MC-Basic:robot.WORKPIECE
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}