Hyundai HI4 143938*Positioner Calibration* A0 S4, 000, DH.a= DH.alpha= DH.d= DH.theta=, Save?

6.System setting

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14:39:38*Positioner Calibration* A:0 S:4

Positioner Group		= [	0]
Program No.		= [	0]
Positioner Group [1] POSE
X=	0, Rx=	-90.000
Y=	500, Ry=	0.000
Z=	300, Rz=	90.000

D-H Parameter
DH.a=	0,	DH.alpha=	90
DH.d=	0,	DH.theta=	0
Save?
>

„If pressing the "Execute"[PF5] key, the message of upside is displayed. and at this time, if you want to save it, press the [Yes] key.

Contents of the screen

„Positioner Group [1] Pose : It is the position value from the base coordinates to that of the positioner. The value of Rx, Ry, Rz are the angle value calculated by the absolute conversion in the direction of each axis from the base coordinates.

„D-H Parameter : In case of the 2 axis positioner, the value of DH .a and DH .alpha are calculated. The DH .a is the distance between two rotation axes and the DH .alpha is what indicates the angle between two rotation axes to the [deg].

Notice

⑴The tool end position of robot should be accurate. Therefore you should know of the tool information of robot precisely.

⑵The calibration of robot should be carried out before the positioner calibration.

⑶It can't be executed in case that the machine constant file is protected. Please execute it after lifting the file protection.

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