MLxUserFrameToCoordFrame

Convert the three taught points (ORG/XX/XY) of a user frame to a CoordFrame (X/Y/Z/Rx/Ry/Rz).

A user frame is often defined by teaching three positions (ORG/XX/XY), using a dedicated tool (e.g. with calibration tip for better precision). But after its initial definition, it might be interesting to convert a user frame to a CoordFrame vector using this function.

Some reasons are:

• Easier to adjust afterwards using an HMI (e.g. shift user frame by 2mm in X+)
• Better format for further calculations
• Less data

Example

Below example is using very simple positions for readability reasons. But since the function is using matrix calculations for the conversion it can handle any kind of position.

// user frame defined by three taught positions
myUserFrame.Origin[0] := 0; // X
myUserFrame.Origin[1] := 0; // Y
myUserFrame.Origin[2] := 0; // Z

myUserFrame.XX[0] := 0;
myUserFrame.XX[1] := 10;
myUserFrame.XX[2] := 0;

myUserFrame.XY[0] := -10;
myUserFrame.XY[1] := 10;
myUserFrame.XY[2] := 0;

MLxUserFrameToCoordFrame(
  UserFrame := myUserFrame);

// result
// myUserFrame.CoordFrame[0] := 0; // X
// myUserFrame.CoordFrame[1] := 0; // Y
// myUserFrame.CoordFrame[2] := 0; // Z
// myUserFrame.CoordFrame[3] := 0; // Rx
// myUserFrame.CoordFrame[4] := 0; // Ry
// myUserFrame.CoordFrame[5] := 90; // Rz

MLxUserFrameToCoordFrame(
  UserFrame := );