Hyundai HI4 operation manual Rinta Command, Parame Volt, interrupt occurs ∼10.0 Upper volt Ter

11.Robot Language Explanation

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11.3.2RINTA Command

Descri	Robot Interrupt(Analog signal) (M30)
ption
Syntax	RINTA PT=<Port No>,VL=<Lower volt>,VH=<Upper volt>
	,RF=<STD>,X=<X coord>,Y=<Y coord>, Z=<Z coord>
	Port No.	Analog port No. receiving interrupt signal	1∼4
	Lower volt	if the value of analog is between lower and upper	-10.0
Parame		volt, interrupt occurs.	∼10.0
	Upper volt
ter
	STD	0 is off, 1 is On	0∼1
	X,Y,Z	Used at search function	-3000.0
	coord		∼3000.0
Exampl	RINTA PT=<Port No>,VL=<Lower volt>,VH=<Upper volt>
e	,RF=<STD>,X=<X coord>,Y=<Y coord>, Z=<Z coord>

Introduction

If input voltage is satisfied fixed voltage range by using analog sensor, robot will regard as arriving to the next step.

Example

S1	S2		S5		S6:End
		Deceleratin point
				S4
	S3
			Analog1 Voltage
F001:M30[1,1.00,3.00,0,0,0,0]
			: 2.00V
		Option board

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