Hyundai HI4 - Manual (Page 155)

4. Condition setting
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4 - 5
4.5 Robot lock
Outline
Program is only executed without robot movement. By doing this peripherals and states
of In/output and software limit can be checked
“ R123 in R code is the same function of Robot Lock.
① Disable : Robot Lock function is disabled.
② Enable : Robot Lock function is enabled.
Reference
Robot Lock is set as <Enable>, the following is displayed in Manual or Auto mode.
4.6 Record speed type
Outline
Unit of speed for the step to be recorded is set according to Interpolation condition.
R71 in R code "record speed setting method selection" is identical to the Record
function.
① Standard ---- Interpolation OFF : Percentage setting[%]
Linear Interpolation : Speed setting[mm/sec]
Circular Interpolation : Speed setting[mm/sec]
② [%] ---- Interpolation ON/OFF : Percentage setting[%]
③ [mm/s] ---- Interpolation ON/OFF : Speed[mm/sec]
14:39:38 *** M A N U A L *** A:0 S:4
T0 R-L
PN:100[*]__ S/F:4/0 Sp:100.00
Robot:H120, 6axes, 17steps
S1
MOVE P,S=100%,A=0,T=1
Select PF menu
>
Service System Rel.WAIT Cond Set
Robot Lock is enabled