Frame

Description

The Frame command node allows for the easy creation and modification of frames during the program execution. Frames created with this node are referred to as Live Frames to distinguish them from the frames created from the application section.

 

To access Frame command

  1. Go to the main program screen. See Command Nodes.

  2. Tap the Frame icon in the Commands toolbox. A node with two editable fields is inserted into the program tree, Action and Frame.

  3. Tap the Action field, and four choices are provided:

    • Create Live Frame

    • Move Frame

    • Delete Frame

    • Change Parent

 
Create Live Frame

 

This action creates a new frame with the given name. The position of the frame can be specified from the position dialog, as well as the parent of the frame. The position can be given by either an X, Y, Z, RX, RY, RZ or by an expression.

  1. Create your preferred frame name in the Name field.

  2. Tap the Position tab, and further field and tabs are provided to choose from.

  3. The Reference field enables you to select world, base, flange, and TCP.

  4. In the default Pose toolbox. you enter the Position in X, Y, Z and Rotation in RX, RY, RZ.

  5. In the Expression toolbox , tap the Expression field, and related functions are provided such as the Quick Access panel of IO, Variable, and Built-in Functions.

     

 
Move Frame

 

This action moves an existing frame to a new position. The frame can be either a frame created in the application or a live frame. As with the creating live frame, the position can be specified in either coordinates or an expression.

When you select Position tab, follow the instructions 2–5 provided in “Create Live Frame.”

 
Delete Frame

This action deletes an existing frame. The frame can be one created in the application or a live frame. Predefined frames such as base and world cannot be deleted.

 
Change Parent

 

This actions changes the parent of an existing frame to a new one.