SPEL_BaseGet
Description
Gets the base coordinate system.
Common Inputs and Outputs
Reference: Function Blocks Common Inputs and Outputs
Inputs
- NumAxes
- UINT number of robot axes.
- For a SCARA robot, use 4. For a 6-axis robot, use 6.
Outputs
- BaseX
- REAL base value of coordinate X.
- BaseY
- REAL base value of coordinate Y.
- BaseZ
- REAL base value of coordinate Z.
- BaseU
- REAL base value of coordinate U.
- BaseV
- REAL base value of coordinate V.
- BaseW
- REAL base value of coordinate W.
Operation
Reference: Function Blocks General Operation
For more details, refer to the following manual:
"SPEL+ Language Reference manual - Base Statement"
Example
To get the base values of X through W coordinates for SCARA robot, plug 4 for NumAxes. Base values will update as shown below.
