FRAME transformation function FRAME transformation function Syntax FRAME (location_1, location_2, location_3, location_4) Function Return a transformation value defined by four positions. Parameters location_1 Transformation, compound transformation, or a transformation- valued function whose position is used to define the X axis of the computed frame. location_2 Transformation, compound transformation, or a transformation- valued function whose position is used to define the X axis of the computed frame. location_3 Transformation, compound transformation, or a transformation- valued function whose position is used to define the Y axis of the computed frame.
location_4 Transformation, compound transformation, or a transformation- valued function whose position is returned as the position of the computed frame transformation. Details While the robot can be used to define an X, Y, Z position very accurately, it is often difficult to define precisely an orientation. For applications such as palletizing, the FRAME function is very useful for accurately defining a base transformation whose position and orientation are determined by four positions. This function returns a transformation value that is computed as follows: 1. Its origin is at the point defined by location_4 . 2.
Its positive X axis is parallel to the line passing through the points defined by location_1 and location_2 , in the direction from location_1 to location_2 . 3. Its X-Y plane is parallel to the plane that contains the points defined by location_1 , location_2 , and location_3 . 4. Its positive Y direction is from the computed X axes (as defined above), toward the point defined by location_3 . eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 257