Difference between revisions of "MC-Basic:robot.WORKPIECE"
| Line 45: | Line 45: | ||
* [[Axystems:MC-Basic:robot.SETPOINT|robot.SETPOINT]] | * [[Axystems:MC-Basic:robot.SETPOINT|robot.SETPOINT]] | ||
* [[Axystems:MC-Basic:robot.TOOL|robot.TOOL]] | * [[Axystems:MC-Basic:robot.TOOL|robot.TOOL]] | ||
| − | * [[ | + | * [[MC-Basic:robot.MACHINETABLE|robot.MACHINETABLE]] |
* [[MC-Basic:robot.BASE|robot.BASE]] | * [[MC-Basic:robot.BASE|robot.BASE]] | ||
* [[Axystems:Robot_Working_Frames|Robot Working Frames]] | * [[Axystems:Robot_Working_Frames|Robot Working Frames]] | ||
}} | }} | ||
Revision as of 08:54, 22 May 2014
WorkPiece is a Robot property which informs the system to use the specified location as the workpiece transformation. It defines the position and orientation of work-piece relative to the MACHINE TABLE reference.
The default base transformation is the NULL transformation, which can be expressed as Puma.WorkPiece = #{0,0,0,0,0,0}
Syntax
WorkPiece = <robot location point>
Availability
Since Version 4.2.x
Type
Location
Range
According to the Robot Type
Units
User defined position units
Default
NULL
Scope
Configuration ,Task or Terminal
Limitations
.
Examples
Puma. WorkPiece = #{25,0,100,0,45,0}
Scara .WorkPiece = #{90, 180, 0, 0}
?Scara.MachineTable:WorkPiece:Base:Tool
- {90 , 90 , 90 , 180}