Hyundai HI4 - Manual (Page 67)

2. Basic operation
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2.3.4 User coordinate
Select user coordinate from 'System'[PF2] → 2 : Controller parameter → 12 : Coordinate
setting → 1 : User coordinate, and then set the selected coordinate. After that play the program
under state of completion key in 'Cond Set'[PF5] → 8 : Select user coordinate, then robot shall
move as following figure.
Yu
Xu
Zu
Rxu-
Rxu+
Rzu-
Rzu+
Ryu+
Ryu-Origin point
Support: manua
l jogging & shift
User Coor.