Hyundai HI4 operation manual Callpr Command

11. Robot Language Explanation

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11.3.19 CALLPR Command

Description	Calls other program (Unconditional) (M102)
Syntax	CALLPR <Program Number>
Parameter	Program	Program number to be called.	1∼999
	Number
example	CALLPR 2

Introduction

In case that a robot is handling same workpieces that have a different position or repeating identical action, there are specific repeated actions.

CALLPR(Call relative program) is used in such case that relative position and direction are same but absolute position is different. You could program the specific programs as one program and call to use it if there is a need.

There is a different point that called program is run in the base of that current position and direction when the program is called compared to just CALL PROGRAM.

You could the result that program No.1 called relatively No.2 as following picture.

	n
o	RS1
	a

RS2

RS4(END)

Program2

RS3 S1

F1:M102[2]

Program1

S7(END)
S6
F1:M102[2]	S4	S3
S5
	F1:M102[2]

Playback of Program1

S2

RS4(END) RS3

S1

RS1 RS2

S7(END)	S6	RS4(END)	S4	RS4(END)	S2
	RS1
		S5	RS1		S3
	RS2	RS3		RS3
			RS2

Note

When called program is finished, robot executes the next step or function after returning to calling program

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