Hyundai HI4 User Manual
Page 409
11. Robot Language Explanation
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M I T Function Code
Example of corresponding HR - BASIC syntax.
M86
Function Jump (Count
Conditional)
Vp%=Vn%/
value is initialized out of cycle).
ON Vp%+1 GOTO
M87
Function Jump (I
Conditional)
Vn% = DIn2*2^2 + DIn1*2 + DIn0
ON Vn%+1 GOTO
M88
Function Jump Exit
Not required
M92
END
END
M94
Call Insert sheet
program
TIERST R=1,P=4,PR=2,TP=800
M95
Palletizing picking up
shift
PALPU P=1,SL=4,SH=1000
M96
Palletizing shift
PAL P=1,PR=1,W=500,L=300,H=250.5
M97
Palletizing end
PALEND P=1,ES=81
M98
Palletizing reset
PALRST P=1,CS=1,RS=5
M99
Comment Function
'SPOT WELD or REM SPOT WELD
M101
String Output (RS-232C) PRINT #1,“
M102
Other Program Call
(Uncond.)
CALLPR
M103
Other Program Call (I
Cond.)
Use IF instruction
M104
Other Program Call
(Count Cond.)
Use IF instruction, and variable value increment
M105
Output Signal(ON/OFF)
DOn=1 or DOn=0
M113
Shift Coordinate System
Selection
SELCRD
I1∼24
Signal Wait
WAIT DIn=1
I25
I Signal Wait (Input
Signal Setting)
WAIT DIn=1
I26
I Signal Wait (Sub-Logic
Signal)
WAIT DIn=0
I52
Time Conditional I
Signal Wait
WAIT DIn=1,
I53
Time Conditional IB
Signal (AND)
WAIT (GIn AND
I54
Time Conditional IB
Signal (OR)
WAIT GIn AND
I55
Time Conditional IB
Signal
WAIT GIn=
T
Delay Time Setting
DELAY