Hyundai HI4 operation manual Sreqt Command, Sxyz Command

11.Robot Language Explanation

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11.3.8SREQT Command

Description	Timer conditional shift function (M56)
Syntax	SREQT R=<Reg. Number>,PT=<Port Number>,WT=<Standby time>,SS=<shelterStep
	Number>
	Reg. Number	Register number for saving the received shift amount.	1∼8
	Port Number	RS232C port number to be used for shift requirement and	1∼1
Parameter		shift amount transmission.
	Standby	Standby time until receiving the shuft amount.	0.0∼60.0
	Time		(sec)
	shelter	Step number to be jumped when the standby time is	0∼999
	Step No	elapsed.
example	SREQT R=1,PT=1,WT=10.0,SS=100

Introduction

SREQT is same function as Shift Requirement (M51). But it makes a differences to jump to the shelter step if shift amount is not input during the specified time.

11.3.9 SXYZ Command

Description	XYZ Shift	(M58)
Syntax	SXYZ RF=<Base>,X=<X Shift Amount>,Y=<Y Shift Amount>,Z=<Z Shift
	Amount>
	Base	If 0, ground base. If 1, tool base.	0∼1
Parameter
	Shift	Shift Amount to be shifted parallel in 3D.	-3000.0∼
	Amount		3000.0
example	SXYZ RF=0,X=10.50,Y=20.50,Z=0.00

Introduction

XYZ Shift is a function that makes parallel shift with fixed tool angle in XYZ coordination and saves shift amount of 3 dimension.

Note

(1)The Playback of XYZ shift

The distance of X, Y, Z to the end of tool must be set accurately because it

makes parallel shift with fixed tool angle.

(2) The Application of XYZ shift

As the following picture, it is used when the points A,B,C,D of workpiece parallelly face each other to the points a, b, c, d.

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