Hyundai HI4 Reference ⑴ Auto calibration Outline, 143938 ***AUTO Tool SETg*** A0S4

6.System setting

------------------------------------------------------------------------------------------------

Initia calculation for square pillared tool

Initia calculation for a cylinderical tool

Ix~=~{ ( Ly ^ 2

+ Lz ^ 2

) } / 12

X W

Ix~=~Iy~=~{ ( 3r ^ 2 + H ^ 2 ) } / 12 X W

Iy~=~{

(

Lx

^

2

+

Lz

^

2

)

}

/

12

X

W

Iz~=~{ r ^ 2 } / 2 X W

Iz~=~{

(

Lx

^

2

+

Ly

^

2

)

}

/

12

X

W

UNIT : WEIGHT[kg], LENGTH[m], INITIA[kg{m^2}]

Reference

⑴Auto calibration

Outline

You can make the same program to the previous program by calibrating automatically the tool constant without teaching when the teaching point in the previous program is different from the previous teaching point resulting in changing, modification of the tool.

You can get angle, length of new tool if executing the function after moving the setting tool in the step that taught previously.

At this time, the position data of the step that is taught is recorded as the pose data, accurate.

Screen display

14:39:38 ***AUTO TOOL SETg*** A:0S:4

*) By jogging, place the tool-tip at the point of reference step, with the same pose just as it was positioned. If the pose is not certain, execute 'Angle Setting' after this function.

Program No. = [ 0]

Step No. = [ 0]

Tool No. = [ 0]

Select and Enter number. Press [SET]

>[1 - 999]

Execute

Screen description

„Existed program no. : You should input program no. that is taught before modification of the tool.

„Step no. : Input the step no. that will execute tool constant auto calibration.

----------------------------------------------------------------------------------------

6 - 52