get_current_posx (Manual Mode)

This section describes how to use get_current_posx during Manual (Teach) operations. While the function is defined in 3.1 Common, it is essential in teaching mode for monitoring the robot’s real-time TCP position in Cartesian coordinates.

Typical usage

• Display or log the current tool center point (TCP) pose while jogging or moving manually.

• Verify alignment during teaching by reading the robot position in the selected reference frame.

• Compare current TCP coordinates with a target or saved user frame.

Note

• The coordinate reference (e.g., BASE, TOOL, WORLD) depends on the parameter used when retrieving the data.

• Useful for on-screen feedback in pendant or custom GUI applications.

Example: Display TCP pose during Manual Jogging

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

int main() {
    CDRFLEx drfl;
    // Assume connection, Manual mode, and servo ON are set.

    // Jog +X direction for a short duration
    drfl.jog(JOG_AXIS_TASK_X, MOVE_REFERENCE_BASE, 10.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(500));
    drfl.stop(STOP_TYPE_SLOW);
    drfl.mwait();

    // Retrieve current TCP pose in BASE coordinate system
    LPROBOT_POSX pCur = drfl.get_current_posx(COORDINATE_SYSTEM_BASE);

    printf("[Current TCP Position - BASE]\n");
    printf("X: %.2f, Y: %.2f, Z: %.2f | Rx: %.2f, Ry: %.2f, Rz: %.2f\n",
           pCur->_fX, pCur->_fY, pCur->_fZ,
           pCur->_fRx, pCur->_fRy, pCur->_fRz);

    return 0;
}

Tips

• Use this function after jog or manual moves to confirm precise positioning.

• For comparing positions between coordinate systems, combine with coord_transform.

• In teaching interfaces, call get_current_posx() periodically (e.g., 10–20 Hz) for smooth position feedback.