Hyundai HI4 operation manual Tierst Command, Call program to put in a insert sheet M94 Syntax

11.Robot Language Explanation

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Introduction

It is a function to measure the abrasion amount of tip.

Gun search 1 is to use for measurement the total abrasion amount of tip and Gun search 2 is for measurement the abrasion amount of moving tip. The abrasion amount of fixed tip can be calculated by subtracting the abrasion amount of fixed tip from total abrasion amount.

Note

(1)Record servo gun axis parameter and the base position of gun search before measuring abrasion amount.

(2)Turn on Application → 7. Gun search base position Recording for base position recording of gun search. The measurement data is not abrasion value but basic value to measure.

(3)Gun search 2 must follow gun search 1.

(4)Proceed at the position where gun is open, when recording gun search function,

11.3.14 TIERST Command

Description	Call program to put in a insert sheet (M94)
Syntax	TIERST R=<Register No>,P=<Pallet No>,PR=<Pattern Register
	No>,TP=<Insert sheet Program>
	Register No	On line shift register number	1∼8
	Pallet No	Pallet number	1∼16
Parameter	Pattern	Palletizing pattern register number	1∼16
	Register NO
	Insert	Insert sheet program number	1∼999
	sheet
Example	TIERST R=1,P=4,PR=2,TP=800

Introduction

It is a function to put in a insert sheet when palletizing. This function is executed when the condition to put in a insert sheet is met.

Note

(1)An sheet insertion program must be fixed up before using this function.

(2)Make sure that the information to put in a insert sheet for a pattern register is correct. Wrong information can cause collision.

(3)This function must be between PAL and PALEND.

(4)This function can be used before palletizing or depalletizing the initial workpiece. The basic position of sheet insertion is the lower of first level when palletizing and the upper of maximum level when depalletizing.

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