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.

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

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})
{Coordinate system}: "base" = Base coordinate system "robot" = Robot coordinate system "user{n}" = User coordinate system (n refers to a number) "joint" = Joint coordinate system "encoder"= Encoder	{Coordinate system}: "base" = Base coordinate system "robot" = Robot coordinate system "user{n}" = User coordinate system (n refers to a number) "joint" = Joint coordinate system