Hi6 Robot Controller Operation Manual
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English
EnglishKorean
  • Hi6 Robot Controller Operation Manual
  • About the Manual
    • Copyrights
    • Notation Convention
    • Safety Cautions
  • 1. Robot System
    • 1.1 Basic Configuration
      • 1.1.1 Controller
      • 1.1.2 Teach Pendant
    • 1.2 Basic Use
      • 1.2.1 Turning On the Power
        • 1.2.1.1 Input of the Power to the Motor and the Operable Status
      • 1.2.2 Turning Off the Power
      • 1.2.3 Changing the language of the teach pendant screen
      • 1.2.4 Screen of the Hi6 Teach Pendant
        • 1.2.4.1 Status Bar
        • 1.2.4.2 Log Bar
        • 1.2.4.3 Function Buttons
        • 1.2.4.4 Menu Buttons
        • 1.2.4.5 Work area
  • 2. Operation
    • 2.1 Manual Operation
      • 2.1.1 Operation Method
      • 2.1.2 Operation Speed Adjustment
      • 2.1.3 Step Forward/Backward
    • 2.2 Automatic Operation
      • 2.2.1 Operation Method
      • 2.2.2 Operation Speed Adjustment
    • 2.3 Step
      • 2.3.1 Step Statement Parameters
        • 2.3.1.1 Interpolation
        • 2.3.1.2 Pose
        • 2.3.1.3 Speed
        • 2.3.1.4 Accuracy
        • 2.3.1.5 Tool Number
        • 2.3.1.6 Stop Condition
        • 2.3.1.7 Comment
      • 2.3.2 Recording and Changing a Step Position
        • 2.3.2.1 Axis Angle Recording Coordinate
        • 2.3.2.2 Base and Robot Recording Coordinates
    • 2.4 R Codes
    • 2.5 Error Information
      • 2.5.1 Error Type
      • 2.5.2 Error Handling
    • 2.6 User Buttons
      • 2.6.1 Switching of the User Button Area
      • 2.6.2 Button Registration for Each Area
        • 2.6.2.1 Key Signal Output Function Area
        • 2.6.2.2 Spot Application Function Area
    • 2.7 Coordinate System
      • 2.7.1 Jog Keys
      • 2.7.2 Joint Coordinate System
      • 2.7.3 Robot Coordinate System
      • 2.7.4 User Coordinate System
      • 2.7.5 Tool Coordinate System
    • 2.8 Optimization of the Axis Origin and Tool Length
    • 2.9 Tool Data Automatic Calibration
  • 3. Program Writing
    • 3.1 Program Management
    • 3.2 Program Writing
      • 3.2.1 Statements
      • 3.2.2 Statement Inputting
        • 3.2.2.1 General Statement Inputting
        • 3.2.2.2 Inputting of a Step Statement with a Hidden Pose
        • 3.2.2.3 Recording Condition
      • 3.2.3 Statement Configuration
      • 3.2.4 Statement Editing
        • 3.2.4.1 Statement Editing Method
        • 3.2.4.2 Example of Statement Editing
        • 3.2.4.3 Line Number Editing Method
        • 3.2.4.4 Soft Keyboard
        • 3.2.4.5 Block Editing Mode
  • 4. Menu
    • 4.1 Use of Menus
    • 4.2 File Management
      • 4.2.1 File Management
      • 4.2.2 Renaming of a File and Folder
      • 4.2.3 Folder Management
        • 4.2.3.1 Folder Deletion
        • 4.2.3.2 Folder Creation
      • 4.2.4 File Protection
      • 4.2.5 Data Backup
      • 4.2.6 Data Restoration
    • 4.3 Program Conversion
      • 4.3.1 Recording Condition
      • 4.3.2 Recording Speed Conversion
      • 4.3.3 Recording Position
      • 4.3.4 Recording Coordinate System
      • 4.3.5 Coordinate Shifting
      • 4.3.6 Mirror Image
      • 4.3.7 Step Copy
        • 4.3.7.1 Example of Step Copy
    • 4.4 System Diagnosis
      • 4.4.1 System Version
        • 4.4.1.1 Controller System Updating
    • 4.5 Setting of Date and Time
  • 5. Condition Setting
    • 5.1 Operation Condition Setting
    • 5.2 Information of Operation Conditions Setting
  • 6. Monitoring
    • 6.1 Use of the Monitoring Function
    • 6.2 job
    • 6.3 Pose
    • 6.4 System Input
    • 6.5 System Output
    • 6.6 Public Input
    • 6.7 Public Output
    • 6.8 Global Variables
    • 6.9 Local Variables
    • 6.10 Operation time
    • 6.11 Log
    • 6.12 History
    • 6.13 System Character
    • 6.14 Task monitor
    • 6.15 Soft Keyboard
    • 6.16 workcell
    • 6.17 Help
    • 6.18 Sensor Sync
    • 6.19 Program reserve
  • 7. Set Up
    • 7.1 Use of the Menus in Settings
    • 7.2 User Environment
    • 7.3 Control Parameter
      • 7.3.1 Control Environment Setting
      • 7.3.2 Input/Output Signal Setting
        • 7.3.2.1 Input Signal Attribute
        • 7.3.2.2 Output Signal Attribute
        • 7.3.2.3 Input/Output Signal Setting Information
        • 7.3.2.4 Input Signal Assignment
        • 7.3.2.5 Input Signal Setting Information
        • 7.3.2.6 Output Signal Assignment
        • 7.3.2.7 Output Signal Setting Information
        • 7.3.2.8 Key Signal Output
        • 7.3.2.9 DIO Block Allocation
