Hyundai HI4 operation manual Palend Command, Palend P=1, ES=81, Palrst Command

11.Robot Language Explanation

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Introduction

It makes shift amount to palletize by using the data that recorded in palletizing pattern register.

Note

(1)Set up Gun 2 as Palletizing in the menu of "System"[PF2] → 5.Initialize → 4.Set up Using item

(2)Always conform the data of palletizing pattern register ("System"[PF2] →

5.Initialize→ 3.Palletizing → 1. Palletizing Pattern register) before using this function. If using wrong data, robot could not work properly.

(3)This function works only in the step where the condition is PS.

(4)This function(M96) must be one pair with Palletizing End(M97)

11.3.17 PALEND Command

Description	Exits the palletize (Data Input) (M97)
Syntax	PALEND P=<Pallet number>, ES=<ending signal>
	Pallet	Pallet number to exit	1∼16
	number
Parameter
	Ending	the output signal (DO) to be transmitted after ending	DO range
	signal	palletizing. If 0, there is nothing transmitted.
example	PALEND P=1, ES=81

Introduction

It is a function to end palletizing. If this function runs, robot would initialize shift amount and transmit specified signal to transfer a pallet.

11.3.18 PALRST Command

Description	Palletize reset (Data Input) (M98)
Syntax	PALRST P=<Pallet number>, CS=<Condition signal>,RS=<Response
	signal>
	Pallet	Pallet number	1∼16
	number
Parameter	Condition	Input signal to receive when reset palletizing by force.	DI range
	signal	If 0, reset unconditionally.
	Response	Output signal to respond to forced reset	DO range
	signal
example	PALRST P=1, CS=1, RS=5

Introduction

It is a function to reset palletizing by force. If the specified signal is input, robot would initialize all of informations and transmit a specified output signal to transfer a pallet.

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