.. _set_ref_coord:

set_ref_coord
------------------------------------------
This function sets the **reference coordinate system** of the controller. API motion and jog functions use their own ``eMoveReference`` argument, which set_ref_coord does not change (motion functions default to ``MOVE_REFERENCE_BASE``; jog and multi_jog require it); pass the user coordinate ID there to move relative to that coordinate system.

If not explicitly changed, the reference coordinate defaults to the **base coordinate system**.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    bool set_ref_coord(COORDINATE_SYSTEM eTargetCoordSystem) {
        return _set_ref_coord(_rbtCtrl, eTargetCoordSystem);
    };

**Parameter**

.. list-table::
   :widths: 20 20 20 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eTargetCoordSystem
     - :ref:`COORDINATE_SYSTEM <enum_coordinate_system>`
     - -
     - The reference coordinate system to set. |br| 
       - `COORDINATE_SYSTEM_BASE` : Robot base frame  |br|
       - `COORDINATE_SYSTEM_TOOL` : Current tool frame  |br|
       - `COORDINATE_SYSTEM_WORLD` : World frame  |br|
       - 101 to 200 : User coordinate ID

**Return**

.. list-table::
   :widths: 25 75
   :header-rows: 1

   * - **Value**
     - **Description**
   * - 0
     - Failed to set the reference coordinate system
   * - 1
     - Successfully set the reference coordinate system

**Example**

.. code-block:: cpp

   // Move to a joint position
   float p1[6] = {0.f, 0.f, 90.f, 0.f, 90.f, 0.f};
   drfl.movej(p1, 60, 30);

   // Create a custom user coordinate system
   float vec[2][3] = {{-1.f, 1.f, 1.f}, {1.f, 1.f, 0.f}};
   float org[3] = {370.9f, -419.7f, 651.5f};
   int user_id = drfl.set_user_cart_coord(vec, org);

   // Change reference coordinate to the user frame
   if (user_id >= 101 && user_id <= 200) {
       drfl.set_ref_coord((COORDINATE_SYSTEM)user_id);
   }

This example defines a user coordinate system and sets it as the controller reference coordinate system. To move relative to it, pass the ID as eMoveReference to movel.