MC-Basic:robot.GLOBALBASE

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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}

See Also