get_user_cart_coord (Manual Mode)

This section explains how to use get_user_cart_coord during Manual (Teach) operations. It retrieves the pose (origin and orientation) of a user-defined coordinate system, allowing you to verify or visually confirm previously taught user frames on the pendant or GUI.

This is essential when validating frame calibration accuracy or reusing a stored frame for new teaching tasks.

Typical usage

• Inspect an existing user frame before teaching new positions in that frame.

• Compare the retrieved origin and orientation with the current TCP pose.

• Log or visualize user frame data for maintenance or frame re-teaching.

Note

• The return type is USER_COORDINATE, containing both the frame pose and reference.

• Coordinate IDs (0–9) correspond to the user frames stored in the controller.

• Retrieving the frame does not affect the currently active coordinate system.

Example: Display a Stored User Frame

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Step 1. Retrieve user frame with ID = 1
    LPUSER_COORDINATE pUser = drfl.get_user_cart_coord(1);

    // Step 2. Print origin and orientation
    printf("[USER1 Coordinate]\n");
    printf("Origin: X=%.2f, Y=%.2f, Z=%.2f\n",
           pUser->_fOriginPos[0], pUser->_fOriginPos[1], pUser->_fOriginPos[2]);
    printf("Orientation: Rx=%.2f, Ry=%.2f, Rz=%.2f\n",
           pUser->_fOriginAng[0], pUser->_fOriginAng[1], pUser->_fOriginAng[2]);

    // Step 3. (Optional) Check base reference
    printf("Reference Frame: %d\n", pUser->_iRef);

    return 0;
}

Tips

• Use before performing coord_transform to verify the source frame.

• Helps confirm whether the current user frame matches the physical fixture.

• Always check both origin and orientation values, not only position.