Hyundai HI4 Selcrd Command, ∼10, System Coordinate systems Number Example, User Coord. shift

11.Robot Language Explanation

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11.3.20SELCRD Command

Description	Shift coordinate system selection (M113)
Syntax	SELCRD <Coordinate System Number>
Parameter	Coordinate	Coordinate System Number to be used among the user	0∼10
	System	coordinate systems.
	Number
example	SELCRD 4

Introduction

It is a function to select a base coordination to shift. Robot shifts in the base of selected coordination.

Generally shift is executed in the base of robot coordination but robot could execute shift in base of user coordination by using SELCRD command when shift data is transmitted in the form of user coordination.

After this function is executed, all of shift is in the base of selected coordination. So you must select "0" coordination to return to robot coordination.

(1)This function can not change the coordination of "tool coordination shift" in the base of tool coordination.

▶the result of SELCRD in various conditions

Coord. No.	0		1 ∼ 10
base
Ground(robot coord.)	Robot coord. shift	User	coord. shift
Tool(Tool coord.)	Tool coord. shift	Tool	coord. shift

(2)Shift coordination would be changed at the next step that this function is recorded.

(3)SELCRD function can be applied to the following functions

·SONL (M52) on-line shift

·TONL1 (M53) & TONL2 (M54) on-line coordination transformation

·SXYS (M58) XYZ shift

·SEA (M59) search

·PAL (M96) palletizing (data input)

(4) There are referent functions such as "SYSTEM[PF2] → 2. CONTROL PARAMETER → 12. RECORD COORDINATION → 1. RECORD USER COORDINATION" and "SET UP CONDITION[PF5] → 8. SELECT USER COORDINATION"

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