MC-Basic:robot.WORKPIECE

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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

  1. {90 , 90 , 90 , 180}

See Also