Reposition the anchor frame on a part

The anchor frame is a reference frame for a task used to align the workpiece with the path mounting frame of the device.

If the anchor frame of a task needs to be adjusted so that the part aligns properly with the device, there are a few ways of doing that in Robotmaster. Adjusting the anchor frame can be performed on tasks with at least one CAD part added.

Reposition the anchor frame using a new custom frame

Adding a new custom frame is the preferred method for repositioning the anchor frame, as it is generally easier, particularly for complex assemblies.

Select a Task tab.
In the Custom frames panel, there is an item called “Default frame,” which is set as the anchor frame by default.

The anchor icon ( ) indicates which frame is the anchor frame.

In the Custom frames panel, click the [+] Add a new frame button. A new custom frame will be added with its gnomon active in the viewport.
Use the gnomon and the Frame editor (on the right) to change the position and orientation of the new frame so that its placement matches what you want for the anchor frame.
See Using the gnomon in the viewport for more details on using the gnomon.
When you are finished making changes, in the Frame editor, click OK.
In the Custom frames panel, hover over the new frame you created and select the Set as anchor button.

The new frame will now be set as the anchor frame for the task. When operations for the workpiece are assigned on the device side, the anchor frame will be used as the reference frame for path mounting.

On the task side, when a custom frame is marked as the anchor frame, that frame cannot be edited in the viewport or the Frame editor. If you need to edit the anchor frame, temporarily set a different frame as the anchor, make changes to the intended anchor frame, then set it as the anchor again.

Reposition the anchor frame using transform

Another way of changing anchor frame position and orientation is to transform the part relative to the frame. This method may work for simple parts, but can be a complicated process for larger assemblies.

In Parts panel, right-click the part and select Transform.
In the Frame editor, make sure that the gnomon is unattached.
Change the position and orientation of the gnomon so that its placement matches what you want for the anchor frame.
In the Frame editor, select Attach gnomon.
When attached, the gnomon and part move together.
In the Frame editor, select Set all fields to zero.
This will move the gnomon and the attached part to the anchor frame.
In the Frame editor, click OK to complete the transform. The anchor frame will now be positioned and oriented at the desired location on the part.