ID : 10987

Base

Function

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

This option is available in Ver.1.3.* or higher.

Syntax

Base Base position

Guaranteed Entry

Base position

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

Example

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

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 smart TP.
Or alternatively, set with WINCAPSIII and send it to the robot controller.
Even if the base setting is changed on the smart TP, the change will not be reflected in a monitoring model.
To reflect the change in a monitoring model, use WINCAPSIII to receive the base setting of the controller, then execute [Export virtual fence / exclusive control data].
The base setting changed by this command cannot be received by WINCAPSIII. To reflect the change in a monitoring model, use the smart TP or WINCAPSIII to change the base setting.

Example

'!TITLE "Declare the world coordinate system"
Sub Sample_Base
  
  TakeArm
  
  'Declare the world coordinate system
  Base P(0, 0, 100, 0, 0, 0)
  
End Sub

ID : 10987

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