# Frame function

• Hello everybody,

I would like to replicate the function "Frame" on other robots, like Kuka.

SET pallet = FRAME(loc.origin, loc.x.axis, loc.pos.y, loc.origin)

The new frame pallet has a different orientation than loc.origin, loc.x,axis and loc.pos.y (let's suppose these 3 points has the same orientation Rx,Ry,Rz)

This difference can be calculated as: SET dif = INVERSE(pallet) :loc.origin

Then, I can move on the pallet:

SET pick = pallet:TRANS(0*x.distance, 2*y.distance):dif

What I don't understand is why the frame pallet comes out with a different orientation, even though the 3 points have the same orientation between them.

Do you have any idea?

Thanks

• Hi,

you can find very good and sipmle explanation of FRAME function by Kawasaki Youtube Channel:

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The AS language is very similar to V+. Just consider instead of "SET" in V+ it is "POINT" in AS, instead of ":" in V+ it is "+" in AS and instead of "INVERSE" it is "-" (MINUS) in AS.

• It has been many years since I was deep into V+ language, but something doesn't seem correct with your code. Perhaps. Maybe. Possibly.

Your method of calculating and using the INVERSE transform dif bothers me for some reason, and I cannot discern why (too many years ago).

Establish a frame (user coord sys) in space with

SET pallet = FRAME(loc.origin, loc.x.axis, loc.y.axis, loc.origin)

This assumes that you taught the three frame locations properly (and taught with an accurate tool):

• loc.origin is at the ORIGIN of the new frame
• loc.x.axis is ON the X-AXIS of the new frame
• loc.y.axis is somewhere in the positive X-Y plane of the new frame (not required to be ON the Y-AXIS of the frame, but is nice if it is)
• fourth argument defines the location of the new frame origin
• orientation of the three frame location points is irrelevant, only X, Y, Z are used to calculate the frame

Do all of that, then your command to calculate a point relative to the new frame pallet is:

SET pick = pallet:TRANS(x_offset, y_offset, z_offset)

BUT it is critical to recognize that the new point pick has the orientation of the new frame pallet. That is, if your frame pallet Z-AXIS is pointing UP (e.g., towards the ceiling) and you desire to have your gripper Tool Coord Sys Z-AXIS pointing DOWN to the workpiece (e.g, towards the floor), then you must reverse the orientation.

SET pick = pallet:TRANS(x_offset, y_offset, z_offset):TRANS( <either RX = 180, or RY = 180> )

If frame pallet is taught with foresight, then the pallet Z-AXIS is pointed the direction you need for the tool Z-AXIS, you just have to adapt the X, Y, Z offsets to match your physical position.

TygerDawg

Blue Technik

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