BASE program instruction If, after robot locations have been defined by transformations relative to the robot reference frame, the robot is moved relative to those locations-to a point translated by dX, dY, dZ and rotated by Z rotation degrees about the Z axis—a BASE command or instruction can be used to compensate so that motions to the previously defined locations will still be as desired. Another convenient use for the BASE command or instruction is to realign the X and Y coordinate axes so that SHIFT functions cause displacements in desired, nonstandard directions. NOTE: The BASE instruction has no effect on locations defined as precision points.
The arguments for the BASE instruction describe the displacement of the robot relative to its normal location. The BASE function can be used with the LISTL command to display the current BASE setting. Examples BASE xbase,, -50.5, 30 Redefines the World reference frame because the robot has been shifted xbase millimeters in the positive X direction and 50.5 millimeters in the negative Z direction, and has been rotated 30 degrees about the Z axis. BASE 100,, -50 Redefines the World reference frame to effectively shift all locations 100 millimeters in the negative X direction and 50 millimeters in the positive Z direction from their nominal location.
Note that the arguments for this instruction describe movement of the robot reference frame relative to the robot, and thus have an opposite effect on locations relative to the robot. Related Keywords BASE transformation function SELECT monitor command SELECT program instruction SELECT real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 81