SPEL_BaseSet

Description

Sets 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.

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 set the base value of a SCARA robot, set NumAxes = 4. Enter the base coordinate value for each axis, as shown below.