Hyundai HI4 - Manual (Page 217)

6. System setting
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„ Tool no. to be set : Input the tool number that you want to set again.
⑵ Angle calibration
Outline
It executes the calibration, angle setting of the tool.
You should select “ Angle calibration” [PF2] key.
Screen display
Operation method
„ Please press "Execute [PF5]" after the direction of X, Y, Z of tool coordination
that you want to define move the position of the robot to coincide with the direction
of X, -Z, Y.
„ At this time, the direction that the tool end is gong to move is the direction of
the tool coordination system.
Reference
14:39:38 ***TOOL ANGLE SETg*** A:0S:4
By jogging, let the tool be parallel to
z-axis at any point directing downward.
Then, Press PF5[Execute].
/ _____ ：--->Torch
/：//--HH： H：H
： // HH： H：H
： HH： Body H：H
Torch HH- H H -->Body
H==H_ H H
Side H H Front H H
-view ----- -view ------
Adjust angle by jogging, then push PF5
>
Execute
Z
tool
Y
tool
Z
robot
Y robot
Position of the robot
for tool angle calibration and setting
Direction from
outside of screen to
inner side of screen