Hyundai HI4 - Manual (Page 271)

6. System setting
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6.6.1 The optimization of axis constant and tool length
Outline
It sets automatically after compensating the constant data of straight line
interpolation.
It is a function that gains the straight line interpolation constant compensated from
each step encoder data of the program recorded the same point as the various pose to
improve the accuracy of the straight line interpolation curve and coordinate
convertion.
It can automatically set the distance till the nose of tool which is difficult to measure
on the three dimensions. the straight line interpolation constants which are
compensated are the axis constant of H, V, R2, B axis and the tool length of X, Y, Z
direction.
Screen display
Screen description
„ Setting : If using the "constant and tool" mode, both the tool length set in "SYSTEM"[PF2]
→ 3.Robot parameter → 1.Tool data and the value set in "SYSTEM[PF2] → 3.Robot
parameter → 2.Axis constant are compensated.
Therefore this mode is selected only in case of executing the function on the first
tool and from the second tool, please compensate only the tool length through the
selection of tool mode.
„ Program number : It is a program number recorded the same point as the various pose.
14:39:38** Axis/Tool optimize **A:0 S:4
Setting = <
Constant & Tool , Tool >
Program No. = [ 0]
Tool NO. = [ 0]
Permissible position error = [ 0.1]mm
Max step position error(X) =
(Y) =
(Z) =
Press [SHIFT]+[<-][->] Key.
>