Detailed explanation of command words
4-173
Base (Base)
[Function]
Changes (relocation and rotation) can be made to the world coordinate system which is the basis for the
control of the robot's current position. There are two alternative methods to achieve this. One is to directly
specify base conversion data and the other, to specify a predefined work coordinate system number. This
function has significant influences on teaching data for and jog operation of the robot. Read instructions
given in
"4.5Coordinate system description of the robot"
and proceed with care.
[Format]
[Terminology]
<Base conversion data>
Base conversion data is specified with a position constant or a position vari-
able.
Values to be specified (coordinate values) represent position data for the
origin point of the base coordinate system as viewed from a world coordinate
system which is newly furnished.
<Base coordinate number>
The system's initial value or value set in the parameter concerned (work coor-
dinate system) is designated as base conversion data.
This value is a constant in numerical form or a variable which is chosen from
0 through 8.
0: P_NBase (system's initial value) is specified.
(Because P_NBase = (0, 0, 0, 0, 0, 0), this value clears base conversion
settings.)
1 - 8:Each value corresponds to parameter/work coordinate system
(WK1CORD~WK8CORD).
Note) When a real number or a double-precision real number is specified,
the fractional portion is round down.
[Reference Program]
Specify by base conversion data
1 Base (50,100,0,0,0,90)
' A new world coordinate system is defined by conversion data in the
form of a constant.
2 Mvs P1
'A move to P1 is made in the new world coordinate system.
3 Base P2
' A new world coordinate system is defined by conversion data in the
form of a constant.
4 Mvs P1
' move to P1 is made in the new world coordinate system.
5 Base 0
' World coordinate system is returned to an initial value.
(P_NBase(ÉVsystem's initial value)is set for base conversion data)
Specify by the base coordinates number
1 Base 1
' Work coordinate system 1 (parameter: WK1CORD) is defined as a new
world coordinate system.
2 Mvs P1
'A move to P1 is made in the new world coordinate system.
3 Base 2
' Work coordinate system 2 (parameter: WK2CORD) is defined as a new
world coordinate system.
4 Mvs P1
'A move to P1 is made in the new world coordinate system.
5 Base 0
' World coordinate system is returned to an initial value.
(P_NBase(ÉVsystem's initial value)is set for base conversion data)
Base[]<Base conversion data>
’
Specifying base conversion data directly
Base[]<Base coordinate number>
’
Specifying base conversion data indirectly by a base
coordinate number (work coordinate system number).
