SetWrf#

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

Syntax#

SetWrf(x,y,z,α,β,γ)

Arguments#

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

  • α, β, γ: Euler angles representing the orientation of the WRF relative to the BRF, in degrees.

Default values#

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

By default, the WRF coincides with the BRF.

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.]

  • [1006][The robot is not homed.]

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

Cyclic protocols#

In cyclic protocols, the SetWrf command is represented by MotionCommandID 14. See Section 4.2 for more details.