Hyundai HI4 operation manual Sonl Command

11.Robot Language Explanation

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11.3.5SONL Command

Description	On-line shift (M52)
Syntax	SONL ST=<Start/End>,RF=<Std>,R=<Register Number>,SS=<Shelter Step
	No>
	Start/End	If 1, starts the shift application. If 0, ends.	0∼1
		If 0, all other factors are ignored.
	Std.	If 0, based on the ground plane. If 1, based on the tool.	0∼1
Parameter
	Reg. Number	The register number where the received shift amount is	1∼8
		stored.
	Shelter	Step to jump to when the shift amount is not input within	0∼999
	Step No.	the specified time period.
example	SONL ST=1,RF=0,R=1,SS=10

Introduction

On-line shift is a function to shift parallelly the teaching point to an any place of X, Y, Z coordination by using the shift amount transmitted through the external equipments such as vision system. Generally it is used on the robot base coordination but the robot tool coordination can be selected.

Examples

(1) Parallel shift

When the points A, B, C, D is parallel to the point a, b, c, d as the following picture, the robot plays back the A, B, C, D program that is corrected the difference of 'A' and 'a' by using data from the external equipment with fixed tool angle.

(2) Tool angle correction shift

Robot makes a shift with fixed tool angle in the parallel shift. But in the tool angle correction shift, robot makes X, Y, Z shift with corrected tool angle according to the angle of robot coordination from the external equipment.

As the following picture,

(3) Jump to shelter

It is a function to jump to shelter step in case that data is not transmitted to robot during sometime when robot is in on-line shift.

(4) Request shift amount (M51)

Shift amount is a need to be transmitted from external equipment. This function (SREQ) is to request shift amount.

(5) Request shift amount on condition that time (M56)

This function is same as SREQ. But robot waits during some time (0.1 ~ 60.0sec). And then robot jumps to a shelter if shift amount is not transmitted during that time.

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