Ford Fanuc R30ia R30ib Nextgen E161

VEHICLE OPERATION STRUCTURE AND STANDARDS
(VOSS)
FORD Robot Programming Guide - FANUC Implementation

Next Gen - Integrated Ethernet Safety for R-30iA Controllers
Appendix Laser Cut

With Precitec MC8610 Cutting Head
Table of Contents
1 SAMPLE TEACH PENDANT PROGRAMS – LASER CUT .............. 4
1.1 PG21 – LASER CUTTING (PG34) ................................................................................................... 4
1.2 PG08 – MAINTENANCE POSITION .................................................................................................. 7
1.3 PG09 – MINOR MAINTENANCE POSITION....................................................................................... 9
1.4 PG16 – LASER COUPON CUTTING ................................................................................................11
1.5 HEAD_READY – HEAD READY MACRO.....................................................................................14
1.6 LASER_READY – LASER READY MACRO ...................................................................................16
1.7 LASEROFF – LASER OFF ............................................................................................................17
1.8 LASER01 – LASER CUTTING PATH ...............................................................................................19
1.9 PROC_OF1 – PROCESS OFF MACRO.........................................................................................21
1.10 PROC_ON1 – PROCESS ON MACRO ..........................................................................................22
1.11 P21_CIR1_20MM – CUT 20MM CIRCLE ......................................................................................24
1.12 P21_CIR1_7MM – CUT 7MM CIRCLE ..........................................................................................25
1.13 CP_CIR_20MM – CUT 20MM CIRCLE IN COUPON .......................................................................26
1.14 CP_CIR_7MM – CUT 7MM CIRCLE IN COUPON ...........................................................................28
1.15 RESET_CHECK – RESET CHECK MACRO .................................................................................30
1.16 HOME_IO – RESET INPUT/OUTPUT MACRO ..............................................................................31
2 SOFTWARE I/F PANELS ................................................................... 34

2.1 LASER CONTROLLER MENU I/F .............................................................................................34
2.2 LASER CUT HEAD MENU I/F...................................................................................................35
3 PMC LOGIC (S-LOGIC) FOR R-30IA CONTROLLERS.................. 36

4 PMC LOGIC (S-LOGIC) FOR R-30IB CONTROLLERS.................. 37
Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserCut_Appendix - 2016_02_12.doc Page 2 of 37

Revision History
Revision Modification Date Description
1.0 2012-12-21 Initial Release
1.1 2013-01-14 Fixed Exit Zone 14 bit in HOME_IO.
Updated PMC: Created R0.7 Part Present in MH.
Added not R0.7 to y126.7 contact. Created K13.1 No
Tool SS Reset Contact.
Corrected tight loop logic in PROC_ON1,
CP_CIR_20MM and CP_CIR_7MM.
1.2 2013-03-18 Updated R-30iB specific PMC.
1.3 2013-07-08 Added a new TP Program PG09 which is a copy of
PG08, but for PG09, DO[6] is changed to DO[587].
1.4 2013-08-07 Updated PMC: Modified logic for rung with output
R0388.0 OPSFTY_FLT_LATCH. Added a rung for
this modification that has output R0388.1 F1008.1
DELAY ON.
1.5 2014-06-24 Update PMC iA and iB: Modified facility code reset
logic. Modified safety chain fault detection logic.
Updated HOME_IO to reset Robot at Minor
Maintenance;
Added DO[587:RBT AT MINMAINT]=OFF
1.6 2015-01-30 Added Second Program Verify to Main Style Program
Updated (Minor) Maintenance Programs:: Moved
position at which the at (Minor) Maintenance position
signal is turned off to come immediately after the wait
for the PLC (Minor) Maintenance clear signal.
Updated PMC: Added Couple and Decouple pass
through signals to Tool Changer Subprogram
1.7 2016-02-12 Updated PMC: Added TC Cover Open/Close to
Interface Anti-Tiedown Logic
Updated PMC: 2015-10-30 : Added Logic to allow for
Robot Cycle start from Multiple Home Locations;
Added Logic to require a TP Interface Button Press to
(Un)Lock the Tool Changer while in teach; Added
Logic to not allow the signal for the Lock Command to
go low when the Tool Change Application Bit is
inactive

1 Sample Teach Pendant Programs – LASER CUT
1.1 PG21 – Laser Cutting (PG34)

/PROG PG21
/ATTR
OWNER = MNEDITOR;
COMMENT = "LWB BUS 15 HVAC";
PROG_SIZE = 2086;
CREATE = DATE 12-10-30 TIME 02:52:16;
MODIFIED = DATE 12-12-05 TIME 13:34:40;
FILE_NAME = PG21;
VERSION = 0;
LINE_COUNT = 94;
MEMORY_SIZE = 2478;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
SPOT Welding Equipment Number : 1 ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
CYCLE_TARGET = 0.00 ;
/MN
1: !***************************** ;
2: ! Kansas City Assembly Plant ;
3: ! V363 Program ;
4: ! Robot: 8C030-1 ;
5: ! Robot Program: PG21 ;
6: ! Model: LWB BUS 15 HVAC ;
7: ! Laser/Figure Cutting ;
8: !***************************** ;
10: !Verify Program ;
11: PROGRAM VERIFY(21) ;
12: ;
13: !Set Robot UTOOL Number ;
14: UTOOL_NUM=1 ;
15: ;
16: !Set Robot UFRAME Number ;
17: UFRAME_NUM=1 ;
23: ;
24: !-------------------------------- ;
25: !Set Robot Payload ;
26: PAYLOAD[3] ;
27: ;
28: !Setup App Specific Outputs ;
29: ! Runs HOME_IO ;
30: SETUP OUTPUTS ;
31: ;
32: !Move to Home ;
33: GO TO HOME POS ;
34: ;
64: ! Move to pounce position ;
65: GO TO POUNCE ;
66: ;

67: !Clr to Adv Xfer ;
68: DO[954:CLRTOADVXFR]=ON ;
69: ;
70: !Clr to Ret Xfer ;
71: DO[955:CLRTORETXFR]=ON ;
72: ;
73: !Clr to Unclamp ;
74: DO[956:CLRTOUNCLMP]=OFF ;
75: ;
76: !-------------------------------- ;
77: LBL[33:Loop Back] ;
78: ;
79: ! Turn ON Robot in LOOP ;
80: DO[24:RBT IN LOOP]=ON ;
81: ;
82: !-------------------------------- ;
83: !Wait Continue from Pounce ;
84: ! or Return to Home ;
85: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
86: ;
87: ! Turn OFF Robot in LOOP ;
88: DO[24:RBT IN LOOP]=OFF ;
89: ;
90: !If Return to Home ;
91: ! jump to LB[13] ;
92: IF DI[13:RETURN TO HOME]=ON,JMP LBL[13] ;
93: ;
94: !If Continue from Pounce ;
95: ! jump to LB[9] ;
96: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
97: ;
98: JMP LBL[33] ;
99: ;
100: !-------------------------------- ;
101: !Continue from Pounce ;
102: LBL[9] ;
5: ;
8: ;
104: !Clr to Return Xfer ;
105: DO[955:CLRTORETXFR]=OFF ;
106: ;
108: DO[954:CLRTOADVXFR]=OFF ;
109: ;
64: ;
65: !******************************* ;
66: ! Laser Cut Path ;
67: !******************************* ;
68: ;
69: !ENTER ZONE10 W/CONVEYOR ;
70: ENTER ZONE(10) ;
71: ;
72: !Start Laser Cutting ;
73: !Calls Cut Routines ;
74: CALL LASER01 ;
75: ;
76: !EXIT ZONE10 W/CONVEYOR ;
77: EXIT ZONE(10) ;
78: ;
81: ;

84: ;
86: DO[956:CLRTOUNCLMP]=ON ;
87: ;
88: LBL[13:Return to Home ] ;
89: ;
90: !Move to Home ;
/POS
/END

1.2 PG08 – Maintenance Position
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 1672;
CREATE = DATE 09-10-02 TIME 10:57:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 56;
MEMORY_SIZE = 1948;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! V363 Program ;
4: ! Robot: 8C030-1 ;
6: ! Maintenance Program ;
7: ! Application: Laser Cutting ;
8: !***************************** ;
9: ;
17: ;
18: !CLR TO ADV. TRANSFER ;
20: ;
21: !Set Robot Payload WITHOUT PART ;
22: PAYLOAD[2] ;
23: ;
25: UTOOL_NUM=1 ;
26: ;
28: UFRAME_NUM=1 ;
29: ;
32: SETUP OUTPUTS ;
33: ;
34: !Move to Home ;
33: ;
34: !------------------------------ ;
35: !Approach to Maint Pos ;
36:J P[1] 20% CNT10 ;
37: ;
38: !Maintenance Position ;
39:J P[2] 10% FINE ;

40: ;
41: !Maint Position ON ;
42: DO[6:RBT AT MAINT]=ON ;
43: ;
44: !Wait for Maintenance Clear ;
45: WAIT DI[7:MAINT POS CLR]=ON ;
46: ;
51: !Maint Position OFF ;
52: DO[6:RBT AT MAINT]=OFF ;
47: !------------------------------ ;
48: !Depart from Maint Pos ;
49:J P[1] 20% CNT10 ;
50: ;
53: ;
54: !Move to Home ;
56: ;
/POS
/END

1.3 PG09 – Minor Maintenance Position
/PROG PG09
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 1672;
CREATE = DATE 09-10-02 TIME 10:57:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 56;
MEMORY_SIZE = 1948;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! V363 Program ;
4: ! Robot: 8C030-1 ;
6: ! Minor Maintenance Program ;
8: !***************************** ;
9: ;
17: ;
20: ;
21: !Set Robot Payload WITHOUT PART ;
22: PAYLOAD[2] ;
23: ;
25: UTOOL_NUM=1 ;
26: ;
28: UFRAME_NUM=1 ;
29: ;
32: SETUP OUTPUTS ;
33: ;
34: !Move to Home ;
33: ;
34: !------------------------------ ;
35: !Approach to Maint Pos ;
36:J P[1] 20% CNT10 ;
37: ;
38: !Maintenance Position ;
39:J P[2] 10% FINE ;

40: ;
41: !Maint Position ON ;
42: DO[587:RBT AT MIN MAINT]=ON ;
43: ;
44: !Wait for Maintenance Clear ;
45: WAIT DI[7:MAINT POS CLR]=ON ;
46: ;
52: DO[587:RBT AT MIN MAINT]=OFF ;
47: !------------------------------ ;
48: !Depart from Maint Pos ;
49:J P[1] 20% CNT10 ;
50: ;
52: DO[587:RBT AT MIN MAINT]=OFF ;
53: ;
54: !Move to Home ;
56: ;
/POS
/END

1.4 PG16 – Laser Coupon Cutting
/PROG PG16
/ATTR
OWNER = MNEDITOR;
COMMENT = "Coupon";
PROG_SIZE = 3887;
CREATE = DATE 12-10-26 TIME 04:26:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 166;
MEMORY_SIZE = 4399;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
ARC Welding Equipment : 1,*,*,*,*;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! V363 Program ;
4: ! Robot: 8C030-1 ;
6: ! Coupon Program ;
8: !***************************** ;
12: ;
14: UTOOL_NUM=1 ;
15: ;
17: UFRAME_NUM=1 ;
18: !-------------------------------- ;
20: PAYLOAD[3] ;
21: ;
30: SETUP OUTPUTS ;
31: ;
32: !Move to Home ;
34: ;
64: ! Move to pounce position ;
65: GO TO POUNCE ;
66: ;
69: ;
70: !Clr to Ret Xfer ;
72: ;

75: ;
76: !-------------------------------- ;
77: LBL[33:Loop Back] ;
78: ;
79: ! Turn ON Robot in LOOP ;
80: DO[24:RBT IN LOOP]=ON ;
81: ;
82: !-------------------------------- ;
83: !Wait Continue from Pounce ;
84: ! or Return to Home ;
85: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
86: ;
87: ! Turn OFF Robot in LOOP ;
89: ;
90: !If Return to Home ;
91: ! jump to LB[13] ;
92: IF DI[13:RETURN TO HOME]=ON,JMP LBL[13] ;
93: ;
94: !If Continue from Pounce ;
95: ! jump to LB[9] ;
96: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
97: ;
98: JMP LBL[33] ;
99: ;
100: !-------------------------------- ;
101: !Continue from Pounce ;
102: LBL[9] ;
103: ;
105: DO[955:CLRTORETXFR]=OFF ;
106: ;
108: DO[954:CLRTOADVXFR]=OFF ;
109: ;
39: ;
40: !******************************* ;
41: ! Coupon Stand Path ;
42: !******************************* ;
43: ;
44: !Check Head Ready And Referenced ;
45: CALL HEAD_READY ;
46: ;
47: !Enable Laser Stand-by ;
48: CALL LASER_READY ;
49: ;
50: !Laser Aborted ;
51: IF DI[486:ABORT LASER PROCESS]=ON,JMP LBL[13] ;
52: ;
53: !In Cutting Cycle ;
54: DO[892:IN LSR CUT SEQ]=ON ;
55: ;
56: !Enter Zone6 W/R30-3 Z6 ;
57: ENTER ZONE(6) ;
58: ;
59:J P[1:Clear] 50% CNT100 ACC25 ;
60:J P[2] 50% CNT100 ACC25 ;
61:J P[3] 50% FINE ACC25 ;
62: ;
63: !Position Center Of 1st Shape ;
64:L P[4:At Coupon] 500mm/sec CNT10 ACC25 ;
65: ;
66: !Recut Process ;
67: LBL[10:Recut] ;

68: ;
69:L P[5:Center Pt.] 250mm/sec CNT5 ;
70: !Call Shape Prog. ;
71: CALL CP_CIR_20MM ;
72: ;
73: !Recut OFF ;
74: IF DI[876:LSR RECUT ENABLD]=OFF,JMP LBL[11] ;
75: ;
76: !Reset Laser and Head ;
77: !then goto Recut ;
78: CALL RESET_CHECK ;
79: JMP LBL[10] ;
80: ;
81: !Continue ;
82: LBL[11] ;
83: ;
85: LBL[20:Recut] ;
86: ;
88: !Call Shape Prog. ;
89: CALL CP_CIR_7MM ;
90: ;
91: !Recut OFF ;
93: ;
97: JMP LBL[20] ;
98: ;
99: !Continue ;
100: LBL[21] ;
138: ;
139:L P[4:At Coupon] 500mm/sec CNT10 ;
140:J P[3] 50% CNT100 ACC25 ;
141:J P[2] 50% CNT100 ACC25 ;
142:J P[1:Clear] 50% FINE ACC25 ;
143: ;
144: !Laser in Cutting Cycle ;
145: DO[892:IN LSR CUT SEQ]=OFF ;
146: ;
147: !Exit Zone6 W/R30-1 Z6 ;
148: EXIT ZONE(6) ;
149: ;
150: !-------------------------------- ;
153: ;
156: ;
159: ;
161: !-------------------------------- ;
162: !Disable Laser\Reset Head ;
163: CALL LASEROFF ;
164: ;
165: !Move to Home ;
/POS
/END

