Basic Characteristics RAPID

DefFrame Define a frame
Example
DefFrame (Define Frame) is used to calculate a frame, from three positions defining
the frame.
z
object frame
y
Three positions, p1- p3, related to the object coordinate system, are used to define the
new coordinate system, frame1. The first position, p1, is defining the origin of frame1,
the second position, p2, is defining the direction of the x-axis and the third position,
p3, is defining the location of the xy-plane. The defined frame1 may be used as a
displacement frame, as shown in the example below:
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR pose frame1;
.
.
frame1 := DefFrame (p1, p2, p3);
.
.
!activation of the displacement defined by frame1
PDispSet frame1;
Return value Data type: pose
The calculated frame.
x
z
The calculation is related to the active object coordinate system.
RAPID Reference Manual 9-DefFrame-1
y
p3
p1
frame1
p2
x