Hyundai HI4 operation manual Robot Control Move Command, Until

11.Robot Language Explanation

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11.2.2Robot Control

11.2.2.1MOVE Command

Description	The tool end of the robot moves to pose position.
Syntax	MOVE <Interpolation>, [<Pose>], S=<Speed>, A=<Accuracy>, H=<Tool Number>
	[,<Output Option>] [ UNTIL <Condition>[,<Interrupt Status Variable>] ]
	Interpo	P : No Interpolation,	L : Straight,	C : ARC
	lation
	Pose	Pose type, Target pose to move. If there is hidden pose,
		it is omitted or only the shift type is specified.
	Speed	Arithmetic Equation. The moving speed of the tool end.
		Unit(mm/sec, cm/min, sec, %) has to be accompanied.
	Accurac	Arithmetic Equation.	0∼3 0 is most accurate
Parameter	y
	Tool	Arithmetic Equation.	0∼3
	Number
	Output	MX, MX2, G1, G2, BM	(Multiple selection possible)
	Option
	Conditi	If the condition is met, robot operation stops and it
	on	is assumed to reach the specified pose.
	Interru	Saves the result of the condition.			Used with
	pt	Provides the information if Move command is exited by			UNTIL
	Status	the condition.			command
	MOVE C, P[0]+R[1], S=800mm/s, A=0, H=1
example	MOVE P, R1, S=80%, A=1, H=3 UNTIL DI1=1			(hidden pose)
	MOVE L, S=0.5sec, A=0, H=0, MX, G1 UNTIL DI2=&H7F, V1% (hidden pose)
Note

(1)If Move command is input by using <REC> key of T/P, it becomes hidden pose type.

(2)If shift data is recorded in the pose position by using T/P, it becomes hidden pose type.

(3)There are MX, G1, PU, PK, PS in the output option of palletizing mode. Signals such as MX and G1 or PU, PK, PS cannot be used simultaneously. Detailed is referred to the Palletizing function.

(4)When using robot equalizing, G1 and G2 cannot be used simultaneously.

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