Hyundai HI4 operation manual When the coordinate system is set as Base or Robot, 000

2. Basic operation

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2.2.2.2 When the coordinate system is set as Base or Robot

At manual mode, check the type of pose record from 'SYSTEM'[PF2] → 1 : User parameter → 2 :

Default Pose. If the MOVE command's pose type is in a state of Base or Robot, press then following screen will be displayed. It shows that the robot configuration is designated as 'Define'.

14:39:38 *** Step Pose Data *** A:0 S:4

POSE OF CURRENT

STEP

X: [

0.000

]

mm

T1: [

0.000]

mm

Y: [

880.000]

mm

T2: [

0.000]

mm

Z: [

1020.000]

mm

T3: [

0.000]

mm

Rx:[

-90.000]

deg

Ry:[

0.000]

deg

Rz:[

0.000]

deg

Coordination : <

Base

,Robot,Encoder>

Robot

Configuration: <

Define

,Self-Cfg>

<

Front

,Rear> <

Up

,Down> <

Flip

,Non-flip>

within

PI: S=<

,N> R1=<

,N>

R2=<

,N>

Select and Enter number. Press [SET]

>[-99999.999 - 99999.999]

Save

Reference

(1)Robot Configuration : When it need to record robot's position, there are multiple solutions can be happened. To specify specific solution you should choose specific data about robot style.

bit 0 : ( 0 : Define , 1 : Self-Cfg )

bit 1 : ( 0 : Front , 1 : Rear )

bit 2 : ( 0 : Up , 1 : Down ) → refer to following figure

⇒related with H-axis and V-axis, all our robots are 'Up'. bit 3 : ( 0 : Flip , 1 : Non-flip ) → refer to following figure

bit 4 : ( 0 : Left , 1 : Right )	→ on	screen	it will displayed as
	(│ S│	< 180,	│ S│ = 180)

⇒All our robots are 'Left'.

bit 5 : ( 0:│ R2│ <180, 1:│ R2│ >= 180 ) → It shows the location of R2-axis

bit 6 : ( 0:│ R1│ <180, 1:│ R1│ >= 180 ) → It shows the location of R1-axis

bit 7∼9 : ( 0 : base, 1 : robot, 2 : reversed, 3 : encoder)

→All those are about coordinate system for reference, It shall not be calculated.

⇒For customer's convenience, coordinate systems are shall be added on the

very end of letter.

Base coordinate = (X,Y,Z,Rx,Ry,Rz,cfg) Robot coordinate = (X,Y,Z,Rx,Ry,Rz,cfg) Encoder = (S,H,V,R2,B,R1)

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