Hyundai HI4 operation manual Interpolation base, User Coordinate, Crd01, =100%,A=0,T=1, End

4.Condition setting

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4.7Interpolation base

Outline

Recording step, Interpolation reference change Interpolation selected automatically. General interpolation method is robot base interpolation so that default value of controller is calculated with respect to robot base.

In order to record interpolation step of fixture, fixture is set as interpolation reference

Reference

In order to record step with fixture interpolation reference, Coordinate system of fixture is set. Refer to “ System” [PF2] → 2. Controller parameter → 12. Coordinate setting → 2: Stationary tool coordinate.

4.8 User Coordinate

Outline

In manual operation, select coordinate system in order to activate linear coordinate system. In Manual mode, with jog operation of robot, it is utilized to operate linear coordinate with respect to User coordinate system

The robot executes to act the interpolation coordination system in direction of X,Y, and Z axis of the set coordinate system. When you use the monitoring function in the service of Manual or playback mode, X,Y and Z coordinate system of the front head of the tool being output on the screen

Reference

„In Manual mode, when Number of User coordinate is selected, the following is displayed.

14:39:38		*** M A N U A L ***			A:0 S:4
T0					Crd:01
PN:100[*]__ S/F:4/0				Sp:100.00
	Robot:H120, 6축,			10 steps
S1	MOVE	P,S=100%,A=0,T=1
S2	MOVE	P,S=100%,A=0,T=1
S3	MOVE	P,S=100%,A=0,T=1
S4	MOVE	P,S=100%,A=0,T=1
	END
>
Service		System	Rel.WAIT		Cond Set

Displaying selected User coordinate number

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