1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
This Thread
  • Everywhere
  • This Thread
  • This Forum
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Forum
  3. Industrial Robot Support and Discussion Center
  4. KUKA Robot Forum
Your browser does not support videos RoboDK Software for simulation and programming
Visit our Mainsponsor
IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Sponsored Ads

Teach point in defined BASE

  • JackS
  • May 17, 2019 at 7:25 PM
  • Thread is Resolved
  • JackS
    Trophies
    3
    Posts
    2
    • May 17, 2019 at 7:25 PM
    • #1

    Hi All,
    I have KRC4 Compact controller with KRL ver. 8.3.4
    I am familiar with a couple other brands but not Kuka.

    I have defined Tool1 and 2 BASEs with 3point method. I checked the BASEs by jogging and comparing actual positions in World and Base.
    What I need to do is teach points in one of the Base coordinates I defined.
    In a program, I create a PTP instruction and Touch-UP the point. However, the Tool/Base indicator switches from T1/B1 to T1/B0 and my point is saved in the World coordinate system (I think). The resulting PTP instruction reads:

    PTP P2 Vel=100% PDAT3 Tool[1] Base[0]

    What am I doing wrong? I would like to save the point with Base[1] as the reference.

    Thanks for your help

  • panic mode
    Reactions Received
    1,278
    Trophies
    11
    Posts
    13,076
    • May 17, 2019 at 7:29 PM
    • #2

    that is an inline form motion and contains info on both TOOL and BASE
    when you teach point on inline form, robot will always use that tool and base.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • JackS
    Trophies
    3
    Posts
    2
    • May 17, 2019 at 8:06 PM
    • #3

    "robot will always use that tool and base."

    Do you mean Tool and Base shown in the Tool/Base indicator at top of pendant? Ie: T1/B1 in my case?

  • spiral
    Reactions Received
    2
    Trophies
    3
    Posts
    146
    • May 17, 2019 at 8:51 PM
    • #4

    Simply change in inline form Base 0 to Base 1.

  • panic mode
    Reactions Received
    1,278
    Trophies
    11
    Posts
    13,076
    • May 17, 2019 at 8:56 PM
    • #5

    that is current tool and base
    if you wish to jog robot, you can change tool and base.
    when you run program or teach points, tool and base from current motion instruction will overwrite current tool and base with values used in particular motion instruction(s) as they are processed.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics

Job Postings

  • Anyware Robotics is hiring!

    yzhou377 February 23, 2025 at 4:54 AM
  • How to see your Job Posting (search or recruit) here in Robot-Forum.com

    Werner Hampel November 18, 2021 at 3:44 PM
Your browser does not support videos RoboDK Software for simulation and programming

Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download