set_ref_coord

This function sets the reference coordinate system used for motion commands. All subsequent Cartesian movements and operations will be executed relative to the coordinate system specified by eTargetCoordSystem.

If not explicitly changed, the reference coordinate defaults to the base coordinate system. This function is frequently used when switching between base, tool, or user-defined frames to ensure positional accuracy during complex motion planning.

Definition
DRFLEx.h within class CDRFLEx, public section (line 976)

bool set_ref_coord(COORDINATE_SYSTEM eTargetCoordSystem) {
    return _set_ref_coord(_rbtCtrl, eTargetCoordSystem);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eTargetCoordSystem	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	The reference coordinate system to set. - COORDINATE_SYSTEM_BASE : Robot base frame - COORDINATE_SYSTEM_TOOL : Current tool frame - COORDINATE_SYSTEM_USER : User-defined coordinate frame

Return

Value	Description
0	Failed to set the reference coordinate system
1	Successfully set the reference coordinate system

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Define a Cartesian move in base coordinates
    float p1[6] = {0.f, 0.f, 90.f, 0.f, 90.f, 0.f};
    drfl.movej(p1, 60, 30);

    // Create a custom user coordinate system
    float vec[2][3] = {{-1.f, 1.f, 1.f}, {1.f, 1.f, 0.f}};
    float org[3] = {370.9f, -419.7f, 651.5f};
    int user_id = drfl.set_user_cart_coord(vec, org);

    // Change reference coordinate to the user frame
    drfl.set_ref_coord((COORDINATE_SYSTEM)user_id);
}

This example defines a new user coordinate system and sets it as the reference frame, so all subsequent motion commands (e.g., movej or movel) are executed relative to this user-defined coordinate system.