Hyundai HI4 User Manual
Page 61
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'.
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)
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=<
Y
,N> R1=<
Y
,N> R2=<
Y
,N>
Select and Enter number. Press [SET]
>[-99999.999 - 99999.999]
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