Hyundai HI4 operation manual Palend P=1,ES=81, REM Spot Weld

11.Robot Language Explanation

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M I T Function Code		Example of corresponding HR - BASIC syntax.
		Vp%=Vn%/<Division Count> or Vp%=Vn% MOD <Division
M86	Function Jump (Count	Count>
	Conditional)	value is initialized out of cycle).
		ON Vp%+1 GOTO <Address1><Address2><Address3>...
M87	Function Jump (I	Vn% = DIn2*2^2 + DIn1*2 + DIn0
	Conditional)	ON Vn%+1 GOTO <Address1><Address2><Address3>...
M88	Function Jump Exit	Not required
M92	END	END
M94	Call Insert sheet	TIERST R=1,P=4,PR=2,TP=800
	program
M95	Palletizing picking up	PALPU P=1,SL=4,SH=1000
	shift
M96	Palletizing shift	PAL P=1,PR=1,W=500,L=300,H=250.5
M97	Palletizing end	PALEND P=1,ES=81
M98	Palletizing reset	PALRST P=1,CS=1,RS=5
M99	Comment Function	'SPOT WELD		or	REM SPOT WELD
M101	String Output (RS-232C)	PRINT #1,“ <String>”
M102	Other Program Call	CALLPR
	(Uncond.)
M103	Other Program Call (I	Use IF instruction
	Cond.)
M104	Other Program Call	Use IF	instruction, and variable value increment
	(Count Cond.)
M105	Output Signal(ON/OFF)	DOn=1	or	DOn=0
M113	Shift Coordinate System	SELCRD
	Selection
I1∼24	Signal Wait	WAIT DIn=1
I25	I Signal Wait (Input	WAIT DIn=1
	Signal Setting)
I26	I Signal Wait (Sub-Logic	WAIT DIn=0
	Signal)
I52	Time Conditional I	WAIT DIn=1,<Wait Time>,<shelterAddress>
	Signal Wait
I53	Time Conditional IB	WAIT (GIn AND <Binary Condition>)=<Binary Condition>,
	Signal (AND)	<Wait Time> , <shelterAddress>
I54	Time Conditional IB	WAIT GIn AND <Binary Condition>, <Wait Time>,
	Signal (OR)	<shelterAddress>
I55	Time Conditional IB	WAIT GIn=<Binary Condition>, <Wait Time>,
	Signal	<shelterAddress>
T	Delay Time Setting	DELAY <Delay Time>

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