Edit Base and Tool Frames

The Move command and other tools can be used to edit robot base and tool frames.

1. Click the PROGRAM tab, and then Jog panel, select the base or tool frame you want to edit. In this case, the Move command is automatically enabled and a manipulator in the 3D world shows the location of the selected frame.
2. Do one or more the following:
   • To snap a base or tool frame to a location in the 3D world, on the PROGRAM tab, in the Tools group, click Snap and then snap the selected frame as you would a component.
   • To move a base or tool frame in the 3D world, use the manipulator and/or the Properties panel to move the selected frame as you would a component. In this case, the Object coordinate system can be used to access base and tool coordinate systems.
   • To attach a base or tool frame to a node, in the Properties panel, click the Node button, and then in the 3D world, attach the selected frame to a node as you would a component.
   • To define the interpolation of a base or tool frame for motion targeting, in the Properties panel, set the InterpolationMode property to the preferred option. In this case, you are defining the parent coordinate system for motion targeting and whether a frame used as a tool center point is stationary or movable. If a base or tool frame does not have an InterpolationMode setting that references itself or equals #NONE, you are essentially using an external tool configuration.