Hyundai HI4 143938 *** Staionary tool *** A0 S4, Staionary tool X1=, Staionary tool X2=

6.System setting

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6.2.12.2Pedestal tool coordination system

Outline

It selects the position of tool end of pedestal tool in the outer of the robot.

You can input the XYZ coordination about the pedestal tool number. It is possible for you to register 4 positions from 0 to 3.

XYZ coordination of tool end point of pedestal tool should input Base coordination of the controller. Usually Base coordination of controller is the robot base coordination.

Actual screen

14:39:38 *** Staionary tool *** A:0 S:4

Staionary tool 0
X0=[	0.0	] Y0=[ 1000.0] Z0=[		0.0]
Staionary tool 1
X1=[	0.0]		Y1=[ 1000.0] Z1=[	0.0]
Staionary tool 2
X2=[	0.0]		Y2=[ 1000.0] Z2=[	0.0]
Staionary tool 3
X3=[	0.0]		Y3=[ 1000.0] Z3=[	0.0]

Select and Enter number. Press [SET]

>[-5000.0 - 5000.0]

Reference

You can use the process as followings to know the position of the pedestal tool with the robot coordination system..

First, You must calibrate accurately axis constant and tool constant. You can calibrate the tool constant and axis constant with using “ SYSTEM” [PF2] → 6. AUTO CONSTANT SETTING".

You should match accurately the tool end of pedestal tool end to the tool end of the robot. At this time, the position of the tool end displayed on teach pendent inputs in the pedestal tool number.

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