Read Coordinate System Type by PC SDK?

guds

Does anyone knows how to read the coordinate system type (world/base/tool/work) by using PC SDK?

I have a vision program on PC and when I read the position from controller, I need to check if user is moving the TCP along work object coordinate.

John_Verheij

In the MechanicalUnit Class, you have the function GetPosition(CoordinateSystemType). This function return the current position as robtarget. (This information can be found in the documentation)

CoordinateSystemType are pre-defined coordinate systems and you can choose between 'Base', 'Undefined', 'Tool', 'WorkObject' and 'World'.

Controller _controller = .......;
.....

RobTarget _position = _controller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.World);