Hyundai HI4 operation manual Pose, = Robot coordinate system E = Encoder

2. Basic operation

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Setp n+1: C Int.

Object step

Setp n
Start step	Step n+2: C Int.
	Ref. step

Step n: Start step

	Step n+1: C int.
Setp n-1	Object step
Ref. step

Step n+2

Int.: L or P

If you use the above explanation's standard, you can do programming using double registration of same point even in case of continuous circle.

Int. C Int. C

Int. C Int. C

Int. C Int. C

Int. C Int. L(P)

Double registration of same point

Int. C

Like this, you can make program whatever your want. if your use double registration and decide the interpolation type of step considering the locus form to be made.

2.2.1.2 Pose

It is the parameter to record robot's position. In case of input of [MOVE] sentence using [CMD] key, you have to user pose parameter surely. In case of input of [MOVE] sentence pressing

[REC] key, pose is not shown (hidden pose). In this case, the robot's position would be recorded as soon as you press [REC] key.

„Pose : (X, Y, Z, Rx, Ry, Rz, Cfg) {coordinate system}

{coordinate system} : ' ' = Base coordinate system

R= Robot coordinate system E = Encoder

„Shift : (X, Y, Z, Rx, Ry, Rz) {coordinate system}*) R1∼R8 is same as in-line resister.

{coordinate system} : ' ' = Base coordinate system

R= Robot coordinate system T = Tool coordinate system

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