Python 6.11. Calculation of the external tool coordinate system - Six-point method

Prototype	ComputeExTCF(point_num)
Description	Calculate external tool coordinate system - three-point method (after setting three reference points)
Mandatory parameter	point_num: point number, range [1~3]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode etcp=[x,y,z,rx,ry,rz]: external tool coordinate system

6.12. Setting the external tool coordinate system

Prototype	SetExToolCoord(id,etcp,etool)
Description	Setting the external tool coordinate system
Mandatory parameters	id: coordinate system number, range [0~14]; etcp: External tool coordinate system in [mm][°]; etool: end-tool coordinate system in [mm] [°];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.13. Setting up a list of external tool coordinate systems

Prototype	SetExToolList(id,etcp ,etool)
Description	Set the list of external tool coordinate systems
Mandatory parameters	id: coordinate system number, range [0~14]; etcp: External tool coordinate system in [mm][°]; etool: end-tool coordinate system in [mm] [°];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.14. Example code for robot external tool coordinate system operation

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
p1Desc = [-89.606, 779.517, 193.516, 178.000, 0.476, -92.484]
p1Joint = [-108.145, -50.137, 85.818, -125.599, -87.946, 74.329]
p2Desc = [-24.656, 850.384, 191.361, 177.079, -2.058, -95.355]
p2Joint = [-111.024, -41.538, 69.222, -114.913, -87.743, 74.329]
p3Desc = [-99.813, 766.661, 241.878, -176.817, 1.917, -91.604]
p3Joint = [-107.266, -56.116, 85.971, -122.560, -92.548, 74.331]
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 0, 0, 0, 0]
posTCP = [p1Desc, p2Desc, p3Desc]
robot.MoveJ(joint_pos=p1Joint,tool=1, user=0, vel=50)
robot.SetExTCPPoint(1)
robot.MoveJ(joint_pos=p2Joint,tool=1, user=0, vel=50)
robot.SetExTCPPoint(2)
robot.MoveJ(joint_pos=p3Joint,tool=1, user=0, vel=50)
robot.SetExTCPPoint(3)
rtn,coordRtn = robot.ComputeExTCF()
print(f"ComputeExTCF {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.SetExToolCoord(1, coordRtn, offdese)
robot.SetExToolList(1, coordRtn, offdese)
robot.CloseRPC()

6.15. Setting the workpiece reference point - three-point method

Prototype	SetWObjCoordPoint(point_num)
Description	Setting the workpiece reference point - 3-point method
Mandatory parameter	point_num: point number, range [1~3]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.16. Calculation of the workpiece coordinate system - three-point method

Prototype	ComputeWObjCoord(method, refFrame)
Description	Calculate the workpiece coordinate system - three-point method (three reference points are set and then calculated);
Mandatory parameters	method: calculation method 0: origin-x-axis-z-axis, 1: origin-x-axis-xy-plane refFrame: reference coordinate system
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode wobj_pose=[x,y,z,rx,ry,rz]: workpiece coordinate system

6.17. Setting the workpiece coordinate system

prototype	SetWObjCoord(id, coord, refFrame)
Description	Setting the workpiece coordinate system
Mandatory parameters	id: coordinate system number, range [0~14]; COORD: Position of the workpiece in the coordinate system relative to the center of the end flange in [mm][°]. refFrame: reference coordinate system
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.18. Setting the list of workpiece coordinate systems

prototype	SetWObjList(id, coord, refFrame)
Description	Set the list of workpiece coordinate systems
Mandatory parameters	id: coordinate system number, range [0~14]; COORD: Position of the workpiece in the coordinate system relative to the center of the end flange in [mm][°]. refFrame: reference coordinate system
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.19. Calculate the workpiece coordinate system based on the point information

New in version python: SDK-v2.0.8

Prototype	ComputeWObjCoordWithPoints(method, pos, refFrame)
Description	Calculate the workpiece coordinate system based on the point information
Mandatory parameters	method:Calculation method; 0: origin - X-axis - Z-axis 1: origin - X-axis -xy plane pos:Three TCP location groups refFrame: reference coordinate system
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode wobj_offset=[x,y,z,rx,ry,rz]:Workpiece coordinate system calculated from point information, unit [mm][°]

6.20. Get the current workpiece coordinate system

prototype	GetWObjOffset(flag=1)
Description	Get current workpiece coordinate system
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking, default 1
Return Value	errorcode Success-0 Failure- errcode wobj_offset=[x,y,z,rx,ry,rz]: Relative position of the current workpiece coordinate system in [mm][°]

6.21. Example of robot workpiece coordinate system manipulation code

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
p1Desc = [-89.606, 779.517, 193.516, 178.000, 0.476, -92.484]
p2Desc = [-24.656, 850.384, 191.361, 177.079, -2.058, -95.355]
p3Desc = [-99.813, 766.661, 241.878, -176.817, 1.917, -91.604]
p1Joint = [-108.145, -50.137, 85.818, -125.599, -87.946, 74.329]
p2Joint = [-111.024, -41.538, 69.222, -114.913, -87.743, 74.329]
p3Joint = [-107.266, -56.116, 85.971, -122.560, -92.548, 74.331]
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 0, 0, 0, 0]
posTCP = [p1Desc, p2Desc, p3Desc]
rtn,coordRtn = robot.ComputeWObjCoordWithPoints(1, posTCP, 0)
print(f"ComputeWObjCoordWithPoints    {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.MoveJ(joint_pos=p1Joint,tool=1, user=0, vel=100)
robot.SetWObjCoordPoint(1)
robot.MoveJ(joint_pos=p2Joint,tool=1, user=0, vel=100)
robot.SetWObjCoordPoint(2)
robot.MoveJ(joint_pos=p3Joint,tool=1, user=0, vel=100)
robot.SetWObjCoordPoint(3)
rtn,coordRtn = robot.ComputeWObjCoord(1, 0)
print(f"ComputeWObjCoord   {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.SetWObjCoord(1, coordRtn, 0)
robot.SetWObjList(1, coordRtn, 0)
rtn,getWobjDesc = robot.GetWObjOffset(0)
print(f"GetWObjOffset    {rtn}  coord is {getWobjDesc[0]} {getWobjDesc[1]} {getWobjDesc[2]} {getWobjDesc[3]} {getWobjDesc[4]} {getWobjDesc[5]}")
robot.CloseRPC()