This topic is quite old. I've attached a definition of my cell (Arm + custom track + custom turn table). In this definition, one can choose between the 2 positioning systems you are referring to in your post :
A. The cell is positioned so that $WORLD = Rhino WorldXY
B. The cell is positioned so that $BASE = Rhino WorldXY
Option A is what I want as my robot is interacting with other systems in the cell (a tool changer, some laser pointers, a washing area, ...). However, I still want to produce a KRL code that is expressed relative to the $BASE (positioned at the center of my turn table).
1. How would you achieve this ?!
2. More generally, would it be possible to produce KRL commands relative to an input base ?
3. How would you achieve change of $Base in the same simulation ? This last possibility would be useful if your robot is working on several parts at different locations/tables and you want to produce each part of the toolpath relative to the base of the table the robot is working on.