1.5 HEAD_READY – Head Ready MACRO
/PROG HEAD_READY Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Cut Head Rdy";
PROG_SIZE = 1477;
CREATE = DATE 12-10-25 TIME 00:39:58;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 63;
MEMORY_SIZE = 1857;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! V363 Program ;
4: ! Head Ready Macro ;
6: !***************************** ;
7: !Set Cut Head Enable ON ;
8: DO[741:ENABLE]=ON ;
9: ;
10: !Set 1mm Stand-Off ;
11: GO[34:LSR CUT NORMCLR]=R[166:Cutting Standoff] ;
12: ;
13: !Set Comp. Time .256 msec ;
14: GO[37:LSR CUT COMPTIME]=256 ;
15: ;
16: !Laser Head Position ;
17: GO[39:LSR CUT PGPOS]=R[167:Head Prog Pos] ;
18: ;
19: !Head in Automatic ON ;
20: DO[889:BRAKEINACTIVE]=OFF ;
21: ;
22: !Enable Program Position ;
23: DO[893:LASERCUTPROGPOS]=ON ;
24: ;
25: WAIT .50(sec) ;
26: ;
27: !If Head Ready AND In ;
28: !In Position continue ;
29: IF (DI[729:READY] AND DI[877:CUTHEAD POS RCHD]),JMP LBL[99] ;
30: ;
31: LBL[1:Recheck] ;
33: DO[889:BRAKEINACTIVE]=ON ;
34: ;
35: !Search Reference ON ;
36: DO[890:HEAD REF TRVL]=ON ;
37: ;
38: !Wait Head Ready AND ;

39: !In Position ;
40: WAIT (DI[729:READY] AND DI[877:CUTHEAD POS RCHD]=ON) ;
41: ;
42: !Search Reference OFF ;
43: DO[890:HEAD REF TRVL]=OFF ;
44: ;
46: DO[889:BRAKEINACTIVE]=OFF ;
47: ;
48: !Enable Program Position ;
50: ;
51: WAIT 1.00(sec) ;
52: ;
53: !If Head Ready AND ;
54: !In Position Continue ;
55: IF (DI[729:READY] AND DI[877:CUTHEAD POS RCHD]),JMP LBL[99] ;
56: ;
57: !If Head NOT Ready OR ;
58: !NOT In Position Recheck ;
59: IF (!DI[729:READY] OR !DI[877:CUTHEAD POS RCHD]),JMP LBL[1] ;
60: JMP LBL[1] ;
61: ;
62: LBL[99:Continue] ;
63: ;
/POS
/END

1.6 LASER_READY – Laser Ready MACRO
/PROG LASER_READY Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Laser Ready";
PROG_SIZE = 681;
CREATE = DATE 12-12-12 TIME 03:36:54;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 24;
MEMORY_SIZE = 1089;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = *,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: IF (DI[10:AUTO REPEAT MD]=ON OR DO[4:RBT IN TEACH]=ON),JMP
LBL[1] ;
2: ;
3: !Laser Program Select ;
4: GO[35:LSR CNTR PG]=1 ;
5: ;
6: !Wait for External Activation ;
7: !and Laser ON from Laser ;
8: WAIT (DI[665:EXTACTIVATIONACTIVE]=ON AND DI[666:LASER IS
ON]=ON) ;
9: ;
10: !Enable Laser ;
11: DO[866:LASERWELDENABLE]=ON ;
12: ;
13: !Request Laser ;
14: DO[680:LASER REQUEST]=ON ;
15: ;
16: !Wait For Laser Allocated ;
17: WAIT DI[678:LASER ALLOCATED]=ON ;
18: ;
19: !Verify Laser Power ;
20: WAIT R[162:Laser Prc Pwr]>=300 ;
21: WAIT R[163:Laser Cut Pwr]>=300 ;
22: ;
23: LBL[1] ;
24: ;
/POS
/END

1.7 LASEROFF – Laser Off
/PROG LASEROFF Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Laser Off";
PROG_SIZE = 1027;
CREATE = DATE 12-10-22 TIME 02:35:30;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 40;
MEMORY_SIZE = 1367;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! V363 Program ;
4: ! LASER OFF Macro ;
6: !***************************** ;
7: ;
8: !Laser Beam Emission Off ;
9: DO[865:LASERPRGSTRTSTAT]=OFF ;
10: ;
11: !Diagnostic Bit to PLC ;
12: DO[43:UDEF RBT OUT 3]=OFF ;
13: ;
14: !Disable Laser ;
15: DO[866:LASERWELDENABLE]=OFF ;
16: ;
17: !Reset Request Laser ;
18: DO[680:LASER REQUEST]=OFF ;
19: ;
20: !Reset Laser Program ;
22: ;
23: !Laser Process Power ;
24: GO[36:LSR CNTR ANALOG]=0 ;
25: ;
26: !Turn Cutting Gas Off ;
27: DO[41:CUTTING GAS ON]=OFF ;
28: ;
29: !Set Laser Head Pos. To 10mm ;
31: ;
32: !Prog. Pos. ON Search Disabled ;
34: ;
35: !Wait For Position Reached ;
36: WAIT DI[877:CUTHEAD POS RCHD]=ON ;
37: ;
38: !Head in Automatic OFF ;

39: DO[889:BRAKEINACTIVE]=ON ;
40: ;
/POS
/END

1.8 LASER01 – Laser Cutting Path
/PROG LASER01
/ATTR
OWNER = MNEDITOR;
COMMENT = "LWB BUS 15 HVAC";
PROG_SIZE = 9462;
CREATE = DATE 12-10-30 TIME 02:52:16;
FILE_NAME = PG21;
VERSION = 0;
LINE_COUNT = 387;
MEMORY_SIZE = 10206;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
SPOT Welding Equipment Number : 1 ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! V363 Program ;
4: ! Robot: 8C030-1 ;
6: ! Model: LWB BUS 15 HVAC ;
8: !***************************** ;
9: ;
11: UTOOL_NUM=1 ;
12: ;
14: UFRAME_NUM=2 ;
15: ;
17: PAYLOAD[2] ;
18: ;
19: !******************************* ;
20: ! Laser Cut Path ;
21: !******************************* ;
22: ;
23: !Check Head Ready And Referenced ;
25: ;
26: !Enable\Check Laser ;
28: ;
29: !Laser Aborted ;
30: IF DI[486:ABORT LASER PROCESS]=ON,JMP LBL[13] ;
31: ;
33: DO[892:IN LSR CUT SEQ]=ON ;
34: ;
35:J P[1] 100% CNT100 ACC25 ;

36:L P[2] 800mm/sec CNT25 ;
37: ;
38: !Start Laser Cutting ;
39: ;
41: LBL[10] ;
42: ;
43: !Circle 20mm Clear PG21 Common ;
44: !HOLE PROGRAM: P21_CIR1_20MM ;
45: //L P[3:Sim Pos.1] 500mm/sec FINE ;
47: CALL P21_CIR1_20MM ;
48: ;
49: !Recut OFF ;
51: ;
55: JMP LBL[10] ;
56: ;
57: !Continue ;
58: LBL[11] ;
59: ;
60: ;
62: LBL[20] ;
63: ;
64: !Circle 20mm Clear PG3X Common ;
65: !HOLE PROGRAM: P34_CIR2_20MM ;
66: //L P[6:Sim Pos.2] 500mm/sec FINE ;
68: CALL P21_CIR1_7MM ;
69: ;
70: !Recut OFF ;
72: ;
76: JMP LBL[20] ;
77: ;
78: !Continue ;
79: LBL[21] ;
372: ;
373:L P[50] 800mm/sec CNT100 ACC25 ;
374:J P[5] 100% FINE ACC25 ;
375: ;
376: !Exit Zone2 W/R30-2 Zone2 ;
377: EXIT ZONE(2) ;
378: ;
379:J P[51:CLEAR] 100% FINE ACC25 ;
380: ;
381: !Disable Laser\Reset Head ;
382: CALL LASEROFF ;
383: ;
385: ;
387: DO[892:IN LSR CUT SEQ]=OFF ;
/POS
/END

1.9 PROC_OF1 – Process Off MACRO
/PROG PROC_OF1 Macro
/ATTR
OWNER = KAREL;
COMMENT = "Process off GP1";
PROG_SIZE = 610;
CREATE = DATE 12-10-26 TIME 03:46:54;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 24;
MEMORY_SIZE = 886;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/MN
1: !End Cut Process ;
2: !Check Cut Head Position ;
3: !and Turn OFF Laser ;
4: ;
7: ;
10: ;
13: ;
15: GO[39:LSR CUT PGPOS]=0 ;
16: ;
19: ;
20: !Head FAR Monitoring to PLC ;
22: ;
24: WAIT DI[877:CUTHEAD POS RCHD]=ON ;
/POS
/END

1.10 PROC_ON1 – Process On MACRO
/PROG PROC_ON1 Macro
/ATTR
OWNER = KAREL;
COMMENT = "Process on GP1";
PROG_SIZE = 1302;
CREATE = DATE 12-10-26 TIME 03:46:38;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 65;
MEMORY_SIZE = 1802;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/MN
1: !Start Cut Process ;
2: !Check Cut Head Position ;
3: !and Turn ON Laser ;
4: ;
5: !Auto Repeat or Teach ;
6: IF (DI[10:AUTO REPEAT MD] OR DO[4:RBT IN TEACH]),JMP LBL[1] ;
7: ;
8: !Laser Head IN Position ;
9: !Prog. Pos. Off Search Enabled ;
10: DO[893:LASERCUTPROGPOS]=OFF ;
11: ;
12: !Pierce Stand-off 1.5mm ;
13: GO[34:LSR CUT NORMCLR]=R[165:Pierce Standoff] ;
14: ;
15: !Head FAR Monitoring to PLC ;
16: DO[48:UDEF RBT OUT 8]=ON ;
17: ;
18: !Wait For Head In Position ;
19: WAIT (DI[877:CUTHEAD POS RCHD]=ON AND DI[732:FAR]=OFF) ;
20: ;
21: !Turn Cutting Gas On ;
22: DO[41:CUTTING GAS ON]=ON ;
23: ;
24: !Wait For Cutting Gas On ;
25: WAIT DI[41:CUTTING GAS ON]=ON ;
26: ;
28: WAIT R[162:Laser Prc Pwr]>=300 ;
29: ;
31: GO[36:LSR CNTR ANALOG]=R[162:Laser Prc Pwr] ;
32: ;
33: !Laser Beam Emission ON ;
34: DO[865:LASERPRGSTRTSTAT]=ON ;
35: ;
38: ;
39: WAIT DI[668:PRG ACTIVE]=ON OR DI[486:ABORT LASER PROCESS]=ON
;
44: ;
45: !Pierce Time ;

46: WAIT .10(sec) ;
47: ;
49: WAIT R[163:Laser Cut Pwr]>=300 ;
50: ;
52: GO[36:LSR CNTR ANALOG]=R[163:Laser Cut Pwr] ;
53: ;
54: !Cutting Stand-off 1.0mm ;
56: ;
57: JMP LBL[99] ;
58: ;
59: !Auto Repeat ;
60: LBL[1] ;
61: ;
64: ;
65: LBL[99] ;
/POS
/END

1.11 P21_CIR1_20MM – Cut 20mm Circle
/PROG P21_CIR1_20MM
/ATTR
OWNER = KAREL;
COMMENT = "Cut Circle GP1";
PROG_SIZE = 1197;
CREATE = DATE 12-11-11 TIME 01:07:06;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 24;
MEMORY_SIZE = 1621;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !SHAPE GENERATED CIRCLE ;
2: ;
3: !Set Robot UTool ;
4: UTOOL_NUM=1 ;
5: ;
6: !Set Robot UFrame ;
7: UFRAME_NUM=2 ;
8: ;
9: IF (F[101:Shap stp to cntr]=OFF),JMP LBL[1] ;
10:L P[1:Center Position] 500mm/sec FINE ;
11: LBL[1] ;
12: IF (F[102:Shap stp to cntr]=ON),JMP LBL[2] ;
13:L P[2:Blend In] 500mm/sec FINE ;
14: ;
15: CALL PROC_ON1 ;
16: ;
17:L P[4:Circle Start] 65mm/sec CR1 ;
18:C P[5:Via 5]
: P[6:Circle 6] 65mm/sec CNT100 ;
19:C P[7:Via 7]
: P[8:Circle End] 65mm/sec CNT10 ;
20:L P[9:Blend Out] 65mm/sec FINE ;
21: ;
22: CALL PROC_OF1 ;
23: ;
24: LBL[2] ;
/POS
/END

1.12 P21_CIR1_7MM – Cut 7mm Circle
/PROG P21_CIR1_7MM
/ATTR
OWNER = KAREL;
PROG_SIZE = 1197;
CREATE = DATE 12-11-11 TIME 01:07:44;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 24;
MEMORY_SIZE = 1621;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
2: ;
3: !Set Robot UTool ;
4: UTOOL_NUM=1 ;
5: ;
6: !Set Robot UFrame ;
7: UFRAME_NUM=2 ;
8: ;
11: LBL[1] ;
14: ;
15: CALL PROC_ON1 ;
16: ;
18:C P[5:Via 5]
19:C P[7:Via 7]
21: ;
22: CALL PROC_OF1 ;
23: ;
24: LBL[2] ;
/POS
/END

1.13 CP_CIR_20MM – Cut 20mm Circle in Coupon
/PROG CP_CIR_20MM
/ATTR
OWNER = KAREL;
PROG_SIZE = 2433;
CREATE = DATE 12-11-11 TIME 02:30:54;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 85;
MEMORY_SIZE = 2853;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
2: UTOOL_NUM=1 ;
3: UFRAME_NUM=1 ;
4: ;
7: LBL[1] ;
10: ;
11: !Auto Repeat ;
12: IF DI[10:AUTO REPEAT MD]=ON,JMP LBL[30] ;
13: ;
17: ;
19: GO[34:LSR CUT NORMCLR]=100 ;
20: ;
22: WAIT (DI[730:POS REACHED]=ON AND DI[732:FAR]=OFF) ;
23: ;
26: ;
29: ;
32: ;
35: ;
36: WAIT DI[10:AUTO REPEAT MD]=ON OR DI[668:PRG ACTIVE]=ON OR
DI[486:ABORT LASER PROCESS]=ON OR DO[4:RBT IN TEACH]=ON ;
43: ;
44: IF DI[10:AUTO REPEAT MD]=ON OR DO[4:RBT IN TEACH]=ON,JMP
LBL[30] ;

