Hyundai HI4 operation manual Shift buffers, Reference Parallel movement shift

3.Service menu

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3.2.2 Shift buffers

Outline

It is a parallel movement with keeping up the tool angle that already taught.

Screen display

14:39:38			***	Register ***			A:0 S:4
1. Shift buffer				for	robot	coordinate
X=[	0.0	]	Y=[		0.0]	Z=[	0.0]mm
AX=[	0.00]		AY=[		0.00]	AZ=[	0.00]dg
2. Shift buffer				for	tool coordinate
X=[	0.0]		Y=[		0.0]	Z=[	0.0]mm
AX=[	0.00]		AY=[		0.00]	AZ=[	0.00]dg

Select and Enter number. Press [SET]

>[-3000.0 - 3000.0]

Complete

Reference

(1)Parallel movement shift

When the point of A, B, C, D and the points of a, b, c, d is a parallel movement relationship between its two positions. If playback to a position of a, b, c and d from the program of A, B, C and D with keeping up regularly the tool angle to a extent of different between the point and the point A from the external.

A
B	D
	C
a	b
	d
	c

(2)Angle calibration shift

A parallel movement shift is a parallel movement with preserving the tool angle but an angle calibration shift make a shift while calibration correctly the tool angle on the basis of a deviating angle in the robot coordination system from the external. It can be playback regularly what is the tool angle for workpiece "A" is the point "c" as is the tool angle for workpiece "a" to the point "c".

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