# Calculate base frame

• Hello

i am trying to understand how this base frame is recalculated:

BASE_DATA[15]=BASE_DATA[62]:BASE_DATA[14]:VMT_VER:BASE_DATA[54]

In \$config.dat file the base frames are:

BASE_DATA[15]={X 2238.698,Y 19.9419994,Z 1436.99402,A -179.529007,B 3.78999996,C 2.97600007}

BASE_DATA[62]={X 1793.93994,Y 744.73999,Z 13.8000002,A 90.0149002,B 0.00490000006,C -0.00120000006}

BASE_DATA[14]={X 2238.698,Y 19.9419994,Z 1436.99402,A -179.529007,B 3.78999996,C 2.97600007}

BASE_DATA[54]={X 3500.0,Y -780.0,Z 470.0,A 0.0,B 0.0,C 0.0}

Thanks,

Bogdan

• Maybe this helps what to expect from the ":" operator:

Also you could read about homogenous coordination transform matrices represented here by ZYX-Euler angles.

Homogeneous Transformation Matrices in Robotics | Fundamentals of Robotics | Lesson 14 - YouTube

Essentially ":" operator is nothing else than multiplying two of these matrices.

Fubini

• so base 15 and base 14 are identical.

what could "VMT_VER" mean?

• VMT_VER

Not KUKA afaik must be something only you can lookup on your controller. Create an archive and search in it this string using e.g. Notepad++.

Fubini

• VMT is a company for measurement systems in a wide range of applications. May be there is a sensor and measurement software somewhere in your application, that comes from VMT. Some years ago I had an application from VMT with a pepperl&fuchs laser sensor.

• what could "VMT_VER" mean?

It's a variable someone created, probably a FRAME type.

At this point, your best bet is to take an Archive of the robot, and run a search of it using BareGrep or some similar text-searching tool. When you find the line where VMT_VER is DECL'd, and whatever lines write to that variable, you'll have the answer.

• Hello,

Br.

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Edited once, last by Ben014 ().