Hyundai HI4 TONL1 Command, Online coordinate conversion Slipping M53 Syntax, TONL2 Command

11. Robot Language Explanation

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11.3.6 TONL1 Command

Description	Online coordinate conversion (Slipping) (M53)
Syntax	TONL1 ST=<Start/End>,RF1=<Basic Step number1>,RF2=<Basic Step
	number2>,RF3=<Basic Step number3>
	Start/End	If 1, Coordinate conversion starts. If 0, exits.	0∼1
Parameter
	Basic Step	The step numbers to be set for 3 base points.	0∼999
	number
example	TONL1 ST=1,RF1=1,RF2=5,RF3=7

Introduction

Online coordinate conversion (Slipping) is a function to play back teached position correcting the difference transmitted from the external equipments such as vision system.

It finds a shift amount of specified basic 3 points and saves the shift amount transmitted through RS232C port in shift registers.

11.3.7 TONL2 Command

Description	Online coordinate conversion (coordinate value) (M54)
Syntax	TONL2 ST=<Start/End>,RF1=<Basic Step number1>,RF2=<Basic Step
	number2>,RF3=<Basic Step number3>
	Start/End	If 1, coordinate conversion starts. If 0, exits	0∼1
Parameter
	Basic Step	Step numbers to be set for 3 base points.	0∼999
	number
example	TONL2 ST=1,RF1=1,RF2=5,RF3=7

Introduction

Online coordinate conversion (coordinate value) is a function to play back teached position correcting the difference transmitted from the external equipments such as vision system.

It finds a coordination (robot coordination) of specified basic 3 points and receives coordination through RS232C port and saves shift amount in on line shift registers.

Note

(1)TONL1 (M53) : Online coordinate conversion (Slipping) uses the contents of shift registers as shift amount.

(2)TONL2 (M54) : Online coordinate conversion (coordinate value) uses the contents of shift registers as coordination system.

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