NRC_SetUserCoordParm(int userNum, NRC_Position& deviation)
Set user coordinate parameters
Set the deviation of the origin of the user coordinate system relative to the origin of the robot's Cartesian coordinate system, so as to determine the user coordinate system
Since it is difficult to measure the deviation in the direction in practice, this function is rarely used. We usually use the NRC_CalibrationUserCoord(int userNum, NRC_Position& origin, NRC_Position& X_Axis, NRC_Position& XOY_Plane) function to calibrate the user coordinates and automatically calculate the deviation
Type
int =>Set user coordinate parameters
| 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 set, parameter range: 0 < userNum < 10 |
| deviation | NRC_Position& | The deviation of the origin of the user coordinate system relative to the origin of the robot's Cartesian coordinate system. The parameter "deviation.coord" is useless. Deviation.pos[0]-deviation.pos[2] are the deviations of the positions on the x, y, and z axes respectively, unit: mm; deviation.pos[3]-deviation.pos[5] are the rotation angles around the x, y, and z axes respectively, unit: radian |
Sample code
int userNum = 1; //0 < userNum < 10
NRC_Position deviation = {NRC_ACS,100,1,300,0.5,1,1.5};
NRC_SetUserCoordParm(userNum,deviation);