BASE program instruction BASE program instruction Syntax BASE X_shift, Y_shift, Z_shift, Z_rotation Function Translate and rotate the World reference frame relative to the robot. Usage Considerations The BASE program instruction causes a BREAK in continuous-path motion. The BASE monitor command applies to the robot selected by the eV+ monitor (with the SELECT command). The command can be used while programs are executing. However, an error will result if the robot is attached by any executing program. The BASE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task. The instruction applies to the robot selected by the task.
If the eV+ system is not configured to control a robot, use of the BASE command or instruction will cause an error. Parameters X_shift Optional real-valued expression describing the X component (in the normal World coordinate system) of the origin point for the new coordinate system. (Zero is assumed if no value is provided.) Y_shift Similar to X_shift, but for the Y direction. Z_shift Similar to X_shift, but for the Z direction. Z_rotation Similar to X_shift, but for a rotation about the Z axis.
Details When the eV+ system is initialized, the origin of the reference frame of the robot is assumed to be fixed in space such that the X-Y plane is at the robot mounting surface, the X axis is in the direction defined by joint 1 equal to zero, and the Z axis coincides with the joint-1 axis. The BASE instruction offsets and rotates the reference frame as specified above. This is useful if the robot is moved after locations have been defined for an application. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 80