Hyundai HI4 - Manual (Page 378)

11. Robot Language Explanation
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11.2.2.2 SMOVE Command
Note
(1) Detailed about Positioner Synchronizing is referred to the Positioner Synchronizing
operation manuals.
(2) If Move command is input by using key of T/P in the position synchronizing mode,
it becomes hidden pose type.
(3) If shift data is recorded in the pose position by using T/P, it becomes hidden pose
type.
(4) There are MX, G1, PU, PK, PS in the output option of palletizing mode. Signals such
as MX and G1 or PU, PK, PS cannot be used simultaneously. Detailed is referred to the
Palletizing function.
(5) When using robot equalizing, G1 and G2 cannot be used simultaneously.
Description The tool end of the robot moves to pose position with positioner synchronizing.
Syntax
SMOVE , [], S=, A=, H=
[,] [ UNTIL [,] ]
Positio
ner No.
Referred to the positioner synchronizing.
Interpo
lation
P : No Interpolation, L : Straight, C : ARC
Pose
Pose type, Target pose to move. If there is hidden pose,
it is omitted or only the shift type is specified.
Speed
Arithmetic Equation. The moving speed of the tool end.
Unit(mm/sec, cm/min, sec, %) has to be accompanied.
Accurac
y
Arithmetic Equation. 0∼3 0 is most accurate
Tool
Number
Arithmetic Equation. 0∼3
Output
Option
MX, MX2, G1, G2, BM (Multiple selection possible)
Conditi
on If the condition is met, robot operation stops and it
is assumed to reach the specified pose.
Parameter
Interru
pt
Status Saves the result of the condition.
Provides the information if Move command is exited by
the condition. Used with
UNTIL
command
example
MOVE C, P[0]+R[1], S=800mm/s, A=0, H=1
MOVE P, R1, S=80%, A=1, H=3 UNTIL DI1=1
(hidden pose)
MOVE L, S=0.5sec, A=0, H=0, MX, G1 UNTIL DI2=&H7F, V1% (hidden pose)