set_user_cart_coord (2-vector, Manual Mode)

This section explains how to use set_user_cart_coord3 during Manual (Teach) operations. It defines a user coordinate system using the 2-vector method, where two direction vectors and one origin point are provided.

This approach is preferred when direction vectors are already known (e.g., from CAD or vision alignment).

Typical usage

• Define precise frames using known direction vectors (e.g., from measured normals).

• Align coordinate frames using sensor or camera-derived axis data.

• Common in automation or vision-guided calibration tasks.

Note

• Inputs: fTargetVec[2][3] (two direction vectors: X and Y) + fTargetOrg[3] (origin).

• Orientation is normalized internally for orthogonality.

• Provides highly accurate frame definition when vector data is known.

• The reference coordinate system (eTargetRef) defines the source frame (commonly BASE).

Example: Define Frame from Measured Direction Vectors

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Step 1. Define direction vectors and origin (example values)
    float vecXY[2][3] = {
        {1.0f, 0.0f, 0.0f},   // +X direction vector
        {0.0f, 1.0f, 0.0f}    // +Y direction vector
    };
    float origin[3] = {200.0f, 100.0f, 150.0f};  // mm

    // Step 2. Create user frame using 2-vector definition
    int user_id = drfl.set_user_cart_coord(vecXY, origin, COORDINATE_SYSTEM_BASE);

    printf("USER%d frame defined using 2-vector method.\n", user_id);

    // Step 3. Verify by retrieving the new frame
    auto pUser = drfl.get_user_cart_coord(user_id);
    printf("Origin: X=%.2f Y=%.2f Z=%.2f\n",
           pUser->_fOriginPos[0], pUser->_fOriginPos[1], pUser->_fOriginPos[2]);

    return 0;
}

Tips

• Use when vector directions are pre-computed or measured by external sensors.

• Recommended for automated frame calibration or offline programming.

• To verify orthogonality, compare with get_orientation_error.

• Avoid using raw vectors from noisy data without normalization.