> For the complete documentation index, see [llms.txt](https://hyundai-robotics.gitbook.io/hi6-robot-language/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-robot-language/rl-english/basic-syntax/function/func-etc.md).

# 2.9.5 Other Functions

| Function                                          | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                   | Example of usage    | Result                                                                          |
| ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------------------------------------------------------------------------- |
| cpo(crd, mode)                                    | <p>Returns the current pose of the robot to the “crd” coordinate system</p><p>For values that can be used as “crd” elements, see the table under "<a href="/hi6-robot-language/rl-english/moving-robot/pose.md">5.1 Pose</a>".</p><p>If the mode is “cmd,” it is the command value, and if the mode is “cur,” it is the current value.</p><p>The “crd” and “mode” parameters may be omitted, and their default values are “base” and “cur,” respectively.</p> | cpo("joint", "cmd") | Pose\* that stores the command value of the robot to the axis coordinate system |
| <p>mkucs(n,po)</p><p>mkucs(n,po1,po2<br>,po3)</p> | <p>Creates and registers the nth user coordinate system object</p><p>Refer to "<a href="/hi6-robot-language/rl-english/moving-robot/ucs.md">5.5 User Coordinate System (UCS)</a>".</p>                                                                                                                                                                                                                                                                        |                     | <p>0: OK</p><p><0: Error code</p>                                               |
| result()                                          | For some procedures, it may be necessary to check the results. If the result() function is called right after the procedure is executed, the execution result can be returned.                                                                                                                                                                                                                                                                                | result()            |                                                                                 |

\* Pose is a data type that represents the posture of the robot or the position of the tool tip. Details will be described later in "[5.1 Pose](/hi6-robot-language/rl-english/moving-robot/pose.md)".