Base Measurment according to another Base

Look up the geometric operator ":" .

Than if you can measure the coordinates you want the boxes base from the table base you can set up a teaching program.

idea: declare a frame variable in the dat for each box then calculate the box base as base 10 plus this offset for each box. I have not used krl in a while so the syntax might be wrong.

DECL FRAME Box1 = {X 100, Y 200, Z 0 , A 0 , B 0 ,C 0}

and on the src.

BASE_DATA[1] = BASE_DATA[10] : Box1

If you put this somewhere in your program it will be updated cyclic or make it as a manual program to be run only after change the table.

Geometric operator is the right thing to use here. But it wouldn't be as simple as palmeida told.

You need precision, so you have to measure Base1 - Base4 once, then measure the table (Base10), then you have to calculate the relative values of base1 - base4 (plameida here made a simple ideal case, but reality never is simple and precise). Therefore you need some math formulas which already where discussed here in the forum. Then you can use palmeidas approach with calculating the new bases from shifted base10.

But some questions:

How often do you think the table will be moved?

Is it worth the time for programming, testing, debugging to save the time for measuring 3 more bases?

As a suggestion you might want to think about measuring in a different order. I work with with a robot (milling application) with 6 table's. Each table is measured and that base is set in the config.dat in a array like this:

base_table[1] = {x 0,y 0,z 0,A 0,B 0,c 0}
base_table[2] = {x 0,y 0,z 0,A 0,B 0,c 0}
base_table[3] = {x 0,y 0,z 0,A 0,B 0,c 0}
base_table[4] = {x 0,y 0,z 0,A 0,B 0,c 0}
base_table[5] = {x 0,y 0,z 0,A 0,B 0,c 0}
base_table[6] = {x 0,y 0,z 0,A 0,B 0,c 0}

when i am writing a new milling program i measure a base in reference to 1 of these and in the program i get this:

DEF program(Table_nr)

DECL FRAME base_program
DECL INT Table_nr

base_program = {x 0,y 0,z 0,A 0,B 0,c 0}
$base = base_table[Table_nr] : base_program

;Actual milling program here

END

This allows me to easily shift a program to a different table just be calling the program with a different table number.

I measure the program base by hand, by selecting one off the table bases as active base and then measuring by looking at the actual robot position and basically doing the same movements as an base measurement. i simple case i can do the math in my head (no rotations). but mostly i use pen and paper. and then it is usually still a rotation around a single axis.

i have looked at making a specific base measurement program for this, but as Hermann pointed out, this is not so simple, so i dropped that idea.

I don't know if this somewhat applies to your problem, but this is how i have done it.