45: ;
46: !Pierce Time ;
47: WAIT .10(sec) ;
48: ;
51: ;
52: JMP LBL[32] ;
53: ;
54: !Auto Repeat ;
55: LBL[30] ;
56: ;
59: ;
60: LBL[32] ;
62:C P[5:Via 5]
63:C P[7:Via 7]
67: ;
70: ;
73: ;
76: ;
77: IF (DI[10:AUTO REPEAT MD]=ON),GO[39:LSR CUT PGPOS]=(0) ;
78: ;
81: ;
83: WAIT DI[730:POS REACHED]=ON ;
84: ;
85: LBL[2] ;
/POS
/END

1.14 CP_CIR_7MM – Cut 7mm Circle in Coupon
/PROG CP_CIR_7MM
/ATTR
OWNER = KAREL;
PROG_SIZE = 2425;
CREATE = DATE 12-11-11 TIME 02:31:14;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 84;
MEMORY_SIZE = 2849;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
2: UTOOL_NUM=1 ;
3: UFRAME_NUM=1 ;
6: LBL[1] ;
9: ;
10: !Auto Repeat ;
11: IF DI[10:AUTO REPEAT MD]=ON,JMP LBL[30] ;
12: ;
16: ;
19: ;
21: WAIT (DI[730:POS REACHED]=ON AND DI[732:FAR]=OFF) ;
22: ;
25: ;
28: ;
31: ;
34: ;
35: WAIT DI[10:AUTO REPEAT MD]=ON OR DI[668:PRG ACTIVE]=ON OR
DI[486:ABORT LASER PROCESS]=ON OR DO[4:RBT IN TEACH]=ON ;
42: ;
43: IF DI[10:AUTO REPEAT MD]=ON OR DO[4:RBT IN TEACH]=ON,JMP
LBL[30] ;
44: ;

45: !Pierce Time ;
46: WAIT .10(sec) ;
47: ;
50: ;
51: JMP LBL[32] ;
52: ;
53: !Auto Repeat ;
54: LBL[30] ;
55: ;
58: ;
59: LBL[32] ;
61:C P[5:Via 5]
62:C P[7:Via 7]
66: ;
69: ;
72: ;
75: ;
76: IF (DI[10:AUTO REPEAT MD]=ON),GO[39:LSR CUT PGPOS]=(0) ;
77: ;
80: ;
82: WAIT DI[730:POS REACHED]=ON ;
83: ;
84: LBL[2] ;
/POS
/END

1.15 RESET_CHECK – Reset Check MACRO
/PROG RESET_CHECK Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Reset\Chk\Lsr\Hd";
PROG_SIZE = 661;
CREATE = DATE 12-12-07 TIME 04:18:58;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 20;
MEMORY_SIZE = 953;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! V363 Program ;
5: ! Reset Laser and Check Head ;
6: !***************************** ;
7: ;
8: !Reset Laser Error ;
9: DO[676:RESET]=PULSE,0.5sec ;
10: WAIT 1.50(sec) ;
11: ;
12: ! Wait for Laser Error OFF ;
13: WAIT DI[676:LASER FAULT]=OFF ;
14: ;
15: !Check Cut Head Ready ;
17: ;
18: !Check Laser Ready ;
20: ;
/POS
/END

1.16 HOME_IO – Reset Input/Output MACRO
/PROG HOME_IO Macro

/ATTR
OWNER = ASCBIN;
COMMENT = "SET AT HOME I-O";
PROG_SIZE = 2290;
CREATE = DATE 10-02-23 TIME 06:58:08;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 121;
MEMORY_SIZE = 2562;
TASK_PRIORITY = 60,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 1,
ABORT_REQUEST = 7,
PAUSE_REQUEST = 3;
CONTROL_CODE = 00000000 00000000;
/MN
1: !******************************** ;
2: !MACRO SET AT HOME I-O ;
3: ! ;
4: !Also runs Automatically when ;
5: ! robot goes from non-home pos ;
6: ! to home pos ;
7: ! ;
8: ! NOTE: This program has NO ;
9: ! GP[1:robot] and ;
10: ! GP[2:servogun] motion ;
11: !***************************** ;
12: ;
15: ;
16: !CLR TO RET. TRANSFER ;
18: ;
19: !CLEAR TO UNCLAMP ;
21: ;
22: ;
23: !ROBOT USER DEFINE OFF ;
32: ;
33: ;
34: !RESET FAULT RESET ;
35: DO[959:FAULTRESET]=OFF ;
36: ;
37: ;
38: !RESET ROBOT LOOP ;
40: DO[977:WTRSVRPULSRST]=OFF ;

41: DO[963:PRGRM FLT]=OFF ;
42: ;
43: ;
44: !AT REPAIR OFF ;
45: DO[587:RBT AT MINMAINT]=OFF ;
46: ;
47: ;
48: !RESET PICKUP POS ;
49: DO[49:RBT @ PKUP POS 1]=OFF ;
50: DO[59:RBT AT DRP OFF 1]=OFF ;
57: ;
58: ;
59: !RESET WRK POS ;
60: DO[177:MDL WRK POS 1]=OFF ;
68: ;
69: !CLEAR EXIT ZONES ;
70: DO[900:CLROFZONE1]=ON ;
85: ;
86: ;
87: !PEDESTAL APPLICATION ONLY ;
88: DO[971:PEDDMPAPP]=OFF ;
89: ;
90: !Cutting Gas Off ;
92: !Turn ON Weld Mode ;
93: DO[115:WELD/NO WELD MD1]=OFF ;
94: !Laser Request ;
95: DO[680:LASER REQUEST]=OFF ;
96: !Disable Laser Program ;
98: !Disable Laser ;
99: DO[866:LASERWELDENABLE]=OFF ;
100: !Turn Off Monitoring ;
101: DO[873:INQUIRY1 SYNC1]=OFF ;
103: GO[36:LSR CNTR ANALOG]=0 ;
104: !Laser Process Program ;
106: ;

107: ;
108: !Enable Laser Cutting Head ;
109: DO[741:ENABLE]=ON ;
112: !Set 1mm Stand-Off ;
114: !Set Comp. Time .1 msec ;
115: GO[37:LSR CUT COMPTIME]=256 ;
116: !Set Char. Bit ;
117: GO[38:LSRCUTHEADFIGURE]=0 ;
118: ;
119: ! Reset the register that holds ;
120: ! the program number to run ;
121: R[153:ProgSelNum]=0 ;
/POS
/END

2 Software I/F Panels
2.1 LASER CONTROLLER MENU I/F

2.2 LASER CUT HEAD MENU I/F

3 PMC Logic (S-Logic) for R-30iA Controllers

[FORD_NEXTGEN_ENETSafe_LASERCUT_2015_10_30]
Ladder Diagram 1
N00001 R0000.0 R0000.0

A 1 ALWAYS ON
ALWAYS ALWAYS
ON ON
R0000.0
B
ALWAYS
ON
N00002 R0000.0 G1000.0

C 4 IMMEDIATE STOP
ALWAYS IMSTP
ON
N00003 X0000.0 R0100.5 G1000.1

D 6 *HOLD
DI 1 EXT BREAK A *HOLD
RNENBL NO HOLD
N00004 X1026.4 R0100.5

E 9 S BREAK A NO HOLD
SI12 HOL BREAK A
DSW NO HOLD
N00005 X1026.5 R0100.5

F 11 R BREAK A NO HOLD
SI13 RES BREAK A
ETSW NO HOLD
X1026.4 X1025.6
G
SI12 HOL CYCLE
DSW START
X0000.1 X1026.4
H
DI 2 EX SI12 HOL
RNEN RST DSW
N00006 R0000.0 G1000.2

I 19 SAFE SPEED
ALWAYS SFSPD
ON
N00007 X1000.3 G1000.3

J 21
O
Ladder Diagram 2
N00008 X1025.1 G1000.4

A 23 FAULT RESET
FAULT RB FAULT
RESET RESET
X0000.1 X0001.2
B
DI 2 EX DI 11
RNEN RST PLC AUTO
X1026.5
C
SI13 RES
ETSW
X0000.3
D
DI 4 EXT
CY STRT
X0000.2
E
DI 3 EXT
MTR ON
Y0119.6
F
DO 959 F
LT RESET
N00009 X1000.6 G1000.6

G 32 GO HOME
HOME
N00010 R0000.0 G1000.7

H 34 ENABLE
ALWAYS ENABLE
ON
N00011 F1000.0 Y1000.0

I 36
COMMAND
ENABLE
N00012 F1000.1 Y1000.1

J 38
SYSTEM
READY
Y1025.5
K MOTORS ENABLE
MOTORS
ENABLE
N00013 F1000.2 Y1000.2

L 41
PROGRAM
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

N 45
HELD
Y0000.0
O ROBOT RUN ENABLE INTERRUPT ACK
DO 1 RUN
ENB ACK
Ladder Diagram 3
N00016 F1000.5 ACT R0338.0

A 48 SUB 3 0031 INTERNAL FAULT DELAY
FAULT TMR INT FLT
DELAY
N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

B 52
FAULT RB FAULT FILTERED INT FLT
RESET FAULT DELAY
Y0120.2 Y0000.4
C ROBOT CONTROLLER FAULT
DO 963 DO 5 RBT
PRG FLT CNT FLT
Y0001.6
D
DO 15 CO
LL DTCT
R0211.2
E
DI882 HE
AD COLLI
N00018 F1000.6 Y1000.6

F 61
AT HOME
Y0002.0 Y0000.1
G ROBOT AT HOME
DO 17 RB DO 2 RBT
T @ HM1 @ HOME
Y0002.1
H
DO 18 RB
T @ HM2
Y0002.2
I
DO 19 RB
T @ HM3
Y0002.3
J
DO 20 RB
T @ HM4
Y0002.4
K
DO 21 RB
T @ HM5
Y0002.5
L
DO 22 RB
T @ HM6
Y0002.6
M
DO 23 RB
T @ HM7
N00019 F1000.7 Y1000.7

N 71
TPENABLE
Y0119.7 Y0000.3
O ROBOT IN TEACH
DO 960 DO 4 RBT
AUTO KEY IN TCH
Ladder Diagram 4
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

A 75
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
FC1 FC2 FC4 FC8 FC16 FC32 FC64
1 R1402.7 R1405.0
B S
ECO24 FACILITY
FC128 CODE 11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

C 84
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

D
ECO8 ECO10 ECO11 ECO12 ECO14 ECO15
2 R1401.7 R1405.1
E
ECO16 ERROR 4
N00022 R1405.0 R1405.1 G1000.4 R1405.2

F 99 FENCE FAULT
FACILITY ERROR 4 RB FAULT FENCE
CODE 11 RESET FAULT
R1405.2
G
FENCE
FAULT
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

H 104 POWER FAIL RECOVERY
INT EXT FAULT BRK PWR COMMAND SYSTEM PWR FAIL
MTR ON FL RCVRY ENABLE READY RECVRY
R0000.2
I
INT EXT
CYC STRT
K0010.3
J
PWR FAIL
RECVRY
N00024 K0010.3 ACT R1466.0

K 112 SUB 3 0027 BREAK POWER FAIL RECOVERY
PWR FAIL TMR BRK PWR
RECVRY FL RCVRY
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

L 116
DO 4 RBT COMMAND DO 5 RBT INT EXT INT EXT SYSTEM STEP
IN TCH ENABLE CNT FLT MTR ON CYC STRT READY
R1404.5 Y0000.2
M
DRP AUTO DO 3 RBT
FAULT IN AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

N ROBOT IN AUTOMATIC
TP FANUC FENCE TEACH DO 15 CO DO 3 RBT
E-STOP E-STOP FAULT MEMORY LL DTCT IN AUTO
N00026 Y0119.5 Y0072.4

O 133 INPUT SIMULATED
DO 958 I DO 581 I
NPUTSIM NPUTSIM
Ladder Diagram 5
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

A 135 S DROP AUTO FAULT
FC AVAIL APPL FC ZERO FAULT RB FAULT DRP AUTO
ALARMS RESET FAULT
N00028 F1000.5 R1404.5

B 141 R DROP AUTO FAULT
FAULT DRP AUTO
FAULT
G1000.4
C
RB FAULT
RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

D 144
FAULT ECO33 ECO FC AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 148
FC AVAIL ECO17 ECO18 ECO19 ECO20 ECO21 ECO22
FC1 FC2 FC4 FC8 FC16 FC32
1 R1402.6 R1402.7 R1404.3

F S
ECO23 ECO24 SPOT
FC64 FC128 ALARM
N00031 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

G 158
1 R1402.6 R1402.7 R0330.0

H S
ECO23 ECO24 ARC
FC64 FC128 ALARM
N00032 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

I 168
1 R1402.6 R1402.7 R0330.1

J S
ECO23 ECO24 SEALER
FC64 FC128 ALARM
N00033 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

K 178
1 R1402.6 R1402.7 R0330.2

L S
ECO23 ECO24 SERVOGUN
FC64 FC128 ALARM
N00034 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 188
1 R1402.6 R1402.7 R0330.3

N S
ECO23 ECO24 TOOLCHNG
FC64 FC128 ALARM
O
Ladder Diagram 6
N00035 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 198
1 R1402.6 R1402.7 R0330.4

B S
ECO23 ECO24 SYSTEM
FC64 FC128 ALARM
N00036 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

C 208
1 R1402.6 R1402.7 R1406.0

D S
ECO23 ECO24 FACILITY
FC64 FC128 CODE 15
N00037 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 218
1 R1402.6 R1402.7 R1404.2

F
ECO23 ECO24 FC ZERO
FC64 FC128
N00038 R1404.1 ACT R1404.3

G 228 SUB57 0001 R
ECO DIFU SPOT
RETRIEVE ALARM
R0330.0
H R
ARC
ALARM
R0330.1
I R
SEALER
ALARM
R0330.2
J R
SERVOGUN
ALARM
R0330.3
K R
TOOLCHNG
ALARM
R0330.4
L R
SYSTEM
ALARM
R1405.0
M R
FACILITY
CODE 11
R1406.0
N R
FACILITY
CODE 15
N00039 R1404.4 ACT R1404.6

O 239 SUB 3 0006
FC AVAIL TMR RETRIEVE
DELAY
Ladder Diagram 7
N00040 R1404.6 R1404.1

