SetTrf#

This command defines the pose of the TRF with respect to the FRF. Note that this command makes the robot come to a complete stop, even if blending is enabled.

Syntax#

SetTrf(x,y,z,γ)

Arguments#

  • x, y, z: the coordinates of the origin of the TRF with respect to the FRF, in mm;

  • γ: the orientation of the TRF about its z-axis relative to the FRF, in degrees.

Default values#

The default settings are applied whenever the robot is activated or reactivated.

By default, the TRF coincides with the FRF.

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the SetTrf command is represented by MotionCommandID 13. See Section 4.2 for more details.