        • 7.3.2.10 Multiple Signal Output
        • 7.3.2.11 Multiple Signals Input
      • 7.3.3 Serial Port
      • 7.3.4 Robot Ready Condition
      • 7.3.5 Home Position Registration
      • 7.3.6 Coordinate System Registration
        • 7.3.6.1 User Coordinate System
        • 7.3.6.2 Stationary Tool Coordinate System
      • 7.3.7 Scheduled Program Execution
      • 7.3.8 Automatic Backup and Recovery
      • 7.3.9 Industrial Communication (fieldbus)
        • 7.3.9.1 Firmware Setting
        • 7.3.9.2 Industrial Communication Setting
        • 7.3.9.3 Monitoring
    • 7.4 Robot Parameters
      • 7.4.1 Tool Data
        • 7.4.1.1 Tool Data Setting
        • 7.4.1.2 Tool Data Setting Information
      • 7.4.2 Axis Origin
      • 7.4.3 Soft Limit
      • 7.4.4 Encoder Offset
        • 7.4.4.1 Encoder Offset Value Utilization
      • 7.4.5 B-Axis Deadzone
      • 7.4.6 Accuracy
      • 7.4.7 Additional Weight of Each Axis
        • 7.4.7.1 Coordinate System Origin of Each Axis
      • 7.4.8 Collision Detection (Function to Be Available Later)
        • 7.4.8.1 Collision Detection Sensitivity Setting
      • 7.4.9 Jog Inching Level Setting
        • 7.4.9.1 Main Functions of the Jog Inching Function
        • 7.4.9.2 Inching Jog Operation
    • 7.5 Application Parameters
    • 7.6 Initialize
      • 7.6.1 System Format
      • 7.6.2 Robot Type Selection
      • 7.6.3 Usage Setting
        • 7.6.3.1 Spot Welding
        • 7.6.3.2 Arc Welding
      • 7.6.4 Serial Encoder Reset
      • 7.6.5 Additional Axis Parameter Setting
      • 7.6.6 Mechanism Setting
    • 7.7 Auto Calibration
      • 7.7.1 Optimize Axis Origin and Tool Length
      • 7.7.2 Positioner Calibration
      • 7.7.3 Load Estimation Function
      • 7.7.4 Base Axis Calibration
        • 7.7.4.1 Base Axis Initial Setting
        • 7.7.4.2 Base Axis Calibration Program Teaching
        • 7.7.4.3 Base Axis Calibration Execution
        • 7.7.4.4 Operation After Base Axis Calibration
      • 7.7.5 Gravity Direction Auto Setting
      • 7.7.6 Calibration of the Robot and Tool
  • 8. R Codes
    • 8.1 Use of R Codes
    • 8.2 R0 for Resetting the Step Counter
    • 8.3 R115 for Copying a Program
    • 8.4 R117 for Deleting a Program
    • 8.5 R210 for Selecting a Spot Gun Number
    • 8.6 R211 for Setting the Servo Gun Squeeze Force
    • 8.7 R212 for Presetting the Servo Gun Moving Electrode Wear Volume
    • 8.8 R213 for Presetting the Servo Gun Fixed Electrode Wear Volume
    • 8.9 R214 for Selecting Welding Guns Simultaneously
    • 8.10 R215 for Setting the Squeeze Force in the Spot Welding Condition
    • 8.11 R220 for Setting the Panel Thickness (Sv)
    • 8.12 R358 for Changing the Servo Tool
    • 8.13 R359 for Servo Tool Encoder Power On Relay
    • 8.14 R361 for Setting the Jog Inching Level
  • 9. Property
    • 9.1 Use of the property Function
    • 9.2 Move-Step Position
      • 9.2.1 Hidden Pose Move Statement
      • 9.2.2 Pose Recording Move Statement and Pose Assign Statement
    • 9.3 Spot Welding Function
  • 10. Robot Language
  • Appendices
    • Rules on Occupational Safety and Health Standards, and Notice for Safety Inspection
  • Quality Assurance
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  1. 7. Set Up
  2. 7.7 Auto Calibration

7.7.4 Base Axis Calibration

Previous7.7.3 Load Estimation FunctionNext7.7.4.1 Base Axis Initial Setting

Last updated 3 years ago

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Base axis calibration is a function to calibrate the installation direction of the axis.

It is almost impossible to install the base axis to exactly match one direction (X, Y, or Z) of the robot coordinate system. When you calculate the direction of the base axis in the controller using the base axis calibration function, you can improve the performance of the linear interpolation trajectory of the system including the base axis.

After the robot is installed on the base axis, this function makes it possible to perform position interpolation by finding the direction vector of any base axis on which the robot is installed.

In general, the base axis is used to move the robot to the operation position. In special cases, the base axis can also be used in a case in which a linear trajectory should be guaranteed while the robot is moving on the base axis.

  • When two robots with the base axis calibrated deliver the workpiece (multi-robots will be supported in the future)

  • When you need to perform interpolation while operating the base axis

Figure 72 Base Axis Calibration