A 243 S
RETRIEVE ECO
DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

B 245 SUB 3 0007 R
ECO TMR ECO
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

C 249 S WELD FAULT #1
FC AVAIL SPOT FC ZERO FAULT DO 126 W
ALARM LD FLT 1
N00043 X0083.1 Y0015.5

D 254 R WELD FAULT #1
DI 666 L DO 126 W
ASER ON LD FLT 1
N00044 K0010.1 K0010.0 R0000.1

E 256
EXT MTR TEACH INT EXT
ON MEMORY MTR ON
N00045 X0000.2 K0010.0 K0010.5 K0010.1

F 259 S EXTERNAL MOTORS ON
DI 3 EXT TEACH MAINT ME EXT MTR
MTR ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

G
SI13 RES DO 5 RBT FAULT
ETSW CNT FLT
X1025.1
H
FAULT
RESET
X0000.1 X0001.2
I
DI 2 EX DI 11
RNEN RST PLC AUTO
K0010.3
J
PWR FAIL
RECVRY
N00046 Y0000.2 Y0000.4 G1000.4 K0010.1

K 272 R EXTERNAL MOTORS ON
DO 3 RBT DO 5 RBT RB FAULT EXT MTR
IN AUTO CNT FLT RESET ON
N00047 K0010.2 K0010.0 K0010.5 R0000.2

L 276
EXT CYC TEACH MAINT ME INT EXT
START MEMORY M CYC STRT
O
Ladder Diagram 8
N00048 X0000.3 K0010.0 K0010.2

A 280 S EXTERNAL CYCLE START
DI 4 EXT TEACH EXT CYC
CY STRT MEMORY START
X1026.5 Y0000.4 F1000.5

B
SI13 RES DO 5 RBT FAULT
ETSW CNT FLT
X1025.1
C
FAULT
RESET
X0000.1 X0001.2
D
DI 2 EX DI 11
RNEN RST PLC AUTO
K0010.3
E
PWR FAIL
RECVRY
R0340.0
F
MANUAL
WELD
N00049 Y0000.2 Y0000.4 G1000.4 K0010.2

G 293 R EXTERNAL CYCLE START
DO 3 RBT DO 5 RBT RB FAULT EXT CYC
IN AUTO CNT FLT RESET START
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

H 297
DI 17 PG DI 18 PG DI 19 PG DI 20 PG DI 21 PG DI 22 PG DI 23 PG
SLCT 1 SLCT 2 SLCT 4 SLCT 8 SLCT 16 SLCT 32 SLCT 64
1 X0002.7 R0507.0
I PROGRAM 1
DI 24 PG PROGRAM
SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

J 306
1 X0002.7 R0507.1
K PROGRAM 2
DI 24 PG PROGRAM
SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

L 315
1 X0002.7 R0507.2
M PROGRAM 3
DI 24 PG PROGRAM
SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

N 324
1 X0002.7 R0507.3
O PROGRAM 4
DI 24 PG PROGRAM
SLCT128 4
Ladder Diagram 9
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 333
1 X0002.7 R0507.4
B PROGRAM 5
DI 24 PG PROGRAM
SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 342
1 X0002.7 R0507.5
D PROGRAM 6
DI 24 PG PROGRAM
SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 351
1 X0002.7 R0507.6
F PROGRAM 7
DI 24 PG PROGRAM
SLCT128 7
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 360
1 X0002.7 R0507.7
H PROGRAM 8
DI 24 PG PROGRAM
SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 369
1 X0002.7 R0508.0
J PROGRAM 9
DI 24 PG PROGRAM
SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 378
1 X0002.7 R0508.1
L PROGRAM 10
DI 24 PG PROGRAM
SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 387
1 X0002.7 R0508.2
N PROGRAM 11
DI 24 PG PROGRAM
SLCT128 11
O
Ladder Diagram 10
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 396
1 X0002.7 R0508.3
B PROGRAM 12
DI 24 PG PROGRAM
SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 405
1 X0002.7 R0508.4
D PROGRAM 13
DI 24 PG PROGRAM
SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 414
1 X0002.7 R0508.5
F PROGRAM 14
DI 24 PG PROGRAM
SLCT128 14
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 423
1 X0002.7 R0508.6
H PROGRAM 15
DI 24 PG PROGRAM
SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 432
1 X0002.7 R0508.7
J PROGRAM 16
DI 24 PG PROGRAM
SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 441
1 X0002.7 R0509.0
L PROGRAM 17
DI 24 PG PROGRAM
SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 450
1 X0002.7 R0509.1
N PROGRAM 18
DI 24 PG PROGRAM
SLCT128 18
O
Ladder Diagram 11
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 459
1 X0002.7 R0509.2
B PROGRAM 19
DI 24 PG PROGRAM
SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 468
1 X0002.7 R0509.3
D PROGRAM 20
DI 24 PG PROGRAM
SLCT128 20
O
Ladder Diagram 12
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 477
DI 5 MV DO 3 RBT PROGRAM PAUSED AT HOME DI 11 *HOLD
TO POUNC IN AUTO RUNNING PLC AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

B
DO 3 RBT PAUSED PROGRAM DI 11
IN AUTO RUNNING PLC AUTO
F1000.6 R0507.0 F1000.2 F1000.3

C
AT HOME PROGRAM PROGRAM PAUSED
1 RUNNING
R0507.1
D
PROGRAM
2
R0507.2
E
PROGRAM
3
R0507.3
F
PROGRAM
4
R0507.4
G
PROGRAM
5
R0507.5
H
PROGRAM
6
R0507.6
I
PROGRAM
7
R0507.7
J
PROGRAM
8
R0508.0
K
PROGRAM
9
R0508.1
L
PROGRAM
10
R0508.2
M
PROGRAM
11
R0508.3
N
PROGRAM
12
R0508.4
O
PROGRAM
13
Ladder Diagram 13
R0508.5
A
PROGRAM
14
R0508.6
B
PROGRAM
15
R0508.7
C
PROGRAM
16
R0509.0
D
PROGRAM
17
R0509.1
E
PROGRAM
18
R0509.2
F
PROGRAM
19
R0509.3
G
PROGRAM
20
Y0000.2 F1000.3 F1000.2 X0000.1 X0001.2

H
DO 3 RBT PAUSED PROGRAM DI 2 EX DI 11
IN AUTO RUNNING RNEN RST PLC AUTO
X1025.6
I
CYCLE
START
1 R0000.1 D0603.0 Y0000.4 R0100.5 F1000.5 G1000.5

J UOP CYCLE START
INT EXT CYCLE DO 5 RBT BREAK A FAULT UOP CYC
MTR ON STRT DLY CNT FLT NO HOLD START
N00071 G1000.5 F1000.2 ACT D0603.0

K 528 SUB 3 0008 S CYCLE START DELAY
UOP CYC PROGRAM TMR CYCLE
START RUNNING STRT DLY
N00072 D0603.0 ACT D0603.0

L 533 SUB 3 0009 R CYCLE START DELAY
CYCLE TMR CYCLE
STRT DLY STRT DLY
N00073 F1000.2 D0603.0

M 537 R CYCLE START DELAY
PROGRAM CYCLE
RUNNING STRT DLY
N00074
N 539 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

O 540 SUB 3 0011 TEACH MEMORY DELAY
DO 960 TMR TEACH ME
AUTO KEY M DELAY
Ladder Diagram 14
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 544 TEACH MEMORY
DO 4 RBT SI13 RES FAULT CYCLE TEACH
IN TCH ETSW RESET START MEMORY
K0010.4
B
TEACH ME
M DELAY
K0010.0
C
TEACH
MEMORY
N00077 K0008.0 R0350.0

D 551 MAINTENANCE MODE
AUTO/MAI IN MAINT
NT SS
N00078 R0350.0 ACT D0610.0

E 553 SUB 3 0012 MAINTENANCE MODE DELAY
IN MAINT TMR MAINT
DELAY
N00079 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

F 557 MAINTENANCE MEMORY
MAINT DO 3 RBT DO 2 RBT SI13 RES FAULT MAINT ME
DELAY IN AUTO @ HOME ETSW RESET M
K0010.5 X0000.6
G
MAINT ME DI 7 MAI
M NT PSCLR
N00080 X0000.2 X0000.3 Y0000.2 K0010.6

H 566 EXTERNAL START ANTI-TIE DOWN
DI 3 EXT DI 4 EXT DO 3 RBT EXT STRT
MTR ON CY STRT IN AUTO ANTI TD
K0010.6
I
EXT STRT
ANTI TD
N00081 X0002.0 G1001.0

J 571
DI 17 PG PNS 1
SLCT 1
N00082 X0002.1 G1001.1

K 573
DI 18 PG PNS 2
SLCT 2
N00083 X0002.2 G1001.2

L 575
DI 19 PG PNS 3
SLCT 4
N00084 X0002.3 G1001.3

M 577
DI 20 PG PNS 4
SLCT 8
N00085 X0002.4 G1001.4

N 579
DI 21 PG PNS 5
SLCT 16
N00086 X0002.5 G1001.5

O 581
DI 22 PG PNS 6
SLCT 32
Ladder Diagram 15
N00087 X0002.6 G1001.6

A 583
DI 23 PG PNS 7
SLCT 64
N00088 X0002.7 G1001.7

B 585
DI 24 PG PNS 8
SLCT128
N00089 X0000.6 K0008.0 Y0120.5

C 587 MAINTENANCE POSITION CLEAR
DI 7 MAI AUTO/MAI DO 966 M
NT PSCLR NT SS ANTP CLR
N00090 K0008.0 Y0001.4

D 590 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO 13 SN
NT SS DRBT MNT
N00091 Y0112.3 Y0003.0

E 592 CLEAR OF ZONE #1
DO 900 DO 25 CL
CLR ZN 1 R ZON 1
N00092 Y0112.4 Y0003.1

F 594 CLEAR OF ZONE #2
DO 901 DO 26 CL
CLR ZN 2 R ZON 2
N00093 Y0112.5 Y0003.2

G 596 CLEAR OF ZONE #3
DO 902 DO 27 CL
CLR ZN 3 R ZON 3
N00094 Y0112.6 Y0003.3

H 598 CLEAR OF ZONE #4
DO 903 DO 28 CL
CLR ZN 4 R ZON 4
N00095 Y0112.7 Y0003.4

I 600 CLEAR OF ZONE #5
DO 904 DO 29 CL
CLR ZN 5 R ZON 5
N00096 Y0113.0 Y0003.5

J 602 CLEAR OF ZONE #6
DO 905 DO 30 CL
CLR ZN 6 R ZON 6
N00097 Y0113.1 Y0003.6

K 604 CLEAR OF ZONE #7
DO 906 DO 31 CL
CLR ZN 7 R ZON 7
N00098 Y0113.2 Y0003.7

L 606 CLEAR OF ZONE #8
DO 907 DO 32 CL
CLR ZN 8 R ZON 8
N00099 Y0113.3 Y0004.0

M 608 CLEAR OF ZONE #9
DO 908 DO 33 CL
CLR ZN 9 R ZON 9
N00100 Y0113.4 Y0004.1

N 610 CLEAR OF ZONE #10
DO 909 C DO 34 CL
LR ZN 10 R ZON 10
N00101 Y0113.5 Y0004.2

O 612 CLEAR OF ZONE #11
DO 910 C DO 35 CL
LR ZN 11 R ZON 11
Ladder Diagram 16
N00102 Y0113.6 Y0004.3

A 614 CLEAR OF ZONE #12
DO 911 C DO 36 CL
LR ZN 12 R ZON 12
N00103 Y0113.7 Y0004.4

B 616 CLEAR OF ZONE #13
DO 912 C DO 37 CL
LR ZN 13 R ZON 13
N00104 Y0116.4 Y0004.5

C 618 CLEAR OF ZONE #14
DO 933 C DO 38 CL
LR ZN 14 R ZON 14
N00105 Y0118.7 Y0004.6

D 620 CLR OF INDEPENDENT MOTION ZN1
DO952 CL DO 39 CL
RMOTZN1 R INDMOT
N00106 Y0119.0 Y0004.7

E 622 CLR OF INDEPENDENT MOTION ZN2
DO953 CL DO 40 CL
RMOTZN2 R INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

F 624 CLEAR TO ADVANCE TRANSFER
DO 954 C DI 1 EXT DO 7 CLR
LRAV XFR RNENBL ADV
N00108 Y0119.2 X0000.0 Y0000.7

G 627 CLEAR TO RETURN TRANSFER
LRET XFR RNENBL RET XFR
N00109 Y0119.3 X0000.0 Y0001.0

H 630 CLEAR TO UNCLAMP
LR UNCLP RNENBL 2 UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 633 PROMPT BOX
DO 4 RBT DO 19001 DO 585
IN TCH PRPTBX PRMPT BX
N00111 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

J 636
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
1 R1402.7 R1405.3
K SYSTEM FACILITY CODE (24)
ECO24 SYS FCLY
FC128 CODE
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 645
FACILITY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R0365.0

N SRVO-001 OPERATOR PANEL E-STOP
ECO13 ECO14 ECO15 ECO16 SRVO-001
O
Ladder Diagram 17
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 663
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0366.0

C SRVO-002 TEACH PENDANT E-STOP
N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 681
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0367.0

F SRVO-003 DEADMAN SWITCH RELEAS
N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 699
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0368.0

I SRVO-005 ROBOT OVERTRAVELL
N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 717
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.2

L SRVO-006 HAND BROKEN
N00117 R0370.2 G1000.4 R0370.3

M 735 HAND BROKEN LATCH
SRVO-006 RB FAULT HAND BRO
RESET KN LTCH
R0370.3
N
HAND BRO
KN LTCH
O
Ladder Diagram 18
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 739
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.0

C SRVO-007 EXTERNAL EMERGENCY ST
N00119 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 757
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.1

F SRVO-408 DCS SSO EXT EMERGSTOP
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 775
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.3

I SRVO-50 COLLISION DETECT
N00121 R1406.3 X1025.1 Y0001.6

J 793 COLLISION DETECT
SRVO-50 FAULT DO 15 CO
RESET LL DTCT
Y0001.6
K
DO 15 CO
LL DTCT
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 797
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.2

N SRVO-65 LOW BATTERY
LOW BATT
N00123 F1001.0 Y0001.1

O 815 ROBOT BATTERY LOW
BATALM DO 10 RB
T BAT LW
Ladder Diagram 19
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 817
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0371.0

C SRVO-101 ROBOT OVERATRAVEL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 835
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.1

F DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE EXCE
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 853
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0373.0

