Modify 3 point coordinate system from PLC (Integrated robotics)

[maj9bj]

For Integrated robotics application we need to modify existing user 3 point coordinate system directly from PLC code.

The reason for this is we have an calibration mode in which we move robot manualy to marked (engraved) positions on external fixture using some calibration tool. After fixture repair (exchange) we would like to call special mode with some instructions for setter like:

1. Move robot manually to point marked A.
2. Confirm position.
3. Move robot manually to point marked B.
4. ..........

Depend on teached points we will modify fixture coordinate system for automatic mode.

[Thorsten_Brach]

Please take a look at the  ProgrammableRobotBaseHelper.ProgrammableRobotReferencing.AdjustBasePoints method :

I hope that is what you are looking for ?

[maj9bj]

Hi Thorsten,

I need some additional information. I know how to load/save Reference coordinate system, but I do not know hot to get 3 robot point list I need for re-teaching (rAdjusted...). In loaded system, there are only Cartesian coordinates