diff --git a/gui/roboglue_gui.cpp b/gui/roboglue_gui.cpp
index 94cdb42..7e21ab8 100644
--- a/gui/roboglue_gui.cpp
+++ b/gui/roboglue_gui.cpp
@@ -329,6 +329,16 @@ void RoboGlue_GUI::on_btn_home_clicked() {
     emit sendROScommand("HOME", param);
 }
 
+
+void RoboGlue_GUI::on_btn_setFrame_clicked() {
+    QVariantMap param;
+    std::string frametext;
+    modlog->debug("setFrame");
+    param["action"]="set";
+    emit m->commonStatusChange();
+    emit sendROScommand("SETFRAME", param);
+
+}
 ////////////////////////////////////////////////
 ////////END INTERNAL PRIVATE SLOTS//////////////
 ////////////////////////////////////////////////
@@ -374,3 +384,4 @@ void RoboGlue_GUI::on_newRobotData() {
 //////// END EXTERNAL PUBLIC SLOTS /////////////
 ////////////////////////////////////////////////
 ///
+
diff --git a/gui/roboglue_gui.h b/gui/roboglue_gui.h
index d2c0c75..86b6a51 100644
--- a/gui/roboglue_gui.h
+++ b/gui/roboglue_gui.h
@@ -95,6 +95,8 @@ private slots:
     void on_btn_home_clicked();
     void on_btn_open_clicked();
 
+    void on_btn_setFrame_clicked();
+
 signals:
     void robotConnect(QString, uint port, uchar retry);
     void robotDisconnect();
diff --git a/gui/roboglue_gui.ui b/gui/roboglue_gui.ui
index a279a1b..fb01ac2 100644
--- a/gui/roboglue_gui.ui
+++ b/gui/roboglue_gui.ui
@@ -1221,32 +1221,9 @@
           </item>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_6">
-            <item>
-             <spacer name="horizontalSpacer_4">
-              <property name="orientation">
-               <enum>Qt::Horizontal</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>40</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
             <item>
              <layout class="QGridLayout" name="gridLayout_2">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_18">
-                <property name="text">
-                 <string>dS</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
+              <item row="0" column="2">
                <widget class="QLabel" name="label_19">
                 <property name="text">
                  <string>dT</string>
@@ -1256,7 +1233,7 @@
                 </property>
                </widget>
               </item>
-              <item row="1" column="0">
+              <item row="1" column="1">
                <widget class="QDoubleSpinBox" name="spn_ds">
                 <property name="maximum">
                  <double>100.000000000000000</double>
@@ -1272,7 +1249,7 @@
                 </property>
                </widget>
               </item>
-              <item row="1" column="1">
+              <item row="1" column="2">
                <widget class="QDoubleSpinBox" name="spn_dt">
                 <property name="maximum">
                  <double>240.000000000000000</double>
@@ -1285,10 +1262,82 @@
                 </property>
                </widget>
               </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_18">
+                <property name="text">
+                 <string>dS</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="0">
+               <widget class="QLabel" name="label_22">
+                <property name="text">
+                 <string>Point Record Distance/Time</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
              </layout>
             </item>
            </layout>
           </item>
+          <item>
+           <layout class="QGridLayout" name="gridLayout_5">
+            <item row="0" column="0">
+             <widget class="QPushButton" name="btn_setFrame">
+              <property name="text">
+               <string>SetFrame</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="2">
+             <widget class="QLineEdit" name="txt_framePos">
+              <property name="inputMask">
+               <string>\x:000,y:000,z:000 </string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="2">
+             <widget class="QLineEdit" name="txt_frameOr">
+              <property name="inputMask">
+               <string>rx:000,ry:000,rz:000 </string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLabel" name="label_20">
+              <property name="text">
+               <string>Position</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QLabel" name="label_21">
+              <property name="text">
+               <string>Orientation</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
           <item>
            <spacer name="verticalSpacer_2">
             <property name="orientation">