> For the complete documentation index, see [llms.txt](https://hyundai-robotics.gitbook.io/hi6-operation-manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://hyundai-robotics.gitbook.io/hi6-operation-manual/menu/program-conversion/mirror-image.md).

# 4.3.6 Mirror Image

You can write a program in which the position of the S axis and the posture of the wrist axis are symmetrical based on the Y-Z plane at the 0° position of the S axis of the robot.

This function is useful when instructing two robots on the left and right to perform the same operation, such as welding the body of a vehicle. First, teach an operation to one robot and then open the program of the taught operation and convert it into a mirror image. Then, a program symmetrical to the S axis will be written.

![Figure 32 Original Program (Left) / Program Converted Through Mirror Image (Right)](https://3582473718-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MjGR3_MuSysJbdhJ1BO%2F-Mk9m8743CWIoqfR68Zz%2F-Mk9n4a1ZCEpsrEofbSI%2Fimage.png?alt=media\&token=c0357e62-546d-436a-9f1c-dbbb3bab9422)

{% hint style="info" %}
The mirror image function is not supported for collaborative robots.
{% endhint %}

The use of the \[6: Mirror Image] menu will be restricted during the startup of the robot. The method to use the mirror image function is as follows.

1. Touch the \[6: Program Conversion > 6: Mirror Image] menu. Then, the mirror image setting window will appear.
2. After setting the mirror image conversion option, touch the \[OK] button.

* \[Source program]/\[Target program]: You can set the number of the existing program and the number of the new program that is to be created through conversion using a mirror image.

![](https://3582473718-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MjGR3_MuSysJbdhJ1BO%2F-Mk9m8743CWIoqfR68Zz%2F-Mk9nE8eQpdbiLXYb9kA%2Fimage.png?alt=media\&token=f7f4be16-0f10-4907-8f03-1e50fb2c0a7b)