I SRVO-199 CONTROL STOP
CONTROL
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 871
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0374.0

L SRVO-232 NTED INPUT
NTED IN
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 889
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0375.0

O SRVO-233 TP OFF IN T1,T2/DOOR
TP OFF
Ladder Diagram 20
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 907
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0376.0

C SRVO-280 SVOFF INPUT
SVOFF I
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 925
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.0

F SRVO-378 OPSFTY11 STATUS ABNOR
OPSFT11
N00131 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 943
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.1

I SRVO-379 OPSFTY12 STATUS ABNOR
OPSFT12
N00132 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 961
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.2

L SRVO-380 OPSFTY21 STATUS ABNOR
OPSFT21
N00133 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 979
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.3

O SRVO-381 OPSFTY22 STATUS ABNOR
OPSFT22
Ladder Diagram 21
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 997
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.4

C SRVO-382 OPSFTY31 STATUS ABNOR
OPSFT31
N00135 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1015
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.5

OPSFT32
N00136 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1033
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.6

OPSFT41
N00137 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1051
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.7

OPSFT42
O
Ladder Diagram 22
N00138 R0387.0 R0388.0

A 1069 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 OPSFTY F
OPSFT11 LT LATCH
R0387.1
B
SRVO-379
OPSFT12
R0387.2
C
SRVO-380
OPSFT21
R0387.3
D
SRVO-381
OPSFT22
R0387.4
E
SRVO-382
OPSFT31
R0387.5
F
SRVO-383
OPSFT32
R0387.6
G
SRVO-384
OPSFT41
R0387.7
H
SRVO-385
OPSFT42
R0388.0 F1000.5
I
OPSFTY F FAULT
LT LATCH
N00139 R0388.0 Y0073.1

J 1081 SAFETY CHAIN FAULT
OPSFTY F DO 586 S
LT LATCH FTY CHN
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

K 1083
SYS FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

L
2 R1401.4 R1401.5 R1401.6 R1401.7 R0377.0

M SYST-034 HOLD SIGNAL FROM SOP/
ECO13 ECO14 ECO15 ECO16 SYST-034
HOLD SI
O
Ladder Diagram 23
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1101
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0378.0

C SYST-038 OPERATION MODE T1 SEL
OPERATI
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1119
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0379.0

F
N00143 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1137
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0380.0

I SYST-040 OPERATION MODE AUTO S
OPERATI
N00144 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1155
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0381.0

L SYST-042 DEADMAN DEFEATED
DEADMAN
N00145 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1173
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0382.0

O SYST-043 TP DISABLE IN T1/T2
TP DISA
Ladder Diagram 24
N00146 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1191
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0383.0

C SYST-045 TP ENABLE IN AUTO MO
TP ENAB
N00147 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1209
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0384.0

F SYST-154 NO START IN ISOLATE/B
NO STAR
N00148 R0397.0 F1000.0 R0397.0

G 1227 FILTERED FAULT
FILTERED COMMAND FILTERED
FAULT ENABLE FAULT
R0398.0
H
FILTER
FLT GRP1
R0399.0
I
FILTER
FLT GRP2
O
Ladder Diagram 25
N00149 R0365.0 R0398.0

A 1232 FILTER FAULTS GROUP1
SRVO-001 FILTER
FLT GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0
RESERVED
R0373.0
I
SRVO-199
CONTROL
R0374.0
J
SRVO-232
NTED IN
R0375.0
K
SRVO-233
TP OFF
R0376.0
L
SRVO-280
SVOFF I
R0370.1
M
SRVO-408
R1456.0
N
APPL
ALARMS
O
Ladder Diagram 26
N00150 R0377.0 R0399.0

SYST-034 FILTER
HOLD SI FLT GRP2
R0378.0
B
SYST-038
OPERATI
R0379.0
C
SYST-039
R0380.0
D
SYST-040
OPERATI
R0381.0
E
SYST-042
DEADMAN
R0382.0
F
SYST-043
TP DISA
R0383.0
G
SYST-045
TP ENAB
R0384.0
H
SYST-154
NO STAR
X1025.0
I
FANUC
E-STOP
F1008.2
J
TP
E-STOP
X1026.1
K
SI9
AUTOMDSW
Y0000.3
L
DO 4 RBT
IN TCH
K0010.0
M
TEACH
MEMORY
R1405.2
N
FENCE
FAULT
O
Ladder Diagram 27
N00151 R0330.0 F1000.5 R1456.0

A 1262
ARC FAULT APPL
ALARM ALARMS
R0330.1
B
SEALER
ALARM
R0330.2
C
SERVOGUN
ALARM
R0330.3
D
TOOLCHNG
ALARM
R0330.4
E
SYSTEM
ALARM
R1404.3
F
SPOT
ALARM
R1456.0
G
APPL
ALARMS
N00152 D0001.0 Y0079.0

H 1271 S TOOL CHANGER LOCK
TOOL CHA DO 633 T
NGE APP C LOCK
Y0079.1
I R TOOL CHANGER UNLOCK
DO 634 T
C UNLOCK
N00153 D0001.0 ACT

J 1274 SUB10 0000
TOOL CHA JMP
NGE APP
N00154
K 1277 SUB66 P0001
CALLU TOOL CHANGING
N00155
L 1279 SUB30
JMPE
N00156
M 1280 SUB66 P0004
CALLU AIR SWITCH
N00157
N 1282 SUB66 P0006
CALLU UALM
N00158
O 1284 SUB66 P0007
CALLU INTERFACE
Ladder Diagram 28
N00159
A 1286 SUB66 P0008
CALLU MH
N00160
B 1288 SUB66 P0009
CALLU APPLICATION
N00161
C 1290 SUB66 P0018
CALLU LASER CONTROLLER
N00162
D 1292 SUB66 P0023
CALLU LASER CUT HEAD
N00163
E 1294 SUB 2
END2
N00164 ### P0001 ###

F 1295 SUB71 P0001
SP TOOL CHANGING
N00165 X0080.0 R0347.0

G 1297 GUN ID NOT 0
DI 641 GUN ID
TOOL ID1 NOT 0
X0080.1
H
DI 642
TOOL ID2
X0080.2
I
DI 643
TOOL ID4
X0080.3
J
DI 644
TOOL ID8
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

K 1302
DI 641 DI 642 DI 643 DI 644 GUN 1 ON
TOOL ID1 TOOL ID2 TOOL ID4 TOOL ID8 ARM
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

L 1307
DI 641 DI 642 DI 643 DI 644 GUN 2 ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

M 1312
DI 641 DI 642 DI 643 DI 644 GUN 3 ON
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

N 1317
DI 641 DI 642 DI 643 DI 644 GUN 4 ON
N00170 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

O 1322
DI 641 DI 642 DI 643 DI 644 GUN 5 ON
Ladder Diagram 29
N00171 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

A 1327
DI 641 DI 642 DI 643 DI 644 GUN 6 ON
N00172 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

B 1332
DI 641 DI 642 DI 643 DI 644 GUN 7 ON
N00173 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

C 1337
DI 641 DI 642 DI 643 DI 644 GUN 8 ON
N00174 R0321.0 R0328.6

D 1342 TOOL ON ROBOT
GUN 1 ON TOOLONRO
ARM BOT
R0322.0
E
GUN 2 ON
ARM
R0323.0
F
GUN 3 ON
ARM
R0324.0
G
GUN 4 ON
ARM
R0325.0
H
GUN 5 ON
ARM
R0326.0
I
GUN 6 ON
ARM
R0326.1
J
GUN 7 ON
ARM
R0326.2
K
GUN 8 ON
ARM
N00175 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

L 1351
GUN 1 ON GUN 2 ON GUN 3 ON GUN 4 ON GUN 5 ON GUN 6 ON GUN 7 ON
ARM ARM ARM ARM ARM ARM ARM
1 R0326.2 R0348.0
M ANY GEO TOOL PRESENT ON ROBOT
GUN 8 ON GEOTOOLP
ARM RSNT
N00176 X0080.0 Y0038.0

N 1360
DI 641 DO 305
TOOL ID1 TOOL ID1
N00177 X0080.1 Y0038.1

O 1362
DI 642 DO 306
TOOL ID2 TOOL ID2
Ladder Diagram 30
N00178 X0080.2 Y0038.2

A 1364
DI 643 DO 307
TOOL ID4 TOOL ID4
N00179 X0080.3 Y0038.3

B 1366
DI 644 DO 308
TOOL ID8 TOOL ID8
N00180 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

C 1368
DI 305 DI 306 DI 307 DI 308 DI 309 DI 310 DI 311
TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6 TCSTND7
1 X0038.7 R0327.0
D GUN 1-8 (ALL TOOLS IN STAND)
DI 312 GUN 1-8
TCSTND8
N00181 Y0117.4 K0011.1

E 1377 TOOL CHANGER RELEASE
DO 941 TC
TC UNLCK RELEASED
N00182 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

F 1379 S TOOL CHANGER LOCK
DO 940 DO 3 RBT DI 637 DI 638 TOOLONRO DO 633 T
TC LOCK IN AUTO RDY2LCK1 RDY2LCK2 BOT C LOCK
F1000.7 Y0119.7 K0015.0 R0328.6

G
TPENABLE DO 960 TC LOCK TOOLONRO
AUTO KEY PB BOT
N00183 X0079.0 Y0040.6

H 1392
DI 633 DO 327 T
TC LOCKD CCOUPMON
N00184 Y0117.4 Y0117.3 Y0000.2 Y0079.0

I 1394 R TOOL CHANGER LOCK
DO 941 DO 940 DO 3 RBT DO 633 T
TC UNLCK TC LOCK IN AUTO C LOCK
F1000.7 Y0119.7 K0016.0

J
TPENABLE DO 960 TC UNLOC
AUTO KEY K PB
N00185 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

K 1403
TC DO 633 T DO 3 RBT DI 645 T DI 646 T
RELEASED C LOCK IN AUTO SIV SRV
F1000.7 Y0119.7 K0016.0 R0328.6 2

L
TPENABLE DO 960 TC UNLOC TOOLONRO
AUTO KEY K PB BOT
1 R0328.6 Y0079.1
M TOOL CHANGER UNLOCK
TOOLONRO DO 634 T
BOT C UNLOCK
2
N
N00186 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

O 1417 TC LOCK PUSH BUTTON
TC LOCK TC UNLOC TPENABLE DO 960 TC LOCK
PB K PB AUTO KEY PB
Ladder Diagram 31
N00187 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

A 1422 TC UNLOCK PUSH BUTTON
TC UNLOC TC LOCK TPENABLE DO 960 TC UNLOC
K PB PB AUTO KEY K PB
N00188 X0079.1 Y0040.7

B 1427
DI 634 DO 328 T
TC ULCKD CRELMON
N00189 R0328.6 K0008.0 R0218.4

C 1429 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI 940 T
BOT NT SS C NOTOOL
N00190 Y0117.5 Y0117.6 Y0000.2 Y0038.5

D 1432 TOOL CHANGER OPEN COVERS
DO 942 DO 943 DO 3 RBT DO 310 T
TCOPNCVR TCCLSCVR IN AUTO C OPNCVR
K0011.4 K0011.5 Y0000.3

E
TC OPENG TC CLOS DO 4 RBT
UNCOVER GUNCOVER IN TCH
N00191 Y0117.5 Y0117.6 Y0000.2 Y0038.6

F 1440 TOOL CHANGER CLOSE COVERS
DO 942 DO 943 DO 3 RBT DO 311 T
TCOPNCVR TCCLSCVR IN AUTO C CLSCVR
K0011.5 K0011.4 Y0000.3

G
TC CLOS TC OPENG DO 4 RBT
GUNCOVER UNCOVER IN TCH
N00192 X0038.0 R0321.0 R0329.0

H 1448 GUN1 POSITION
DI 305 GUN 1 ON GUN1 POS
TCSTND1 ARM ITION
X0038.0 X0039.3
I
DI 305 DI 316 G
TCSTND1 EOTPDCK
N00193 X0038.1 R0322.0 R0329.1

J 1454 GUN2 POSITION
TCSTND2 ARM ITION
X0038.1 X0039.3
K
DI 306 DI 316 G
TCSTND2 EOTPDCK
N00194 X0038.2 R0323.0 R0329.2

L 1460 GUN3 POSITION
TCSTND3 ARM ITION
X0038.2 X0039.3
M
DI 307 DI 316 G
TCSTND3 EOTPDCK
N00195 X0038.3 R0324.0 R0329.3

N 1466 GUN4 POSITION
TCSTND4 ARM ITION
X0038.3 X0039.3
O
DI 308 DI 316 G
TCSTND4 EOTPDCK
Ladder Diagram 32
N00196 X0038.4 R0325.0 R0329.4

A 1472 GUN5 POSITION
TCSTND5 ARM ITION
X0038.4 X0039.3
B
DI 309 DI 316 G
TCSTND5 EOTPDCK
N00197 X0038.5 R0326.0 R0329.5

C 1478 GUN6 POSITION
TCSTND6 ARM ITION
X0038.5 X0039.3
D
DI 310 DI 316 G
TCSTND6 EOTPDCK
N00198 X0038.6 R0326.1 R0329.6

E 1484 GUN7 POSITION
TCSTND7 ARM ITION
X0038.6 X0039.3
F
DI 311 DI 316 G
TCSTND7 EOTPDCK
N00199 X0038.7 R0326.2 R0329.7

G 1490 GUN8 POSITION
TCSTND8 ARM ITION
X0038.7 X0039.3
H
DI 312 DI 316 G
TCSTND8 EOTPDCK
O
Ladder Diagram 33
N00200 R0329.0 R0328.7

A 1496 ALL GUN1-8 POSITION
GUN1 POS GUN1-8 P
ITION OSITION
R0329.1
B
GUN2 POS
ITION
R0329.2
C
GUN3 POS
ITION
R0329.3
D
GUN4 POS
ITION
R0329.4
E
GUN5 POS
ITION
R0329.5
F
GUN6 POS
ITION
R0329.6
G
GUN7 POS
ITION
R0329.7
H
GUN8 POS
ITION
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1505
DI 316 G DI 305 DI 306 DI 307 DI 308 DI 309 DI 310
EOTPDCK TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6
1 X0038.6 X0038.7 R0320.0

J TOOL 1 IN OPDOCK
DI 311 DI 312 TOOL1INO
TCSTND7 TCSTND8 PDOCK
N00202 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1515
1 X0038.6 X0038.7 R0320.1

L TOOL 2 IN OPDOCK
N00203 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1525
1 X0038.6 X0038.7 R0320.2

N TOOL 3 IN OPDOCK
O
Ladder Diagram 34
N00204 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1535
1 X0038.6 X0038.7 R0320.3

