Hyundai HI4 operation manual T Function Code Example of corresponding HR Basic syntax

11. Robot Language Explanation

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M I T Function Code		Example of corresponding HR - BASIC syntax.
M51	Shift Requirements	SREQ
M52	Online Shift	SONL
M53	Online Coordinate	TONL1
	Conversion
M54	Online Coordinate	TONL2
	Conversion
M56	Timer Cnditional Shift	SREQT(SREQT)
	Function.
M58	XYZ Shift	SXYZ
M59	Search Function	SEA
M62	Function setting Step	GOTO <Address>
	Jump (Uncond.)
M63	Function setting Step	IF DIn=1 THEN <Address>
	Jump (I conditional)
M64	Function setting Step	IF Vn%=<Count> THEN <Address>
	Jump (Count Conditional)	Vn%=Vn%+1	(Vn% value is initialized out of cycle).
M68	Shift Amount	Rn=<Pose Constant>		n= 1∼8
	Substitution
M69	Shift Amount Addition	Rn.X=Rn.X+<Addition value>.... n is 1∼8 for each
		element.
M70	Count Register Initial	LETN
	Value Setting
M80	Program Call (Uncond.)	CALL <Program Number> (At the end of called program
		END)
		IF DIn=1 THEN
M81	Program Call (DI Cond.)	CALL <Program Number>		(At the end of called program
				END)
		ENDIF
		IF Vn%=<Count> THEN
	Prograsm Call	CALL <Program Number>		(At the end of called
M82				program, END)
	(Count Conditional)
		ENDIF
		Vn%=Vn%+1	(Vn% value is initialized out of cycle).
M83	Program Jump (Uncond.)	JMPP <Program Number>
		IF DIn=1 THEN
M84	Program Jump (DI Cond.)	JMPP <Program Number>
		ENDIF
		IF Vn%=0 THEN
M85	Program Jump	JMPP <Program Number>
	(Count Conditional)	ENDIF
		Vn%=Vn%+1	(Vn% value is initialized out of cycle).

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