set_ref_coord (Manual Mode)

This section explains how to use set_ref_coord during Manual (Teach) operations. This function sets the active reference coordinate system that the robot uses for motion commands and position readings.

It determines whether jogging, teaching, or position display is based on BASE, TOOL, or a defined USER frame. Proper use of this function ensures consistent movement directions and accurate coordinate teaching.

Typical usage

  • Switch between BASE and TOOL coordinates to control jog direction during teaching.

  • Select a USER-defined coordinate frame before performing teaching or calibration.

  • Align robot motion with a specific workpiece or fixture coordinate.

  • Validate coordinate alignment during multi-frame teaching workflows.

Note

  • Affects all subsequent manual jog and move commands until changed again.

Example: Switch to TOOL frame for precise end-effector teaching

#include "DRFLEx.h"
#include <iostream>
#include <thread>
using namespace std;
using namespace DRAFramework;

int main()
{
    CDRFLEx drfl;

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

    // 1) Set reference to TOOL frame for tool-relative jogging
    if (drfl.set_ref_coord(COORDINATE_SYSTEM_TOOL))
        cout << "[Frame] Reference coordinate set to TOOL frame.\n";
    else
        cout << "[Frame] Failed to set reference coordinate.\n";

    // 2) Display current TCP position in TOOL frame
    LPROBOT_TASK_POSE pPose = drfl.get_current_posx(COORDINATE_SYSTEM_TOOL);
    cout << "[TOOL Frame Position]\n";
    cout << "X: " << pPose->_fX << "  Y: " << pPose->_fY << "  Z: " << pPose->_fZ << endl;

    // 3) Switch back to BASE frame when done
    drfl.set_ref_coord(COORDINATE_SYSTEM_BASE);
    cout << "[Frame] Reference coordinate reverted to BASE frame.\n";

    return 0;
}

Tips

  • Always confirm the correct frame before teaching or moving — BASE for global motion, TOOL/USER for localized operations.

  • Use this function in combination with get_current_posx to verify pose consistency.

  • In complex calibration, switching between frames helps validate tool and user frame accuracy.

  • Avoid changing reference frames during motion to prevent unexpected orientation changes.