KSS 8.3.x, KRC4
I was wondering if anybody had any experience setting a base coordinate system via KRL using the numeric input method?
To describe my issue:
1) we have attached a probe to the TCP of the robot
2) the robot arm moves to the piece of equipment it is currently working on very slowly until the tip is just barely touches the workpiece
3) when the tip is engaged on the surface of the workpiece an interrupt routine is run and the current $POS_INT variables are saved
4) this procedure is then performed on 3-4 different locations on the workpiece
5) the result is having E6POS coordinates for each of the 3-4 "probed" locations on the part we are working on
6) I want the KRL script running to then take these 3-4 probed locations (if the part we are working on is flat, these points should form a plane) and set this plane to a new base coordinate system
Does anybody have experience in doing such a thing? Or more generally, setting a base coordinate system via KRL and the numeric input method?
Thank you!