.. _enum_move_reference:

MOVE_REFERENCE
------------------------------------------
This enumeration specifies the reference coordinate system of the target position when motion is controlled in the task space of the robot controller, and is defined as follows.

.. list-table::
   :header-rows: 1
   :widths: 5 25 70

   * - Value
     - Constant Name
     - Description

   * - 0
     - MOVE_REFERENCE_BASE
     - Robot base standard

   * - 1
     - MOVE_REFERENCE_TOOL
     - Robot TCP standard

   * - 2
     - MOVE_REFERENCE_WORLD
     - Robot world coordinate

   * - 101
     - MOVE_REFERENCE_USER_MIN
     - User custom coordinate min (101~200)

   * - 200
     - MOVE_REFERENCE_USER_MAX
     - User custom coordinate max (101~200)

**Defined in:** ``DRFC.h``  

.. code-block:: cpp

   typedef enum {
       MOVE_REFERENCE_BASE = COORDINATE_SYSTEM_BASE,
       MOVE_REFERENCE_TOOL = COORDINATE_SYSTEM_TOOL,
       MOVE_REFERENCE_WORLD = COORDINATE_SYSTEM_WORLD,
       MOVE_REFERENCE_USER_MIN = COORDINATE_SYSTEM_USER_MIN,
       MOVE_REFERENCE_USER_MAX = COORDINATE_SYSTEM_USER_MAX,
   } MOVE_REFERENCE;