Hyundai HI4 operation manual T Function Code, Spotcnd

11.Robot Language Explanation

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M I T Function Code		Example of corresponding HR - BASIC syntax.
M0	DO signal RESET	GO1=0
M1∼8	DO signal ON/OFF	DO1=1∼DO8=1		or	DO1=0∼DO8=0
M10	DO signal RESET	GO2=0
M11∼18	DO signal ON/OFF	DO11=1∼DO18=1 or DO11=0∼DO18=0
M20	Step Jump (Uncond.)	GOTO <Address>
M21	Step Call (Uncond.)	GOSUB <Address>
M22	Step Return (Uncond.)	RETURN
M23	Step Jump (Conditional)	IF DIn=1 THEN <Address>
		IF DIn=1 THEN
M24	Step Call (Conditional)	GOSUB <Address>
		ENDIF
	Step Return	IF DIn=1 THEN
M25		RETURN
	(Conditional)
		ENDIF
M26	Step Jump (Count	IF Vn%=<Count> THEN <Address>
	Conditional)	Vn%=Vn%+1	(Vn% value is initialized out of cycle).
		IF Vn%=<Count> THEN
M27	Step Call (Count	GOSUB <Address>
	Conditional)	ENDIF
		Vn%=Vn%+1	(Vn% value is initialized out of cycle).
		IF Vn%=<Count> THEN
M28	Step Return (Count	RETURN
	Conditional)	ENDIF
		Vn%=Vn%+1	(Vn% value is initialized out of cycle).
M29	Robot Interrupt (DI	MOVE L, P1, S=..., A=..., H=... UNTIL <I Signal>=1
	signal)
M32	Output signal SET	DOn=1
M33	Spot welding condition	SPOTCND
M34	Output signal RESET	DOn=0
M41	Robot Stop (Uncond.)	STOP
		IF DIn=1 THEN
M42	Robot Stop (Conditional)	STOP
		ENDIF
	Line number designated
M43	output within MB signal	GO<Group Number>=<8bit Binary>
	group
M44	binary coded output	GO<Group Number>=<Data>
	within MB signal group.

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