BASE monitor command BASE monitor command 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 monitor command applies to the robot selected by the eV+ monitor (with the SELECT command). The command can be used even while programs are executing. However, an error will result if the robot is attached by any executing program. If the eV+ system is not configured to control a robot, use of the BASE command causes an error. The word "base" cannot be used as a program name or variable name.
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. (A zero value 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 defined in the kinematic model.
For example, for Omron Adept SCARA robots, 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. Refer to your robot guide for the default location of the reference frame for your robot. The BASE command (and program instruction) offsets and rotates the reference frame as specified above. This is useful if the robot is moved after the locations have been defined for an application.
That is, 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_degrees about the Z axis—a BASE command (or eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 38