BASE program instruction

V+ Language Reference Guide, v17.x

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 V+ 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 V+ 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 V+ 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.

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

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.