Hyundai HI4 - Manual (Page 408)

11. Robot Language Explanation
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M I T Function Code Example of corresponding HR - BASIC syntax.
M51 Shift Requirements SREQ
M52 Online Shift SONL
M53
Online Coordinate
Conversion
TONL1
M54
Online Coordinate
Conversion
TONL2
M56
Timer Cnditional Shift
Function.
SREQT(SREQT)
M58 XYZ Shift SXYZ
M59 Search Function SEA
M62
Function setting Step
Jump (Uncond.)
GOTO <Address>
M63
Function setting Step
Jump (I conditional)
IF DIn=1 THEN <Address>
M64
Function setting Step
Jump (Count Conditional) IF Vn%=<Count> THEN <Address>
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
M68
Shift Amount
Substitution
Rn=<Pose Constant> n= 1∼8
M69 Shift Amount Addition
Rn.X=Rn.X+<Addition value>.... n is 1∼8 for each
element.
M70
Count Register Initial
Value Setting
LETN
M80 Program Call (Uncond.)
CALL <Program Number> (At the end of called program
END)
M81 Program Call (DI Cond.)
IF DIn=1 THEN
CALL <Program Number> (At the end of called program
END)
ENDIF
M82
Prograsm Call
(Count Conditional)
IF Vn%=<Count> THEN
CALL <Program Number> (At the end of called
program, END)
ENDIF
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
M83 Program Jump (Uncond.) JMPP <Program Number>
M84 Program Jump (DI Cond.)
IF DIn=1 THEN
JMPP <Program Number>
ENDIF
M85
Program Jump
(Count Conditional)
IF Vn%=0 THEN
JMPP <Program Number>
ENDIF
Vn%=Vn%+1 (Vn% value is initialized out of cycle).