vcBaseFrame

vcBaseFrame allows you to manipulate a Frame feature used as base or tool frame for robot programming.

A base frame is a robot coordinate system used for simplifying robot positions. A tool frame is a tool center point (TCP) used for defining the end of a robot arm or target position. How a robot interpolates base and tool frames is dependent on the IPO mode of each frame. Generally, a robot position is defined at a tool frame (point robot must reach/target) and references the coordinate system of a base frame. In some cases, the relationship between base and tool frames can be switched, thereby affecting the external configuration of robot. For example, a robot might use an external tool frame to reference a static tool, thereby the robot moves around not with the tool frame.

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  1. Common Properties
  2. Frame Specific Properties
  3. Methods

Common Properties

Name Type Access Description
IPOMode Integer RW Defines the interpolation mode of the frame and the external configuration of a referencing robot controller.

0
Default setting, so no effect on robot's external configuration.

1
Robot position inherits orientation of base frame.

2
Robot position inherits orientation of tool frame.

Interpolation constants can be used with this property.

Note: A conflict can occur if a base-tool pair in a referencing robot have the same IPOMode property value or cannot be used with the robot's current configuration.
Name String RW Defines the name of the frame.
Node vcNode RW Defines the node the frame is attached to in the 3D world.
PositionMatrix vcMatrix RW Defines the frame's position and orientation in the Node property's coordinate system.

The position matrix is a result of the node's offset, pivot and joint expressions but can be set manually.
PositionExpression String RW The matrix offset expression for the frame's location.
Properties List of vcProperty R Gets a list of all user defined properties for base frame.

Frame Specific Properties

Tool Frame

Name Type Access Description
CenterOfGravity vcMatrix RW Defines the mass center point of payload and if needed the orientation for LoadInertia.
Inertia vcVector RW Defines the inertia value (kgm^2) for each axis defined by LoadCenterOfGravity.
Mass Real RW Defines the weight (kg) of payload.

 

Methods

Name Return Type Parameters Description
createProperty vcProperty Enumeration type, String name, [Enumeration constraints] Adds a new property of a given type and name to component, and then returns the new property.

An optional constraints argument can be used to define constraints for new property, which must be defined at the time of creation.  

See Property Constants for more information.
deleteProperty None vcProperty property Deletes a given property from component.
getProperty vcProperty String name Returns a property matching a given name in component; otherwise returns None.