User Frames Tab

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. A description field is optional, and 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 editible. To edit a field, click into the field. Use the mouse or the arrow keys to navigate within a cell.

Buttons

Add Offset allows the user to create a new user frame. A popup allows the user to name the new frame.

Note: creating a new frame does not automatically apply that frame - applying a user frame is done either by selecting the frame in the “User Frame” drop-down menu on the “Position Status Readout” group of the persistent controls, or by using the change_work_offset() command in a robot program.

Remove Offset will remove the currently selected user frame.

Update Offset From Current Position button will 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.

Update Offset Using Wizard will 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. Use of this wizard is covered in the following quick tip video:

FIXME - quick tip video.