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.

See in: Overview

Module: vcRobotics

Parent: -

Children: vcToolFrame

Referenced by: vcBaseContainer.Bases, vcBaseContainer.addBase(), vcPositionStatement.Base, vcPositionStatement.Tool, ... (see more)

vcBaseContainer.Bases
vcBaseContainer.addBase()
vcPositionStatement.Base
vcPositionStatement.Tool
vcRobotController.Bases
vcRobotController.addBase()
vcRobotController.addTool()
vcSetBaseStatement.Base
vcSetToolStatement.Tool
vcToolContainer.addTool()

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
InterpolationMode	vcInterpolationMode	RW	Defines the interpolation mode of the frame and the external configuration of a referencing robot controller. See more Note: A conflict can occur if a base-tool pair in a referencing robot have the same InterpolationMode 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.
PositionExpression	String	RW	The matrix offset expression for the frame's location.
PositionMatrix	vcMatrix	RW	Defines the frame's position and orientation in the Node property's coordinate system. See more The position matrix is a result of the node's offset, pivot and joint expressions but can be set manually.
Properties	vcPropertyContainer	R	Gets a list of all user defined properties for base frame.

Methods

Learn how to use methods here. The methods are also inherited from the parent class.

Name	Return Type	Parameters	Description
delete	None	None	Removes the base from container.