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

// 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);

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.