> 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/operation/step/step-cmd-param/pose.md).

# 2.3.1.2 Pose

A pose is a parameter to record the position. If you input a move, the movement command, by using the \[Command] button, you should designate the pose expression in the tg (target) parameter. When the move statement is inputted using the \[Record] button, the tg parameter will not appear. At the moment of touching the \[Record] button, the position and posture of the manipulator will be recorded, but they will not be displayed on the JOB editing screen, which is why they are called a hidden pose.

The method to input a pose using the menu button on the right side of the Hi6 teach pendant screen is as follows.

* After touching the \[Command] button, select \[Motion] and then input the statement.

![](https://3582473718-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MjGR3_MuSysJbdhJ1BO%2F-Mk0wgeZHapdFyolQhJf%2F-Mk0wqYYaX_EAShjU-Q0%2Fimage.png?alt=media\&token=eb694f84-a1f1-470e-ac55-030b1d2fad30)

* After touching the \[property] button, set the attributes of the current robot pose and then touch the \[Apply] button.

![](https://3582473718-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MjGR3_MuSysJbdhJ1BO%2F-Mk0wgeZHapdFyolQhJf%2F-Mk0x2OsKCGNBCJCsG2v%2Fimage.png?alt=media\&token=1e0fcaa7-0b12-4ee8-ae80-647a9a42233e)

The pose variable and shift variable will be saved in the following formats.

| Pose Variable                                                                                                                                                                                                                  | Shift Variable                                                                                                                                                                                           |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| (X, Y, Z, Rx, Ry, Rz, {Coordinate system}, {config.})                                                                                                                                                                          | (X, Y, Z, Rx, Ry, Rz, {Coordinate system})                                                                                                                                                               |
| <p>{Coordinate system}:</p><p>"base" = Base coordinate system<br>"robot" = Robot coordinate system<br>"user{n}" = User coordinate system (n refers to a number)<br>"joint" = Joint coordinate system<br>"encoder"= Encoder</p> | <p>{Coordinate system}:</p><p>"base" = Base coordinate system<br>"robot" = Robot coordinate system<br>"user{n}" = User coordinate system (n refers to a number)<br>"joint" = Joint coordinate system</p> |