check_orientation_condition_abs (Auto Mode)

This section explains how to use check_orientation_condition_abs during Auto (Run) operations to verify whether the absolute orientation around a specified axis falls within a predefined angular range.

It is primarily used to confirm orientation alignment, insertion readiness, and safe rotation limits in automated assembly or precision motion sequences.

Typical usage

• Use fTargetMin to check if the angular offset is greater than or equal to a threshold.

• Use fTargetMax to check if the angular offset is less than or equal to a threshold.

• Set both fTargetMin and fTargetMax to check if the current angular deviation is within the acceptable range.

• Commonly used for positioning tasks that require rotational alignment or validation during process automation.

Note

• The function uses the Angle/Axis method for computing the rotational difference, ensuring the shortest angular distance between the two poses.

• When eForceReference = COORDINATE_SYSTEM_TOOL, the reference orientation should be defined in BASE coordinates.

• The angular deviation is typically measured in degrees or radians, depending on the configuration.

Example

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

int main() {
    CDRFLEx drfl;
    // Preconditions: Connected, Auto mode active, servo ON

    // Define target orientation range around Rx–Ry–Rz axes
    float minOri[6] = {0.f, 0.f, 0.f, -10.f, -10.f, -10.f};
    float maxOri[6] = {0.f, 0.f, 0.f, 10.f, 10.f, 10.f};

    // Check orientation deviation around Rz in TOOL coordinate
    bool cond = drfl.check_orientation_condition(FORCE_AXIS_Z, minOri, maxOri, COORDINATE_SYSTEM_TOOL);

    printf("Orientation within range: %s\n", cond ? "TRUE" : "FALSE");
    return 0;
}

In this example, the function checks whether the current tool orientation lies within ±10° of the target orientation around the Z-axis (Rz) within the TOOL coordinate frame.

Tips

• Use this function for automatic alignment checks before initiating subsequent steps in the process.

• Combine with check_position_condition for full 6D validation (position and orientation) during automated tasks.

• Ensure the angle units (deg or rad) are consistent with the system configuration settings.

• This function is especially useful in robotic insertion tasks, screw driving, and fine-tuned assembly operations, where precise rotational control is critical.