ID : 5936

Base

Function

Set the robot base position viewed from the origin of the world coordinate.

This option is available in Ver.1.9.* or higher.

Syntax

[Robot*.]Base Base position

Guaranteed Entry

Base position

Specify the base position by Position type data or Homogeneous translation type data.

Example

Robot0.Base P0

Description

Set the robot base position viewed from the origin of the world coordinate.
To use this function, you need to set the user parameter No.190 "BASE number setting" to 1.
You can set robot reference position as you like. For example, setting the origin of the facilities diagram to the robot reference position enables equipment to share the coordinate.
To execute this command, controls of all specified robots must be obtained.

Related Terms

Cooperative Control Function Guide

Attention

The values set by this command are effective until the controller power OFF.
Once the controller power turns OFF, the values will be cleared.
To retain values after the controller power OFF, set values with a teach pendant.
Or alternatively, set with WINCAPSIII and send it to the robot controller. For details, refer to "Base Coordinates Setting" on "Setup Procedure" section on the Cooperative Control Function Guide, and "Base Coordinate Setting" on "Modifications on WINCAPSIII" section on Cooperative Control Function Guide.
Even if you change the base setting on the controller, it cannot be reflected to the monitoring model.
When you change the base setting with the teach pendant, receive the base setting for controller with WINCAPSIII. Then, perform [Export exclusive control data] and send that setting to the controller. Finally, it can be reflected to the monitoring model.
However, as the base setting being changed with the Base command is unable to receive with WINCAPSIII, it cannot be reflected to the monitoring model. For the change of base setting, use WINCAPSIII.

Example

	Robot0.TakeArm
	Robot1.TakeArm
	     
	'When two robots are placed by 500 away in the Y-axis direction
	Robot0.Base P(0,250,0,0,0,0)
	Robot1.Base P(0,-250,0,0,0,0)
	
	'When two robots are faced by 500 away in the Y-axis direction.
	Robot0.Base P(-250,0,0,0,0)
	Robot1.Base P(250,0,0,0,180)

ID : 5936

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