Operating instructions

5. SPEL AOI Reference
22
EPSON RC+ 7.0 Option AOI (Add-On Instructions) Rev.1
SPEL_BaseSet
Description
Sets 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.
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 set the base value of a SCARA robot, set NumAxes = 4. Enter the base coordinate value for each axis, as
shown below.