Hyundai HI4 - Manual (Page 318)

8. Programming
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Chapter 8. PROGRAMMING
Outline
Program can be divided into 2 parts, Step and Function.
There are two way of recording Step
1) Method of recording current position by pressing [RECORD] key.
2) Method of selecting [MOVE] command at menu.
For 2) method, pose variables must be used as a factor.
To record function, both inputting by using PF keys and using keys of Teach Pendant are
available.
Both Step and Function will be saved as a form of Command, and these Commands can be
distinguished as a Command and Factor. Factor can be divided by Basic factor which is
necessary basically and Selectable factor which can be different by situation.
If you add Command, default value shall be stored as a Basic factor and it can be changed.
Selectable factors display as a form of '_', when the cursor moved over '_' mark, the
range of factor shall be listed on the screen.
When edit factors of Command, inputted data shall be inserted at cursor. There are several
methods to input. Direct input : by using Numeric keys, Selection input : inputting indexes
which are listed in ( ) after selection variables and functions from menu, and Character
input : inputting figures by using numerical formula or characters.
Contents of current program can be listed at Edit frame, and it need to press [SET] after
change. The [CANCEL] key means back to origin program in state of non-change.
To teach, please check the Teach mode is current mode or not, after press Power [ON]
-> Motor [ON]. If it is not Teach mode, you can change by pressing [MODE] key.