CAD or vision alignment).
Typical usage
Define precise frames using known direction vectors (e.g., from measured normals).
Align coordinate frames using sensor or camera-derived axis data.
Common in automation or vision-guided calibration tasks.
Note
Inputs: fTargetVec[2][3] (two direction vectors: X and Y) + fTargetOrg[3] (origin).
Orientation is normalized internally for orthogonality.
Provides highly accurate frame definition when vector data is known.
The reference coordinate system (eTargetRef) defines the source frame (commonly BASE).
Example: Define Frame from Measured Direction Vectors
#include "DRFLEx.h"
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Step 1. Define direction vectors and origin (example values)
float vecXY[2][3] = {
{1.0f, 0.0f, 0.0f}, // +X direction vector
{0.0f, 1.0f, 0.0f} // +Y direction vector
};
float origin[3] = {200.0f, 100.0f, 150.0f}; // mm
// Step 2. Create user frame using 2-vector definition
int user_id = drfl.set_user_cart_coord(vecXY, origin, COORDINATE_SYSTEM_BASE);
printf("USER%d frame defined using 2-vector method.\n", user_id);
// Step 3. Verify by retrieving the new frame
auto pUser = drfl.get_user_cart_coord(user_id);
printf("Origin: X=%.2f Y=%.2f Z=%.2f\n",
pUser->_fOriginPos[0], pUser->_fOriginPos[1], pUser->_fOriginPos[2]);
return 0;
}
Tips
Use when vector directions are pre-computed or measured by external sensors.
Recommended for automated frame calibration or offline programming.
To verify orthogonality, compare with get_orientation_error.
Avoid using raw vectors from noisy data without normalization.