Hyundai HI4 operation manual Constant, H0 ∼&HFFFF, ∼&Hffffffff

11.Robot Language Explanation

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11.1.4 Constant

constant type			range		example
		dec.	-32768∼32767		2150, -440
constant
		bin.	&B0∼B1111111111111111		&B01101011, &B1000
		hex.	&H0∼&HFFFF		&H3F77,		&H2A
real number			-3.4E+38∼3.4E+38		55.6, 0.5E-2
string			enable with 35 char.		"INPUT WORK NUMBER:",
					"INVALID DATA"
constant		coordinate type		range						example
type
		basic coordinate		real number range		(204.5, 3719.35, 277.94, 0, 50, 0, 24)
	system					(P* is present pose of robot)
pose		robot coordinate		real number range		(204.5, 3719.35, 277.94, 0, 50, 0, 24)R
	system
		encoder type		0∼&HFFFFFFFF		(&H400000,&H400000,&H400000,
						&H400000,&H400000,&H400000)E
		basic coordinate		real number range		(0, 50, 0, 0, 0, 0)
	system
shift
		tool coordinate				(0,	50,	0,	0,	0,	0)T
				real number range		(if T, tool coordinate system
	system
						reference)
Reference

(1)Suffix is not added in basic coordinate system, but suffix is added in robot coordinate system.

(2)In case of basic coordinate system or robot coordinate system, each elements are (X, Y, Z, RX, RY, RZ, cfg.). If there is an additional axis, it is continued after RZ. X, Y, Z are coordinate(unit: mm), RX, RY, RZ are each rotational angle of x axis, y axis, axis(unit: degree).

cfg.(configuration) is consists of 8bit (0∼255) robot type information.

(3)In case that there is not additional axis, it is the same whether R is added or not.

(4)In case of encoder type, suffix is added.

(5)Each elements of encoder type is (S, H, V, R2, B, R1), and there is not cfg. If there is an additional axis, it is continued after R1.

(6)In case that T is added, only tool coordinate system is applied, so even though user coordinate system is set, it is ignored.

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