Touch up of base

  • Hi!

    This is probably a silly question, but I can not find out how to touch up bases in a simple way in the real world. Eg. if the pallet is not flat on the floor, the Y-axis needs to be aligned to the same angle as the pallet. How is this done in practice on Kawasaki? On other brands it is possible to touch-up bases by setting the origo first, then moving the robot to the next point to set the angle of the x-axis and then finally move the tool in the y-direction to set the y-axis angle.


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  • No such thing as a silly question.

    Depends on how the BASE has been set and how it is being used within the programmed sequence.

    So you would need to understand this clearly before adjusting values.

    Kawasaki operates off a single BASE transformation coordinate using the BASE command.

    If you change the BASE, then you either change it via the BASE command with either TRANS direct entry values or by using a variable transformation location pre-taught (usually made up of 4 points by the FRAME command).

    So if required to 'touch up' in the manner you are describing would purely depend on how it is being used programmatically.

    It is common practice (although I really hate it) to create a BASE using the FRAME command, where the origin, X and Y points are taught and then using the FRAME command to create the FRAME origin and XY planes which produces a single transformation value and assigned to a variable name.

    This variable name is then used with the BASE command to update the BASE coordinate.

    The 3 points could be set in a teach utility program, whereby using that teach utility, you could re-teach any of the 3 points and then re-execute the FRAME command again and update the BASE using the BASE command with the newly created FRAME point.

    Alternatively, just changing the BASE command using a TRANS value entry would also change the BASE.

    I suggest you read up on the following in the AS Language Manual

    - BASE

    - TRANS

    - FRAME


    Myself, I steer clear from changing BASES and leave it set as BASE NULL.

    Then by way of using compound transformations within my code, I use the FRAME command to set pallet bases and use them in my program.

    I create a teach utility so that I drive the robot to the FRAME points, and touch them up and then re-execute the FRAME command to change the pallet bases.

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