Hyundai HI4 Optimization of axis constant and tool length, Max step position errorX =

6. System setting

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6.6.1 The optimization of axis constant and tool length

Outline

It sets automatically after compensating the constant data of straight line interpolation.

It is a function that gains the straight line interpolation constant compensated from each step encoder data of the program recorded the same point as the various pose to improve the accuracy of the straight line interpolation curve and coordinate convertion.

It can automatically set the distance till the nose of tool which is difficult to measure on the three dimensions. the straight line interpolation constants which are compensated are the axis constant of H, V, R2, B axis and the tool length of X, Y, Z direction.

Screen display

14:39:38**		Axis/Tool optimize				**A:0 S:4
Setting	=	<	Constant	& Tool	,	Tool >
Program	No.			=		[	0]
Tool NO.				=		[	0]
Permissible			position	error =		[ 0.1]mm

Max step position error(X) =

(Y) =

(Z) =

Press [SHIFT]+[<-][->] Key.

>

Screen description

„Setting : If using the "constant and tool" mode, both the tool length set in "SYSTEM"[PF2]

→3.Robot parameter → 1.Tool data and the value set in "SYSTEM[PF2] → 3.Robot parameter → 2.Axis constant are compensated.

Therefore this mode is selected only in case of executing the function on the first tool and from the second tool, please compensate only the tool length through the selection of tool mode.

„Program number : It is a program number recorded the same point as the various pose.

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