These measurements can be performed anywhere in the tool flange if we measure the same target for all the 6 measurements. To start the measurements, selectMeasurein theBase setupsection. The following window will open. Then, selectStart Measureand the robot will move sequentially through the scheduled measurements.

Close the window when the measurements are completed and theMeasurements referenceframe will be updated with respect to the robot base frame. If we did not select any reference frame, we can add a reference (selectProgram➔Add Reference Frame) and place it under the robot base reference (Drag & Drop in the item tree).

The summary will show the position and orientation or the robot reference frame with respect to the calibration reference frame ([x,y,z,w,p,r] format in mm and radians)