Setting Base frame in Virtual Controller

Nishant

Hello,

I wanted to know how to set up the base frame in RobotStudio with a FlexPendant.

Suppose my desired base frame is (0, 0, 0, 0.707, -0.707, 0.004, 0.004) in the (x, y, z, q1, q2, q3, q4) format, with respect to World Frame. How do I change it to this?

I tried doing ABB-->Control Panel-->Configuration-->Topics-->Motion-->Robot-->ROB_1 and then changed the base frame values. However, I get a system failure error. 

Any help is greatly appreciated. Thanks!

SjoLi

Normaly in Robot studio you would use "system configuration" in the offline tab.

Within this configurator you go into the task and select the robot. Here you can see the values of the baseframe. If you have your station correctly in the virtual station u can have the values enter automaticaly. The rotation is in degrees around the x,y and z here, not in q1-q4.

If you however want to do it using the flexpendat u could use ABB-menu >> Calibration >> ROB_1 >> Base Frame. This is a 4 point + XZ defining option, you can't enter the value's here

Although I wouldn't know why you would use this option if you can also use the offline tab.

good luck

Sjors

Nishant

Hey SjoLi,

Thanks! I shall try this first thing tomorrow morning. 

Btw, I did not know that there was a 4-point + X,Z method for defining the base frame. I thought you can only do that for setting the TCP. Thanks for pointing this out!