[Albert]

You don't need to use the EK function in your generated SRC files if your controller has been properly configured to use your external axes. If so, the default post processor of RoboDK should generate valid code for your setup and the $BASE is defined as the position of your fixture with respect to the turntable reference (the moving reference).

The following 2 files from your KUKA robot controller can help understand how the system is built or customize your KUKA system/workspace to be used with your external axes:

• KRC\R1\System\$config.dat
  
• KRC\R1\Mada\$machine.dat
  

为example, the root position of your turntable should be in the MACHINE_DEF section of your config.dat file and look like this:

Code:

MACHINE_DEF[2]={NAME[] "DKP-400_1_40A_400V 1",COOP_KRC_INDEX 1,PARENT[] "WORLD",ROOT {X 1890.59399,Y 2672.26392,Z 2.61580,A -0.157900,B 0.0605000,C -0.128300},MECH_TYPE #EASYS,GEOMETRY[] "ObjectId = -2108611977"}

The reason why the system would use this root point is a bit tricky as there could be many "machine def"s and many root points defined.

This is the way I understand it works to find or modify the correct settings for your setup:

• When you do this in your SRC file:
  BAS(#ex_BASE,9)orBAS(#BASE,9)
  (I believe the #ex_ implies external axes, but I've seen #BASE work with external axes as well)
  You are telling you want to use index 9 of yourMACHINE_FRAME_DAT
  
• If you look at this MACHINE_FRAME_DAT you may see:
  MACHINE_FRAME_DAT[9]={MACH_DEF_INDEX 2,PARENT[] "DKP-400_1_40A_400V 1",GEOMETRY[] "ObjectId = -474606353"}
  
• TheMACH_DEF_INDEX 2is saying that it is using MACHINE_DEF[2] (line above).
  
• Finally,BASE_DATA[9]or$BASEdefinition in your SRC file could be just the offset of your fixture mounted on your turntable.
  

In short, BAS functions are setup functions that build the whole system based on these indexes with just one line. If you don't call the BAS function for your BASE I understand there is a default system index that is triggered.