check_position_condition_rel (Manual Mode)

This section explains how to use check_position_condition_rel during Manual (Teach) operations to verify whether the relative position of a specific axis is within a defined range compared to a given target position.

It is mainly used for fine alignment, approach verification, and assembly precision checks when manually guiding or teaching robot positions relative to reference points.

To view the full API definition and parameter list, refer to check_position_condition_rel in the Common API section.

Typical usage

• Evaluate whether the robot’s TCP has reached a relative distance from a predefined target pose.

• Use for fine-tuning insertion or approach distance in assembly operations.

• Perform dynamic monitoring in while or if loops for position-based event triggering.

• Combine with check_force_condition for hybrid force–position logic.

Note

• This function does not move the robot; it only checks the position condition using feedback.

Example: Verify position offset from target pose

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established
    // - Manual (Teach) mode active
    // - Robot positioned near the target pose

    // 1) Define target position (e.g., previously taught TCP pose)
    float targetPos[6] = {400.f, 500.f, 600.f, 0.f, 180.f, 0.f};

    printf("Checking if TCP X-axis is within ±5 mm from target...\n");

    // 2) Monitor relative offset between current and target position
    while (true) {
        bool inRange = drfl.check_position_condition_rel(FORCE_AXIS_X, -5.f, 5.f, targetPos, COORDINATE_SYSTEM_BASE);

        if (inRange) {
            printf("Relative position condition met: X-axis offset within ±5 mm.\n");
            break;
        } else {
            printf("Not yet within target range, adjusting position...\n");
        }

        std::this_thread::sleep_for(std::chrono::milliseconds(300));
    }

    printf("Position alignment complete.\n");
    return 0;
}

In this example, the robot continuously checks whether its X-axis position is within ±5 mm of a predefined target pose. When the relative offset condition is satisfied, the loop exits, allowing the operator to proceed with the next step of the teaching process.

Tips

• Use this function to verify fine positional alignment during manual assembly or contact calibration.

• Define the fTargetPos in BASE coordinates when checking TOOL-relative offsets.

• For continuous control tasks, call this function periodically (50–200 ms) within motion loops.

• Combine with check_force_condition for accurate and stable hybrid force–position applications.

• For static position verification, use check_position_condition_abs instead.