Hyundai HI4 Others, Print Command, Description Robot Interrupt I signal M29 Syntax, Std

11. Robot Language Explanation

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11.3Others

※All the factor values can be used in the Arithmetic Equation.

11.3.1 PRINT Command

Description	Robot Interrupt (I signal) (M29)
Syntax	RINT I=<Isignal>,RF=<STD.>,X=<X coord>,Y=<Y coord>, Z=<Z
	coord>
	I signal	the number of DI signal receiving interrupt	DI range
		Select 0 when using general robot interrupt and select
Parameter	STD	1 when using search function. Search function referred	0∼1
		to M59.
	X,Y,Z	When using search function	-3000.0
	coord.		∼3000.0
Example	RINT I=<Isignal>,RF=<STD>,X=<X coord>,Y=<Y coord>, Z=<Z
	coord>
Introduction

If the I signal is input during moving to the destination, robot will move the next step. (That is, it is regarded that robot moved to the destination.)

Example

If this condition is satisfied from step 2 recorded this function to step3, robot will execute the functions of step 3 and move to the step 4.

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