View the Frames List
The User Frames tab contains a list of user frames. The name of the frame is set when the frame is created but may be edited later. An optional description field provides a location for a more detailed description of the frame’s intended use. Following the name and description are the 3 cartesian offsets (X, Y, Z) and the 3 rotation (Euler) angles (A, B, C). All fields in the offsets list are user editable. To edit a field, click into the field. Use the mouse or the arrow keys to navigate within a cell.
Create a New User Frame
Select Add Offset to create a new user frame. In the window that displays, you can name the new frame.
Note: Creating a new frame doesn't automatically apply that frame. You must either select the frame in the User Frame drop-down menu on the “Position Status Readout” group of the persistent controls, or use the change_work_offset() command in a robot program.
Remove the Currently Selected User Frame
Select Remove Offset.
Create a User Frame From the Current Position
Select Update Offset From Current Position to create a user frame whose zero point is at the robot’s current physical position. This is equivalent to activating that user frame, then zeroing out all 6 position DROs.
Start a User Frame Teach Wizard
Select Update Offset Using Wizard to start a 3- or 4-point user frame teach wizard. 3- and 4-point methods of teaching a user frame involve jogging the robot to 3 or 4 locations. One location is used to define the XYZ origin, and the others are used to define a plane that intersects that origin, allowing the system to accurately calculate the ABC rotations. Watch the video below to learn more about using this wizard.
FIXME - quick tip video.
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