Hyundai HI4 - Manual (Page 313)

7. R code
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7 - 37
„ If you choose [0] for reference point setting, other parameters (reference X, reference
Y, reference Z) will be 0 automatically, and complete input. If you choose [1] for
reference point setting, there will be a message as followings using search function.
„ After inputting the No. of X-point with a numeric key, if press [SET] key, it will
be appeared on the screen as followings.
„ After inputting the No. of Y-point with a numeric key, if press [SET] key, it will
be appeared on the screen as followings.
„ After inputting the No. of Z-point with a numeric key, if press [SET] key, it will
be appeared on the screen as followings.
7.36.2 1: Analog
Outline
In case of working material is access within the range of assigned voltage by detection
of analogue sensor which is attached at robot or other place, if [1] for Analog selected,
it performs next step after completion of robot moving.
Enter reference X (-3000.0 - 3000.0)
>M29=5,1,
Service System Rel.WAIT Cond Set
Enter reference Y (-3000.0 - 3000.0)
>M29=5,1,200.0,
Service System Rel.WAIT Cond Set
Enter reference Z (-3000.0 - 3000.0)
>M29=5,1,200.0,150.0,
Service System Rel.WAIT Cond Set
14:39:38 *** M A N U A L *** A:0 S:H4
T0 G1
PN:100[*]__ S/F=4/0 Sp:100.00
Robot:H120, 6 axes, 1steps
S1 MOVE P,S=100%,A=0,H=1
M29 I5 1 200 0 150 0 100 0
>
Service System Rel WAIT Cond Set