B TOOL 4 IN OPDOCK
N00205 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1545
1 X0038.6 X0038.7 R0320.4

D TOOL 5 IN OPDOCK
N00206 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1555
1 X0038.6 X0038.7 R0320.5

F TOOL 6 IN OPDOCK
N00207 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1565
1 X0038.6 X0038.7 R0320.6

H TOOL 7 IN OPDOCK
N00208 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1575
1 X0038.6 X0038.7 R0320.7

J TOOL 8 IN OPDOCK
O
Ladder Diagram 35
N00209 R0320.0 R0319.0

A 1585 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00210 X0082.6 Y0038.7

I 1594
DI 663 T DO 312 T
CCOMMOK CCOMMOK
N00211 X0082.7 Y0039.2

J 1596
DI 664 T DO 315 T
CTLSLDPW LSLIDPWR
N00212 X0079.4 X0079.5 G1008.4

K 1598 RTL1&L2SWITCHMISMATCH
DI 637 DI 638 UALM 5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI 637 DI 638
RDY2LCK1 RDY2LCK2
N00213 R0328.6 G1008.5

M 1604 NO TOOL ON ARM
TOOLONRO UALM 6
BOT
N00214 K0013.1 R0000.7 Y0126.7

N 1606 NO TOOL ON EOAT SS
NOTOOLON PART PRE DO 1016
EOATSS SENT NOEOATSS
N00215 K0013.1 R0000.7 K0013.1

O 1609 R NO TOOL ON EOAT SS
NOTOOLON PART PRE NOTOOLON
EOATSS SENT EOATSS
Ladder Diagram 36
N00216 Y0039.3 Y0039.3

A 1612 S WRONG TOOL IN STAND
DO 316 W DO 316 W
RNGTLSTD RNGTLSTD
N00217 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1614 R WRONG TOOL IN STAND
DO 316 W FAULT DO 2 RBT DO 316 W
RNGTLSTD RESET @ HOME RNGTLSTD
N00218
C 1618 SUB72
SPE
N00219 ### AIR SWITCH ###

D 1619 SUB71 P0004
SP AIR SWITCH
N00220 X1020.6 Y0001.5

E 1621 END OF ARM AIR ON
RI 7 AIR DO 14 EO
FL SW A AIR ON
N00221
F 1623 SUB72
SPE
N00222 ### UALM ###

G 1624 SUB71 P0006
SP UALM
N00223 Y0120.2 X1025.1 Y0120.2

H 1626 PROGRAM FAULT
DO 963 FAULT DO 963
PRG FLT RESET PRG FLT
N00224 Y0120.2 G1008.0

I 1629 PROGRAM VERIFY FAULT
DO 963 UALM1
PRG FLT
N00225 K0010.0 Y0119.7 Y0000.3 G1010.6

J 1631 TEACH MEMORY ON
TEACH DO 960 DO 4 RBT UALM23
MEMORY AUTO KEY IN TCH
N00226 R0000.0 G1011.0

K 1635 GUN DISABLED SELECTOR SWITCH
ALWAYS UALM 25
ON
N00227 R0000.0 G1011.1

L 1637 RETRACT ENABLED
ALWAYS UALM 26
ON
N00228 Y0002.7 G1011.4

M 1639 IN PROGRAM LOOP
DO 24 RB UALM 29
T LOOP
N00229 Y0039.3 G1009.7

N 1641 TC PRESS FAULT RESET
DO 316 W UALM 16
RNGTLSTD
N00230
O 1643 SUB72
SPE
Ladder Diagram 37
N00231 ### INTERFACE ###

A 1644 SUB71 P0007
SP INTERFACE
N00232 D0612.1 ACT D0612.0

B 1646 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH IF PB TMR ALL IF P
TO B TO
D0612.2
C
SEAL IF
PB TO
D0612.3
D
STUD IF
PB TO
D0612.4
E
LASER IF
PB TO
O
Ladder Diagram 38
N00233 K0002.0 D0612.1

A 1653 MH IF PB TO
CLMP1CLS MH IF PB
TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
Ladder Diagram 39
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC 1 ON
PB
K0014.3
G
VAC 2 ON
PB
K0014.4
H
VAC 3 ON
PB
K0014.5
I
BLOWOFF
1 ON PB
K0014.6
J
BLOWOFF
2 ON PB
K0014.7
K
BLOWOFF
3 ON PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
Ladder Diagram 40
K0011.4
A
TC OPENG
UNCOVER
K0011.5
B
TC CLOS
GUNCOVER
K0016.1
C
VAC 4 ON
PB
K0016.2
D
BLOWOFF
4 ON PB
O
Ladder Diagram 41
N00234 K0009.4 D0612.2

A 1688 SEAL IF PB TO
MAN FLOW SEAL IF
PB1 PB TO
K0008.7
B
RESEAL P
B1
K0011.2
C
AUTO PUR
GE PB1
K0008.2
D
ACCEPTSE
ALER1 IF
K0008.3
E
REJECTSE
ALER1 IF
K0012.3
F
INSPECTI
ON PB 1
K0009.5
G
MAN FLOW
PB2
K0009.0
H
RESEAL P
B2
K0011.3
I
AUTO PUR
GE PB2
K0012.4
J
INSPECTI
ON PB 2
K0013.5
K
ACCEPTSE
ALER2 IF
K0013.6
L
REJECTSE
ALER2 IF
O
Ladder Diagram 42
N00235 K0012.1 D0612.4

A 1701 LASER IF PB TO
LASER RE LASER IF
SET PB PB TO
K0012.2
B
LASERGLS
SNOTPRSS
K0012.6
C
LSR MANU
AL UP
K0012.7
D
LSR MANU
AL DWN
K0013.0
E
LSR REF
TRAVEL
N00236
F 1707 SUB72
SPE
N00237 ### MH ###

G 1708 SUB71 P0008
SP MH
N00238 Y0000.3 K0004.4 R1410.0

H 1710 MANUAL GRIP ENABLE
DO 4 RBT MAN GRP MAN GRP
IN TCH ENBLE SS ENABLE
N00239 R1410.0 ACT

I 1713 SUB10 0000
MAN GRP JMP
ENABLE
N00240 R0000.0 Y0114.0

J 1716 OPEN CLAMP 1
ALWAYS DO 913
ON OPNCLMP1
N00241 R0000.0 Y0114.1

K 1718 CLOSE CLAMP 1
ALWAYS DO 914
ON CLSCLMP1
N00242 R0000.0 Y0114.2

L 1720 OPEN CLAMP 2
ALWAYS DO 915
ON OPNCLMP2
N00243 R0000.0 Y0114.3

M 1722 CLOSE CLAMP 2
ALWAYS DO 916
ON CLSCLMP2
N00244 R0000.0 Y0114.4

N 1724 OPEN CLAMP 3
ALWAYS DO 917
ON OPNCLMP3
N00245 R0000.0 Y0114.5

O 1726 CLOSE CLAMP 3
ALWAYS DO 918
ON CLSCLMP3
Ladder Diagram 43
N00246 R0000.0 Y0114.6

A 1728 OPEN CLAMP 4
ALWAYS DO 919
ON OPNCLMP4
N00247 R0000.0 Y0114.7

B 1730 CLOSE CLAMP 4
ALWAYS DO 920
ON CLSCLMP4
N00248 R0000.0 Y0115.0

C 1732 OPEN CLAMP 5
ALWAYS DO 921
ON OPNCLMP5
N00249 R0000.0 Y0115.1

D 1734 CLOSE CLAMP 5
ALWAYS DO 922
ON CLSCLMP5
N00250 R0000.0 Y0115.2

E 1736 OPEN CLAMP 6
ALWAYS DO 923
ON OPNCLMP6
N00251 R0000.0 Y0115.3

F 1738 CLOSE CLAMP 6
ALWAYS DO 924
ON CLSCLMP6
N00252 R0000.0 Y0115.4

G 1740 OPEN CLAMP 7
ALWAYS DO 925
ON OPNCLMP7
N00253 R0000.0 Y0115.5

H 1742 CLOSE CLAMP 7
ALWAYS DO 926
ON CLSCLMP7
N00254 R0000.0 Y0115.6

I 1744 OPEN CLAMP 8
ALWAYS DO 927
ON OPNCLMP8
N00255 R0000.0 Y0115.7

J 1746 CLOSE CLAMP 8
ALWAYS DO 928
ON CLSCLMP8
N00256 R0000.0 Y0116.0

K 1748 OPEN CLAMP 9
ALWAYS DO 929
ON OPNCLMP9
N00257 R0000.0 Y0116.1

L 1750 CLOSE CLAMP 9
ALWAYS DO 930
ON CLSCLMP9
N00258 R0000.0 Y0116.2

M 1752 OPEN CLAMP 10
ALWAYS DO 931
ON OPNCLP10
N00259 R0000.0 Y0116.3

N 1754 CLOSE CLAMP 10
ALWAYS DO 932
ON CLSCLP10
N00260 R0000.0 Y0127.2

O 1756 VACUUM 1 ON
ALWAYS DO1019 V
ON AC1ON
Ladder Diagram 44
N00261 R0000.0 Y0127.3

A 1758 BLOWOFF 1 ON
ALWAYS DO1020 B
ON LWOF1ON
N00262 R0000.0 Y0127.4

B 1760 VACUUM 2 ON
ALWAYS DO1021 V
ON AC2ON
N00263 R0000.0 Y0127.5

C 1762 BLOWOFF 2 ON
ALWAYS DO1022 B
ON LWOF2ON
N00264 R0000.0 Y0127.6

D 1764 VACUUM 3 ON
ALWAYS DO1023 V
ON AC3ON
N00265 R0000.0 Y0127.7

E 1766 BLOWOFF 3 ON
ALWAYS DO1024 B
ON LWOF3ON
N00266 R0000.0 Y0118.5

F 1768 VACUUM 4 ON
ALWAYS DO 950 V
ON AC4ON
N00267 R0000.0 Y0118.6

G 1770 BLOWOFF 4 ON
ALWAYS DO 951 B
ON LWOF4ON
N00268
H 1772 SUB30
JMPE
N00269 R1410.0 ACT R0001.1

I 1773 SUB 3 0038
MAN GRP TMR MAN GRP
ENABLE TO
N00270 R0001.1 ACT

J 1777 SUB10 0000
MAN GRP JMP
TO
N00271 K0002.1 X1026.1 Y0114.0

K 1780 OPEN CLAMP 1
CLMP1OPN SI9 DO 913
AUTOMDSW OPNCLMP1
N00272 Y0114.0 Y0009.0

L 1783 OPEN CLAMP #1
DO 913 DO 73 OP
OPNCLMP1 N CLMP1
N00273 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9 DO 914
AUTOMDSW CLSCLMP1
N00274 Y0114.1 Y0009.1

N 1788 CLOSE CLAMP #1
DO 914 DO 74 CL
CLSCLMP1 S CLMP1
N00275 K0002.3 X1026.1 Y0114.2

O 1790 OPEN CLAMP 2
CLMP2OPN SI9 DO 915
AUTOMDSW OPNCLMP2
Ladder Diagram 45
N00276 Y0114.2 Y0009.2

A 1793 OPEN CLAMP #2
DO 915 DO 75 OP
OPNCLMP2 N CLMP2
N00277 K0002.2 X1026.1 Y0114.3

CLMP2CLS SI9 DO 916
AUTOMDSW CLSCLMP2
N00278 Y0114.3 Y0009.3

C 1798 CLOSE CLAMP #2
DO 916 DO 76 CL
CLSCLMP2 S CLMP2
N00279 K0002.5 X1026.1 Y0114.4

D 1800 OPEN CLAMP 3
CLMP3OPN SI9 DO 917
AUTOMDSW OPNCLMP3
N00280 Y0114.4 Y0009.4

E 1803 OPEN CLAMP #3
DO 917 DO 77 OP
OPNCLMP3 N CLMP 3
N00281 K0002.4 X1026.1 Y0114.5

CLMP3CLS SI9 DO 918
AUTOMDSW CLSCLMP3
N00282 Y0114.5 Y0009.5

G 1808 CLOSE CLAMP #3
DO 918 DO 78 CL
CLSCLMP3 S CLMP3
N00283 K0002.7 X1026.1 Y0114.6

H 1810 OPEN CLAMP 4
CLMP4OPN SI9 DO 919
AUTOMDSW OPNCLMP4
N00284 Y0114.6 Y0009.6

I 1813 OPEN CLAMP #4
DO 919 DO 79 OP
OPNCLMP4 N CLMP4
N00285 K0002.6 X1026.1 Y0114.7

CLMP4CLS SI9 DO 920
AUTOMDSW CLSCLMP4
N00286 Y0114.7 Y0009.7

K 1818 CLOSE CLAMP #4
DO 920 DO 80 CL
CLSCLMP4 S CLMP4
N00287 K0003.1 X1026.1 Y0115.0

L 1820 OPEN CLAMP 5
CLMP5OPN SI9 DO 921
AUTOMDSW OPNCLMP5
N00288 Y0115.0 Y0010.0

M 1823 OPEN CLAMP #5
DO 921 DO 81 OP
OPNCLMP5 N CLMP5
N00289 K0003.0 X1026.1 Y0115.1

CLMP5CLS SI9 DO 922
AUTOMDSW CLSCLMP5
N00290 Y0115.1 Y0010.1

O 1828 CLOSE CLAMP #5
DO 922 DO 82 CL
CLSCLMP5 S CLMP5
Ladder Diagram 46
N00291 K0003.3 X1026.1 Y0115.2

