Operating instructions

5. SPEL AOI Reference
EPSON RC+ 7.0 Option AOI (Add-On Instructions) Rev.1 21
SPEL_BaseGet
Description
Gets the base coordinate system.
Common Inputs and Outputs
Refer to section 2.4 SPEL AOI Common Inputs and Outputs.
Inputs
NumAxes INT number of robot axes. For a SCARA robot, use 4. For a 6-axis robot, use 6.
Outputs
BaseX REAL base value of coordinate X.
BaseY REAL base value of coordinate Y.
BaseZ REAL base value of coordinate Z.
BaseU REAL base value of coordinate U.
BaseV REAL base value of coordinate V.
BaseW REAL base value of coordinate W.
Operation
Refer to section 2.5 SPEL AOI General Operation.
Refer to Base Statement in the SPEL+ Language Reference manual.
Example
To get the base values of X through W coordinates for SCARA robot, plug 4 for NumAxes. Base values will
update as shown below.