Object Frames

An object frame defines a position and orientation in space to be used as a local origin (or referential).

An object frame can be relative to an object, such as:

  • A Product/Robot
  • An axis system (port or tag)
  • The manufacturing cell owning the resource. This is the default value when you select World from the dialog.

This page discusses:

Applicability

Usage Impacted operations/commands
Display/defines position relative to specific object frames Jog/Profile/safety zones
Robot task simulation Teach (only applicable for Cartesian target)
Define the local origin used for all robot motion targets when generating a robot program Robot program download/upload
Line Tracking – Needs to be attached to Trolley or Part that is moving with Trolley RRS Simulation and OLP download
Positioner Programming – Needs to be attached to the Part or disk. OLP download
Fixed TCP – Should be attached to the Robot Mount Plate or a Part that is attached to or grabbed by Robot OLP Download

Using Object Frames with Cartesian Targets



Note: In both cases shown above, 100mm is the value shown in Teach.

Using Object Frames with Tag Targets



Note: Note: If you select a Task Motion Operation in Teach that has an Object frame with a Z offset of 50mm as shown above, the robot will move the location shown as a blue dot, not to the Tag Point.
Note: This option is maintained for V5 legacy purposes, but it is not recommended as it is less intuitive and prone to user error. It is recommended to instead use offset moves on each operation.