A 1830 OPEN CLAMP 6
CLMP6OPN SI9 DO 923
AUTOMDSW OPNCLMP6
N00292 Y0115.2 Y0010.2

B 1833 OPEN CLAMP #6
DO 923 DO 83 OP
OPNCLMP6 N CLMP6
N00293 K0003.2 X1026.1 Y0115.3

C 1835 CLOSE CLAMP 6
CLMP6CLS SI9 DO 924
AUTOMDSW CLSCLMP6
N00294 Y0115.3 Y0010.3

D 1838 CLOSE CLAMP #6
DO 924 DO 84 CL
CLSCLMP6 S CLMP 6
N00295 K0003.5 X1026.1 Y0115.4

E 1840 OPEN CLAMP 7
CLMP7OPN SI9 DO 925
AUTOMDSW OPNCLMP7
N00296 Y0115.4 Y0010.4

F 1843 OPEN CLAMP #7
DO 925 DO 85 OP
OPNCLMP7 N CLMP 7
N00297 K0003.4 X1026.1 Y0115.5

G 1845 CLOSE CLAMP 7
CLMP7CLS SI9 DO 926
AUTOMDSW CLSCLMP7
N00298 Y0115.5 Y0010.5

H 1848 CLOSE CLAMP #7
DO 926 DO 86 CL
CLSCLMP7 S CLAMP7
N00299 K0003.7 X1026.1 Y0115.6

I 1850 OPEN CLAMP 8
CLMP8OPN SI9 DO 927
AUTOMDSW OPNCLMP8
N00300 Y0115.6 Y0010.6

J 1853 OPEN CLAMP #8
DO 927 DO 87 OP
OPNCLMP8 N CLMP8
N00301 K0003.6 X1026.1 Y0115.7

CLMP8CLS SI9 DO 928
AUTOMDSW CLSCLMP8
N00302 Y0115.7 Y0010.7

L 1858 CLOSE CLAMP #8
DO 928 DO 88 CL
CLSCLMP8 S CLAMP8
N00303 K0004.1 X1026.1 Y0116.0

M 1860 OPEN CLAMP 9
CLMP9OPN SI9 DO 929
AUTOMDSW OPNCLMP9
N00304 Y0116.0 Y0011.0

N 1863 OPEN CLAMP #9
DO 929 DO 89 OP
OPNCLMP9 N CLMP9
N00305 K0004.0 X1026.1 Y0116.1

CLMP9CLS SI9 DO 930
AUTOMDSW CLSCLMP9
Ladder Diagram 47
N00306 Y0116.1 Y0011.1

A 1868 CLOSE CLAMP #9
DO 930 DO 90 CL
CLSCLMP9 S CLMP9
N00307 K0004.3 X1026.1 Y0116.2

B 1870 OPEN CLAMP 10
CLP10OPN SI9 DO 931
AUTOMDSW OPNCLP10
N00308 Y0116.2 Y0011.2

C 1873 OPEN CLAMP #10
DO 931 DO 91 OP
OPNCLP10 N CLMP10
N00309 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9 DO 932
AUTOMDSW CLSCLP10
N00310 Y0116.3 Y0011.3

E 1878 CLOSE CLAMP #10
DO 932 DO 92 CL
CLSCLP10 S CLMP10
N00311 K0014.2 X1026.1 K0014.1 Y0127.2

F 1880 VACUUM 1 ON
VAC 1 ON SI9 VAC/BLOW DO1019 V
PB AUTOMDSW OFFTIMER AC1ON
N00312 Y0127.2 Y0008.0

G 1884
DO1019 V DO 65 VA
AC1ON C 1 ON
N00313 K0014.5 X1026.1 K0014.1 Y0127.3

H 1886 BLOWOFF 1 ON
BLOWOFF SI9 VAC/BLOW DO1020 B
1 ON PB AUTOMDSW OFFTIMER LWOF1ON
N00314 Y0127.3 Y0008.1

I 1890
DO1020 B DO 66 BL
LWOF1ON WOFF1ON
N00315 K0014.3 X1026.1 K0014.1 Y0127.4

J 1892 VACUUM 2 ON
N00316 Y0127.4 Y0008.2

K 1896
DO1021 V DO 67 VA
AC2ON C 2 ON
N00317 K0014.6 X1026.1 K0014.1 Y0127.5

L 1898 BLOWOFF 2 ON
N00318 Y0127.5 Y0008.3

M 1902
DO1022 B DO 68 BL
LWOF2ON WOFF2ON
N00319 K0014.4 X1026.1 K0014.1 Y0127.6

N 1904 VACUUM 3 ON
N00320 Y0127.6 Y0008.4

O 1908
DO1023 V DO 69 VA
AC3ON C 3 ON
Ladder Diagram 48
N00321 K0014.7 X1026.1 K0014.1 Y0127.7

A 1910 BLOWOFF 3 ON
N00322 Y0127.7 Y0008.5

B 1914
DO1024 B DO 70 BL
LWOF3ON WOFF3ON
N00323 K0016.1 X1026.1 K0014.1 Y0118.5

C 1916 VACUUM 4 ON
VAC 4 ON SI9 VAC/BLOW DO 950 V
N00324 Y0118.5 Y0008.6

D 1920
DO 950 V DO 71 VA
AC4ON C 4 ON
N00325 K0016.2 X1026.1 K0014.1 Y0118.6

E 1922 BLOWOFF 4 ON
BLOWOFF SI9 VAC/BLOW DO 951 B
N00326 Y0118.6 Y0008.7

F 1926
DO 951 B DO 72 BL
LWOF4ON WOFF4ON
N00327
G 1928 SUB30
JMPE
N00328 Y0008.0 ACT K0014.1

H 1929 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO 65 VA TMR VAC/BLOW
C 1 ON OFFTIMER
Y0008.1
I
DO 66 BL
WOFF1ON
Y0008.2
J
DO 67 VA
C 2 ON
Y0008.3
K
DO 68 BL
WOFF2ON
Y0008.4
L
DO 69 VA
C 3 ON
Y0008.5
M
DO 70 BL
WOFF3ON
Y0008.6
N
DO 71 VA
C 4 ON
Y0008.7
O
DO 72 BL
WOFF4ON
Ladder Diagram 49
N00329 K0002.0 D0612.0 K0002.0

A 1940 CLMP1 CLOSE
CLMP1CLS ALL IF P CLMP1CLS
B TO
N00330 K0002.1 D0612.0 K0002.1

B 1943 CLMP1 OPEN
CLMP1OPN ALL IF P CLMP1OPN
B TO
N00331 K0002.2 D0612.0 K0002.2

C 1946 CLMP2 CLOSE
B TO
N00332 K0002.3 D0612.0 K0002.3

D 1949 CLMP2 OPEN
B TO
N00333 K0002.4 D0612.0 K0002.4

E 1952 CLMP3 CLOSE
B TO
N00334 K0002.5 D0612.0 K0002.5

F 1955 CLMP3 OPEN
B TO
N00335 K0002.6 D0612.0 K0002.6

G 1958 CLMP4 CLOSE
B TO
N00336 K0002.7 D0612.0 K0002.7

H 1961 CLMP4 OPEN
B TO
N00337 K0003.0 D0612.0 K0003.0

I 1964 CLMP5 CLOSE
B TO
N00338 K0003.1 D0612.0 K0003.1

J 1967 CLMP5 OPEN
B TO
N00339 K0003.2 D0612.0 K0003.2

K 1970 CLMP6 CLOSE
B TO
N00340 K0003.3 D0612.0 K0003.3

L 1973 CLMP6 OPEN
B TO
N00341 K0003.4 D0612.0 K0003.4

M 1976 CLMP7 CLOSE
B TO
N00342 K0003.5 D0612.0 K0003.5

N 1979 CLMP7 OPEN
B TO
N00343 K0003.6 D0612.0 K0003.6

O 1982 CLMP8 CLOSE
B TO
Ladder Diagram 50
N00344 K0003.7 D0612.0 K0003.7

A 1985 CLMP8 OPEN
B TO
N00345 K0004.0 D0612.0 K0004.0

B 1988 CLMP9 CLOSE
B TO
N00346 K0004.1 D0612.0 K0004.1

C 1991 CLMP9 OPEN
B TO
N00347 K0004.2 D0612.0 K0004.2

D 1994 CLMP10 CLOSE
CLP10CLS ALL IF P CLP10CLS
B TO
N00348 K0004.3 D0612.0 K0004.3

E 1997 CLMP10 OPEN
CLP10OPN ALL IF P CLP10OPN
B TO
N00349 K0014.2 D0612.0 K0014.2

F 2000
VAC 1 ON ALL IF P VAC 1 ON
PB B TO PB
N00350 K0014.3 D0612.0 K0014.3

G 2003
PB B TO PB
N00351 K0014.4 D0612.0 K0014.4

H 2006
PB B TO PB
N00352 K0016.1 D0612.0 K0016.1

I 2009
PB B TO PB
N00353 K0014.5 D0612.0 K0014.5

J 2012
BLOWOFF ALL IF P BLOWOFF
1 ON PB B TO 1 ON PB
N00354 K0014.6 D0612.0 K0014.6

K 2015
N00355 K0014.7 D0612.0 K0014.7

L 2018
N00356 K0016.2 D0612.0 K0016.2

M 2021
N00357 K0000.4 Y0012.6

N 2024 RERUN PROCESS
RERUNPRC DO 103 R
PB ERUNPRC
N00358 K0000.5 Y0012.7

O 2026 ACCEPT PROCESS
ACCPTPRC DO 104 A
PB CCPTPRC
Ladder Diagram 51
N00359 K0000.6 Y0013.0

A 2028 REJECT PROCESS
REJCTPRC DO 105 R
PB EJCTPRC
N00360 K0000.7 Y0013.1

B 2030 INSPECTION SELECTED
INSPCTSE DO 106 I
LPB NSP SEL
K0001.3 K0001.5
C
VISIONIN ABORTPRO
TERVENSS CESS
N00361 K0000.4 D0612.0 K0000.4

D 2035 S RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
N00362 K0000.4 D0612.0 K0000.4

E 2038 R RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
N00363 K0000.5 D0612.0 K0000.5

F 2041 S ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
N00364 K0000.5 D0612.0 K0000.5

G 2044 R ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
N00365 K0000.6 D0612.0 K0000.6

H 2047 S REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00366 K0000.6 D0612.0 K0000.6

I 2050 R REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00367 K0000.7 D0612.0 K0000.7

J 2053 S INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00368 K0000.7 D0612.0 K0000.7

K 2056 R INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00369 K0011.4 D0612.0 K0011.4

L 2059 TOOL CHANGER OPEN GUN COVER
TC OPENG ALL IF P TC OPENG
UNCOVER B TO UNCOVER
N00370 K0011.5 D0612.0 K0011.5

M 2062 TOOL CHANGER CLOSE GUN COVER
TC CLOS ALL IF P TC CLOS
GUNCOVER B TO GUNCOVER
O
Ladder Diagram 52
N00371 X0008.2 R0000.7

A 2065 PART PRESENT ON EOAT
DI 67 PR PART PRE
T PRES1 SENT
X0008.3
B
DI 68 PR
T PRES2
X0008.4
C
DI 69 PR
T PRES3
X0008.5
D
DI 70 PR
T PRES4
X0008.6
E
DI 71 PR
T PRES5
X0008.7
F
DI 72 PR
T PRES6
N00372
G 2072 SUB72
SPE
N00373 ### APPLICATION ###

H 2073 SUB71 P0009
SP APPLICATION
N00374 D0000.0 Y0048.0

I 2075 MATERIAL HANLDING APPLICATION
MH APP DO 385 M
H APP
N00375 D0000.1 Y0048.1

J 2077 WELD 1 APPLICATION
WELD 1 A DO 386
PP WLD1 APP
N00376 D0000.2 Y0048.2

K 2079 WELD 2 APPLICATION
WELD 2 A DO 387 W
PP LD2 APP
N00377 D0000.3 Y0048.3

L 2081 NUT FEED APPLICATION
NUT FEED DO 388 N
APP UTFD APP
N00378 D0000.4 Y0048.4

M 2083 SEALER 1 APPLICATION
SEAL 1 A DO 389 S
PP LR 1 APP
N00379 D0000.5 Y0048.5

N 2085 SEALER 2 APPLICATION
SEAL 2 DO 390 S
APP LR 2 APP
N00380 D0000.6 Y0048.6

O 2087 STUD WELD 1 APPLICATION
STUD 1 A DO 391 S
PP TDW 1APP
Ladder Diagram 53
N00381 D0000.7 Y0048.7

A 2089 STUD WELD 2 APPLICATION
STUD 2 A DO 392 S
PP TDW 2APP
N00382 D0001.0 Y0049.0

B 2091 TOOL CHANGE APPLICATION
TOOL CHA DO 393 T
NGE APP C APP
N00383 D0001.1 Y0049.1

C 2093 RIVET 1 APPLICAYION
RIVET 1 DO 394 R
APP VT 1 APP
N00384 D0001.2 Y0049.2

D 2095 RIVET 2 APPLICATION
RIVET 2 DO 395 R
APP VT 2 APP
N00385 D0001.3 Y0049.3

E 2097 NUT RUNNER APPLICATION
NUT RUNN DO 396 N
ER APP UTR APP
N00386 D0001.4 Y0049.4

F 2099 MIG WELD APPLICATION
MIG WELD DO 397 M
APP IGW APP
N00387 D0001.5 Y0049.5

G 2101 ROLL HEMMER APPLICATION
ROLLER H DO 398 R
EMM APP LLHEM AP
N00388 D0001.6 Y0049.6

H 2103 LASER CUT APPLICATION
LASER CU DO 399 L
T APP SRCT APP
N00389 D0001.7 Y0049.7

I 2105 PLASMA CUT APPLICATION
PLASMA C DO 400 P
UT APP LSMA APP
N00390 D0002.0 Y0050.0

J 2107 LASER WELD APPLICATION
LASER WE DO 401 L
LD APP SRWLDAPP
N00391 D0002.1 Y0050.1

K 2109 OPERATOR LOAD APPLICATION
OPER LOA DO 402 O
D APP P LD APP
N00392 D0002.2 Y0050.2

L 2111 VISION APPLICATION
VISION A DO 403 V
PP IS APP
N00393 D0002.3 Y0050.3

M 2113 PROGRAM LOCATOR APPLICATION
PROG LOC DO 404 P
APP RG LCAPP
N00394 D0002.4 Y0050.4

N 2115 INTERFACE DEFINITION BIT 21
IF DEF DO 405
21 INDEFB21
N00395 D0002.5 Y0050.5

O 2117 NUT FEEDER 2 APPLICATION
NUT FEED DO 406 N
ER 2 APP TFD 2APP
Ladder Diagram 54
N00396 D0002.6 Y0050.6

A 2119 INTERFACE DEFINITION BIT 23
IF DEF DO 407 I
23 NDEF B23
N00397 D0002.7 Y0050.7

B 2121 INTERFACE DEFINITION BIT 24
IF DEF DO 408 I
24 NDEF B24
N00398 D0003.0 Y0051.0

C 2123 INTERFACE DEFINITION BIT 25
IF DEF DO 409 I
25 NDEF B25
N00399 D0003.1 Y0051.1

D 2125 INTERFACE DEFINITION BIT 26
IF DEF DO 410 I
26 NDEF B26
N00400 D0003.2 Y0051.2

E 2127 INTERFACE DEFINITION BIT 27
IF DEF DO 411 I
27 NDEF B27
N00401 D0003.3 Y0051.3

F 2129 INTERFACE DEFINITION BIT 28
IF DEF DO 412 I
28 NDEF B28
N00402 D0003.4 Y0051.4

G 2131 INTERFACE DEFINITION BIT 29
IF DEF DO 413 I
29 NDEF B29
N00403 D0003.5 Y0051.5

H 2133 INTERFACE DEFINITION BIT 30
IF DEF DO 414 I
30 NDEF B30
N00404 D0003.6 Y0051.6

I 2135 INTERFACE DEFINITION BIT 31
IF DEF DO 415 I
31 NDEF B31
N00405 D0003.7 Y0051.7

J 2137 INTERFACE DEFINITION BIT 32
IF DEF DO 416 I
32 NDEF B32
N00406
K 2139 SUB72
SPE
N00407 ### P0018 ###

L 2140 SUB71 P0018
SP LASER CONTROLLER
N00408 X0064.3 R0208.1

M 2142 LASER IS ON
DI 516 L DI857 LA
ASERISON SER ON
X0001.1
N
DI 10 AU
TO REPT
O
Ladder Diagram 55
N00409 X0083.2 R0208.2

