Hyundai HI4 Basic things for step, Parameter of Step command line, PNo999* S/F1/0 Spd100.00

2. Basic operation

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2.2 Basic things for step

Step is a word indicating robot's certain position (or tool's end position).

Robot basically, move to other step from this recorded step and carry out any other function.

Move command "MOVE" is a command language instructing robot's moving and it is a most basic command language in the robot programming. The position of tool end is recorded also various item such as speed, interpolation, accuracy are designated.

STEP

Manipulator

STEP

14:39:38 *** M A N U A L ***			A:0 S:4
T0
PNo:999[*]__ S/F:1/0		Spd:100.00
	Robot:H6, 6axes, 2steps
S1	MOVE P,S=100mm/sec,A=0,T=0
S2	MOVE L,S=100mm/sec,A=0,T=0

Select PF menu

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Service System Rel.WAIT Cond Set

2.2.1 The parameter of STEP command line

MOVE L,	P1,	S=100%,	A=0,	T=0,	G1,	MX1, UNTIL I4,	V1%
							+- (8) Stop status
						+- (7) Stop condition
					+- (6) Output(Spot), BM(block mark)
				+- (5) Tool no. : 0∼3
			+- (4) Accuracy : 0∼3

+- (3) Speed ( Unit : mm/sec, cm/min, %, sec )

+- (2) Pose(X,Y,Z, Rx,Ry,Rz, Cfg){Coord.} + shift(X,Y,Z, Rx,Ry,Rz){Coord.} +- (1) interpolation : P(interpolation Off), L(liner), C(circular)

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