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4MELFA-BASIC IV
Base (Base)
[Function]
With this instruction, it is possible to move or rotate the robot coordinate system. Specify the base conver-
sion data for this instruction. Pay extra attention when making changes in a program, as it may be mistaken
in jog operations, etc.
[Format]
Base[]<Base conversion data>
[Terminology]
<Base conversion data>
[Reference Program]
1 Base (50,100,0,0,0,90)
2 Mvs P1
3 Base P2
4 Mvs P1
5 Base P_NBase
[Explanation]
(1) The X, Y, and Z components of the position data represent the amount of parallel movement from the ori-
gin of the world coordinate system to the origin of the base coordinate system. The base conversion
data can be changed only with the Base command. The components A, B, and C of the position data
represent the amount that the base coordinate system is tilted in relation to the world coordinate system.
X.............Distance to move parallel to X axis
Y.............Distance to move parallel to Y axis
Z.............Distance to move parallel to Z axis
A............Angle to turn toward the X axis
B............Angle to turn toward the Y axis
C............Angle to turn toward the Z axis
L1..........Movement amount of additional axis 1
L2..........Movement amount of additional axis 2
(1) For A, B and C, the clockwise direction looking from the front of the origin of the coordinate, used as the
center of rotation, is the forward rotation direction.
(2) The contents of the structural flag have no meaning.
(3) The system's default value for this data is P_NBase=(0,0,0,0,0,0) (0,0). This is calculated with the 6-axis
three dimensional regardless of the mechanism structure.
(4) The valid axis element of base conversion data is different depending on the type of robot. Set up the
appropriate data referring to the
depending on the robot
Fig.4-3:Conceptual diagram of the base coordinate system
Z
Z
1
5
9
X
[Related parameter]
After it has been changed by the MEXBS Base instruction, the base coordinate system is stored in the
MEXBS parameter and maintained even after the controller's power is turned off. Refer to
Standard Base
Coordinates".
[Related system variables]
P_Base/P_NBase
4-157 Detailed explanation of command words
Specify with position constants or position variables.
' Input the conversion data as a constant.
' Input the conversion data as a variable.
' Reset the conversion data to the default values.
Page 366, "Table 5-9: Valid axis elements of the base conversion data
model".
Base (50,100,0,0,0,90)
Y
Y
X
Page 366, "About
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