Base Statement

Defines and displays the base coordinate system.

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

Parameters

pCoordinateData

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

pOrigin

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

pXaxis

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).

pYaxis

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. This value is optional. (Default)

Y

The Y-axis designation is preferentially matched to the Y-axis. This value is optional.

Description
A robot has a reference coordinate system that cannot be changed, called the "robot coordinate system." In contrast, the basic coordinate system that serves as the basis for a general local coordinate system and whose origin coordinates can be changed is called the "base coordinate system."

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)

Note

---

Changing the base coordinate system affects all local definitions

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

---

See Also
Local Statement

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)