Hyundai HI4 - Manual (Page 374)

11. Robot Language Explanation
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11 - 9
_RN1~16 or
_RN[1]~_RN[16]
It’ s relevant to number of times register No.1~No.16
$CONVREG Encoder pulse count value of option board Read only
$CONVSTAT
Status of option board
Bit 0 : status in encoder singer wire short(active high)
Bit 1 : start limit switch(active high)
Read only