Base Statement

Defines and displays the base coordinate system.

Syntax
(1) Base pCoordinateData
(2) Base pOrigin, pXaxis, pYaxis [, { X | Y }​ ]

Parameters

pCoordinateData

Specify the origin and orientation of the base coordinate system directly as point data.

Origin

Specify the position in the robot coordinate system that defines the base coordinate system origin, as P#(integer) or P (expression).

X axis specification

Specify the position in the robot coordinate system that defines the point on the X-axis of the base coordinate system, as P#(integer) or P (expression).

Y axis specification

Position in the robot coordinate system defining a point on the Y-axis of the base coordinate system, specified as P#(integer) or P (expression).

X

The X-axis designation is preferentially matched to the X-axis. Optional. (Default)

Y

The Y-axis designation is preferentially matched to the Y-axis. Optional.

Description

Defines the robot base coordinate system by specifying base coordinate system origin and rotation angle in relation to the robot absolute coordinate system.

To reset the Base coordinate system to default, execute the following statement. This will make the base coordinate system the same as the robot absolute coordinate system.

Base XY(0, 0, 0, 0)

Robot parameter data is stored in compact flash in controller. Therefore, writing to command flash occurs when executing this command. Frequent writing to compact flash affect to lifetime of compact flash. We recommend to use this command minimally.

Note

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• Changing the base coordinate system affects all local definitions

  When base coordinates are changed, all local coordinate systems must be re-defined.

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See Also
Local

Base Statement Example
Define base coordinate system origin at 100 mm on X axis and 100 mm on Y axis

> Base XY(100, 100, 0, 0)