Difference between revisions of "MC-Basic:robot.GLOBALBASE"
| Line 42: | Line 42: | ||
* [[MC-Basic:robot.BASE|robot.BASE]] | * [[MC-Basic:robot.BASE|robot.BASE]] | ||
* [[MC-Basic:robot.HERE|robot.HERE]] | * [[MC-Basic:robot.HERE|robot.HERE]] | ||
| − | * [[ | + | * [[MC-Basic:robot.SETPOINT|robot.SETPOINT]] |
* [[Axystems:MC-Basic:robot.TOOL|robot.TOOL]] | * [[Axystems:MC-Basic:robot.TOOL|robot.TOOL]] | ||
* [[Axystems:MC-Basic:robot.WORKPIECE|robot.WORKPIECE]] | * [[Axystems:MC-Basic:robot.WORKPIECE|robot.WORKPIECE]] | ||
Revision as of 08:54, 22 May 2014
Global base is a Robot property which informs the system to use the specified location as the global base transformation. It defines the position and orientation of the arm in the cell according to the WORLD reference.
The default base transformation is the NULL transformation, which can be expressed as gbase = #{0,0,0,0,0,0}
Short form
GBASE
Syntax
GlobalBase = <robot location point>
Type
Location of XYZYPR (X, Y, Z, Yaw, Pitch, Roll) independent of robot type
Units
User defined position/orientation units
Default
NULL
Scope
Configuration ,Task or Terminal
Limitations
.
Examples
Puma.Base= #{25,0,100,0,45,0}
Scara.GBase = #{90, 180, 0, 0, 180,0}