get_current_tool_flange_posx (Manual Mode)

This section explains how to use get_current_tool_flange_posx during Manual (Teach) operations. This function retrieves the current position and orientation of the robot’s tool flange (end flange) in Cartesian coordinates. It is primarily used during teaching to verify the TCP or flange pose relative to the selected coordinate system (BASE, TOOL, or USER).

Typical usage

• Check the actual flange position before or after teaching a user frame.

• Verify TCP alignment with a fixture or reference point on the workpiece.

• Compare flange positions across different coordinate systems for calibration.

• Log real-time flange movement during hand-guided or manual operations.

Note

• The default coordinate reference is BASE, unless otherwise configured by the active frame.

• The returned pose reflects the flange, not the TCP — use get_current_posx for TCP position.

• Data is read-only and updated continuously by the controller during motion.

Example: Display the current tool flange position during teaching

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Robot servo ON

    printf("Monitoring current tool flange position...\n");

    for (int i = 0; i < 10; ++i) {
        LPROBOT_POSE pFlange = drfl.get_current_tool_flange_posx();
        if (pFlange) {
            printf("[Flange Pose] X=%.3f Y=%.3f Z=%.3f | Rx=%.3f Ry=%.3f Rz=%.3f\n",
                   pFlange->_fX, pFlange->_fY, pFlange->_fZ,
                   pFlange->_fRx, pFlange->_fRy, pFlange->_fRz);
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(300));
    }

    return 0;
}

In this example, the host program repeatedly reads the flange pose during manual operation. It helps verify whether the robot’s physical flange aligns with the expected location when teaching a new user frame or performing fixture-based calibration. The displayed coordinates provide immediate feedback to confirm correct frame alignment and pose tracking.

Tips

• Use when calibrating TCP offset or user frames to confirm flange alignment.

• Compare results with get_current_posx to verify TCP offset accuracy.

• Combine with coord_transform to interpret the flange pose in other coordinate frames.

• During precision teaching, keep servo ON but robot stationary for stable readings.