Function of relative moves where all moves are relative to the position at the beginning, not to each other

Robot Programming
1

Hello,

I have an application where the arm must move on a pre-determined path from an initial position, however the arm will need to follow this path from various start positions within its working envelope.

I’d like to setup a function or macro where the arm will take it’s position at the beginning of the macro as it’s tool “origin”. Then all moves are relative to that temporary origin. This would be helpful instead of purely relative moves so that changes at one waypoint in the motion profile do not affect subsequent points.

How can I accomplish this?

2

This is what “base frames” are for. You can use the SetBase statement to change the position frame relative of which the motions are defined and then use that base in those statements to make them relative.

https://help.visualcomponents.com/4.8/Premium/en/English/Robot%20Programming/Robot%20Statements/Define_Base.htm

3

Is it possible to use a SetBase statement for the current position of the arm at the flange TCP? What does that syntax look like?