NRC_CalibrationUserCoord(int userNum, NRC_Position& origin, NRC_Position& X_Axis, NRC_Position& XOY_Plane)
Calibrate user coordinate system
Automatically calculate the deviation of the origin of the user coordinate system relative to the origin of the robot's Cartesian coordinate system, thereby determining the user coordinate system
Type
int =>Calibrate user coordinate system
| Return value | Description |
|---|---|
| 0 | The function is called successfully |
| -101 | Invalid input parameter |
| -102 | The target object does not exist. This typically occurs when the system initialization is incomplete, and calling other functions may return this value |
| -103 | The target object is currently in an inoperable state |
Parameter Option
| Parameter | Type | Description |
|---|---|---|
| userNum | int | The number of the user coordinate system to be calibrated, parameter range: 0 < userNum < 10 |
| origin | NRC_Position& | The position of the origin of the user coordinate system in the robot's Cartesian coordinate system |
| X_Axis | NRC_Position& | The position of any point on the user coordinate system's X-axis in the robot's Cartesian coordinate system |
| XOY_Plane | NRC_Position& | The position of any point on the user coordinate system's XOY plane in the robot's Cartesian coordinate system |
Sample code
int userNum = 2; //0 < userNum < 10
NRC_Position origin = {NRC_ACS,293,90,551,-2.888,0.222,0.087};
NRC_Position X_Axis = {NRC_ACS,334,140,601,-2.836,0.148,0.051};
NRC_Position XOY_Plane = {NRC_ACS,243,81,538,-2.994,0.294,0.198};
NRC_CalibrationUserCoord(userNum, origin, X_Axis, XOY_Plane);