Hyundai HI4 Class Role Example 340.5mm/sL A0 T0 G1, Speed 340mm/s, Accuracy 0, tool 0, gun1, M33

11.Robot Language Explanation

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CHAP. 11 ROBOT LANG. EXPLANATION

There are two ways to teach an industrial robot greatly. One is an instruction code method, and the other is a robot language method.

Our old controller model such as Hi3CE, Hi3TB, etc.. in Hi controller series has an instruction code method to teach.

instruction code of Hi controller

section	class	role			example
			340.5mm/s(L) A0 T0 G1 X2
step	step code	move of tool end in robot		speed 340mm/s
				accuracy 0, tool 0, gun1, X2
		signal input/output
		jump, call, stop
		conditional jump, call, stop	M1 1		DI1 signal output
		repeating execution	M20		step jump
		conditional repeating
			M81	5,I1	DI conditional program call
		execution setting
	M code		M44	3,50	GI3 group signal output
		on-line shift
			M53	1,1,5,7	online coordinate conversion
		welding condition,
functio			M33	2	spot welding condition output
		palletize etc.
n			M99	'spot	comment statement
		various application
		function execution.
		etc....
			I25	I18		DI18 signal wait
	I code	DI signal wait	I53	IB1,101,2,0		time conditional
						GIsignal(AND)
	T code	time delay	T 5.0			5sec. wait

A teaching person can make a work program which can control a robot action fussily by using hundred tens of instruction codes. But, it is very difficult or almost impossible to make a program with instruction codes that needs numerical formula or string process and many data's saving and process. Also, it is difficult to analyze a program for beginner because instruction codes are consists of number codes.

On the other hand, robot language method supply that various arithmetics, string variable, functions and numerical formula type with instruction statement groups in English.

It is general that industrial robot makers has their own unique robot language. Hyundai Hi4 has its unique robot language named HR-BASIC. This language is similar with BASIC language grammar which is used in PC.

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