Hyundai HI4 - Manual (Page 59)

2. Basic operation
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2.2.1.7 Stop condition
Execute next command ( step or function ) after stop robot's movement if satisfy the condition
formula following UNTIL.
2.2.1.8 Stop state variable
Store the result value of stop condition formula. It shows whether the MOVE motion is completed
or not in accordance with condition formula.
MOVE ... UNTIL I2=1
I2=1