A 2145 LASER READY
DI 667 L DI858 LA
ASERRDY SER RDY
X0001.1
B
DI 10 AU
TO REPT
N00410 X0083.3 R0208.3

C 2148 LASER PRG ACTIVE
DI 668 P DI859 PR
RGACTIV G ACTIVE
X0001.1
D
DI 10 AU
TO REPT
N00411 X0084.3 R0209.1

E 2151 LASER FAULT
DI 676 L DI865 FA
ASERFLT ULT
Y0061.5
F LASER FAULT
DO 494 L
SR FAULT
N00412 X0084.1 R0209.2

G 2154 LASER SIK OPEN
DI 674 S DI866 SI
IK K OPEN
N00413 G1000.1 Y1025.5 Y0000.3 Y0000.2 Y0083.0

H 2156 LASER EXTERNAL ACTIVATION
*HOLD MOTORS DO 4 RBT DO 3 RBT DO 665 E
ENABLE IN TCH IN AUTO XTACTIV
Y0083.0
I
DO 665 E
XTACTIV
N00414 Y0083.0 Y0083.1

J 2162 LASER LOCK OPERATING UNIT
DO 665 E DO 666
XTACTIV LCKOPUNT
N00415 Y0083.0 X0083.0 X0001.1 Y0083.2

K 2164 LASER ON
DO 665 E DI 665 A DI 10 AU DO 667 L
XTACTIV CTACTIVE TO REPT ASRON
N00416 X0083.1 X0001.1 Y0083.3

L 2168 LASER STANDBY
DI 666 L DI 10 AU DO 668 S
ASER ON TO REPT TANDBY
N00417 R0303.0 ACT D0601.0

M 2171 SUB 3 0001 DELAY FOR LASER START
R303 DEL TMR D601 DLY
AYTIM 4LASRSTR
N00418 Y0000.0 Y0000.3 Y1025.5 R0301.0

N 2175 START STATICAL SAFETIES
DO 1 RUN DO 4 RBT MOTORS R301 STA
ENB ACK IN TCH ENABLE TSAFE
N00419 Y0108.1 X0001.1 D0601.0 R0302.0

O 2179 START STATICAL ENABLES
DO866 WL DI 10 AU D601 DLY R302 STA
DENBL TO REPT 4LASRSTR TENBLES
Ladder Diagram 56
N00420 Y0000.0 G1000.1 R0208.2 R0303.0

A 2183 AUX FLAG FOR DELAY TIMER
DO 1 RUN *HOLD DI858 LA R303 DEL
ENB ACK SER RDY AYTIM
R0208.3
B
DI859 PR
G ACTIVE
N00421 Y0108.0 R0301.0 R0302.0 F1000.5 Y0083.4

C 2189 LASER START STATICAL
DO865 ST R301 STA R302 STA FAULT DO 669 S
RTSTAT TSAFE TENBLES TRTSTAT
N00422 Y0108.4 Y0083.6

D 2194 LASER PROGRAM STOP
DO869 ST DO 671 P
OP RGSTOP
N00423 Y0108.5 Y0084.2

E 2196 LASER PILOT LASER ON
DO870 PI DO 675 P
LOTLIGHT ILTLSRON
N00424 Y0108.6 Y0084.3

F 2198 LASER RESET
DO871 LA DO 676 R
SRRESET ESET
Y0107.7 R0209.1
G
DO864 RE DI865 FA
SETERR ULT
X0060.1
H
DI 482 E
XTERRRST
K0012.1
I
LASER RE
SET PB
Y0112.2
J
DO899 BR
ZHDRST
N00425 Y0108.7 Y0084.4

K 2206 LASER FAULT EXTERNAL
DO872 FA DO 677 F
ILUREEXT LTEXT
N00426 Y0109.0 Y0084.5

L 2208 LASER INQUIRY INPUT 1
DO873 IN DO 678 I
QUIRSYN1 NQRYIN1
N00427 Y0109.1 Y0084.6

M 2210 LASER INQUIRY INPUT 2
DO874 IN DO 679
QUIRSYN2 INQRYIN2
N00428 X0084.3 G1008.6

N 2212 LASER UNIT ERROR
DI 676 L UALM 7
ASERFLT
N00429 X0083.2 G1008.7

O 2214 LASER UNIT NOT READY ERROR
DI 667 L UALM 8
ASERRDY
Ladder Diagram 57
N00430 X0083.1 Y0060.0

A 2216
DI 666 L DO 481 L
ASER ON ASERON
N00431 X0083.3 Y0060.2

B 2218
DI 668 P DO 483 L
RGACTIV ASERISON
N00432 X0083.5 Y0060.1

C 2220
DI 670 P DO 482 A
RGCANCEL BTPRCS
N00433 X0084.7 Y0060.4

D 2222
DI 680 C DO 485 C
HILLRDY HILLERON
N00434 X0083.4 Y0061.1

E 2224
DI 669 P DO 490 L
RGCOMP SRPGCOMP
N00435 X0083.2 Y0061.2

F 2226
DI 667 L DO 491 L
ASERRDY SRSTDBY
N00436 X0084.6 Y0061.3

G 2228
DI 679 C DO 492 L
OMM OK SRCOMMOK
N00437 K0012.0 Y0000.3 Y0084.2

H 2230 LASER PILOT LASER ON
PILOTLAS DO 4 RBT DO 675 P
ERONSS IN TCH ILTLSRON
N00438 K0012.1 D0612.0 K0012.1

I 2233 S LASER RESET PB
LASER RE ALL IF P LASER RE
SET PB B TO SET PB
N00439 K0012.1 D0612.0 K0012.1

J 2236 R LASER RESET PB
LASER RE ALL IF P LASER RE
SET PB B TO SET PB
N00440 K0012.2 D0612.0 K0012.2

K 2239 S LASER GLASS NOT PRESENT SS
LASERGLS ALL IF P LASERGLS
SNOTPRSS B TO SNOTPRSS
N00441 K0012.2 D0612.0 K0012.2

L 2242 R LASER GLASS NOT PRESENT SS
LASERGLS ALL IF P LASERGLS
SNOTPRSS B TO SNOTPRSS
N00442 X0084.4 Y0061.4

M 2245 LASER WARNING
DI 677 L DO 493 L
ASERWARN SR WARNG
N00443 K0012.2 Y0060.7

N 2247
LASERGLS DO 488 L
SNOTPRSS SRCOUPRQ
N00444
O 2249 SUB72
SPE
Ladder Diagram 58
N00445 ### P0023 ###

A 2250 SUB71 P0023
SP LASER CUT HEAD
N00446 X0064.2 R0210.4

B 2252 LASER RE-CUT ENABLED
DI 515 R DI876 LS
ECUTREQ RRECUT
N00447 X0091.1 ACT D0601.1

C 2254 SUB 3 0026 LASER CUT HEAD STABILIZED
DI 730 P TMR D601.1 H
OS RECHD EADSTABL
N00448 D0601.1 R0210.5

D 2258 LASER CUTHEAD POSITION REACHED
D601.1 H DI877 HD
EADSTABL POSREACH
X0001.1
E
DI 10 AU
TO REPT
N00449 X0001.1 R0210.6 R0211.0 Y0091.0

F 2261 CUT HEAD IN AUTOMATIC
DI 10 AU DI878 SR DI880 HE DO 729 A
TO REPT CHREFMAN AD ERR UTO
N00450 X0001.1 R0210.6 Y0091.3

G 2265 CUT HEAD PROGRAMMED POSITION
DI 10 AU DI878 SR DO 732 P
TO REPT CHREFMAN ROG POS
Y0111.4
H
DO893 LS
RCUTPRG
N00451 Y0000.3 K0012.6 K0012.5 R0210.7 Y0091.1

I 2269 CUT HEAD MANUAL UP
DO 4 RBT LSR MANU LSR MANU DI879 UP DO 730 M
IN TCH AL UP AL CNTRL PERLIMIT ANL UP
N00452 Y0000.3 K0012.7 K0012.5 R0211.3 Y0091.2

J 2274 CUT HEAD MANUAL DOWN
DO 4 RBT LSR MANU LSR MANU DI883 LO DO 731 M
IN TCH AL DWN AL CNTRL WERLIMIT ANL DWN
N00453 X0092.2 R0210.7

K 2279 LASERCUTHEAD UPPER TRAVELLIMIT
DI 739 U DI879 UP
PR LIMIT PERLIMIT
N00454 X0092.1 R0211.3

L 2281 LASERCUTHEAD LOWER TRAVELLIMIT
DI 738 L DI883 LO
WR LIMIT WERLIMIT
N00455 Y0111.0 R0210.6

M 2283 LASERCUTHEAD SEARCH REF MANUAL
DO889 BR DI878 SR
AKINACT CHREFMAN
N00456 Y0111.1 R0210.6 Y0091.4

N 2285 CUT HEAD REFERENCE TRAVEL
DO890 HE DI878 SR DO 733 R
ADREFTRV CHREFMAN EF TRVL
Y0000.3 K0012.5 K0013.0

O
DO 4 RBT LSR MANU LSR REF
IN TCH AL CNTRL TRAVEL
Ladder Diagram 59
N00457 X0091.3 X0001.1 R0208.7

A 2292 LASER HEAD FAR
DI 732 F DI 10 AU DI863 HE
AR TO REPT AD FAR
O
Ladder Diagram 60
N00458 X0091.2 R0211.0

A 2295 LASER CUT HEAD ERROR
DI 731 S DI880 HE
YS ERR AD ERR
X0093.0
B
DI 745 P
WR FAIL
X0093.1
C
DI 746 D
C/DC ERR
X0093.2
D
DI 747 E
LEC FUSE
X0093.3
E
DI 748 D
C PWR ER
X0093.4
F
DI 749 A
C PWR ER
X0093.5
G
DI 750 T
EMP ERR
X0093.6
H
DI 751 R
EF ERR
X0093.7
I
DI 752 O
VRLOAD
X0094.0
J
DI 753 E
NCD ERR
X0094.1
K
DI 754 U
NDR LOAD
X0094.2
L
DI 755 C
OLL PROT
X0094.3
M
DI 756 L
IMSW ERR
X0094.4
N
DI 757 S
ET TRVL
X0094.5
O
DI 758 F
UNC ERR
Ladder Diagram 61
X0094.6
A
DI 759 T
IPTCH ER
X0095.0
B
DI 761 G
AIN ERR
X0095.1
C
DI 762 R
ESL ERR
X0095.2
D
DI 763 C
ALB TO
X0095.4
E
DI 765 P
ROTO ERR
X0095.5
F
DI 766 S
ENSR ERR
N00459 X0091.0 X0001.1 R0211.1

G 2317 LASER CUT HEAD READY
DI 729 R DI 10 AU DI881 HE
EADY TO REPT AD RDY
N00460 X0094.2 R0211.2

H 2320 LASER CUT HEAD COLLISION
DI 755 C DI882 HE
OLL PROT AD COLLI
R0370.3
I
HAND BRO
KN LTCH
N00461 R0211.2 Y0060.3

J 2323
DI882 HE DO 484 L
AD COLLI SRHDCOLL
N00462 R0211.0 Y0060.5

K 2325
DI880 HE DO 486 L
AD ERR SRHDERR
N00463 R0208.7 Y0064.1

L 2327
DI863 HE DO 514 L
AD FAR SRHDFAR
N00464 R0211.1 Y0060.6

M 2329
DI881 HE DO 487 L
AD RDY SRHDRDY
R0211.0
N
DI880 HE
AD ERR
N00465 Y0111.3 Y0064.3

O 2332
DO892 LS DO 516 C
RCUTSEQ UTOPERAT
Ladder Diagram 62
N00466 K0012.5 Y0091.1 ACT D0614.1

A 2334 SUB 3 0029 LASER HEAD MANUAL ENB TIMEOUT
LSR MANU DO 730 M TMR LSRHEAD
AL CNTRL ANL UP MAN ENB
Y0091.2
B
DO 731 M
ANL DWN
Y0091.4
C
DO 733 R
EF TRVL
N00467 K0012.5 D0614.1 K0012.5

D 2342 LSR CUT HEAD MANUAL CNTRL ENAB
LSR MANU LSRHEAD LSR MANU
AL CNTRL MAN ENB AL CNTRL
N00468 K0012.6 D0612.0 K0012.6

E 2345 LSR CUT HEAD MANAUL HEAD UP
LSR MANU ALL IF P LSR MANU
AL UP B TO AL UP
N00469 K0012.7 D0612.0 K0012.7

F 2348 LSR CUT HEAD MANUAL HEAD DOWN
LSR MANU ALL IF P LSR MANU
AL DWN B TO AL DWN
N00470 K0013.0 D0612.0 K0013.0

G 2351 LSR CUT HEAD REFERENCE TRAVEL
LSR REF ALL IF P LSR REF
TRAVEL B TO TRAVEL
N00471 X0095.3 Y0063.3

H 2354
DI 764 B DO 508 L
US ERR SRCOMMOK
N00472 R0211.0 G1010.4

I 2356 LASER CUT HEAD ERROR
DI880 HE UALM 21
AD ERR
N00473
J 2358 SUB72
SPE
O
4 PMC Logic (S-Logic) for R-30iB Controllers

[f3l1lsrcut1] Ladder Diagram 1
N00001 R0000.0 R0000.0

A 1 ALWAYS ON
ALWAYS__ ALWAYS__
ON ON
R0000.0
B
ALWAYS__
ON
N00002 R0000.0 G1000.0

C 4 IMMEDIATE STOP
ALWAYS__ IMSTP
ON
N00003 X0000.0 R0100.5 G1000.1

D 6 *HOLD
DI_1_EXT BREAK_A_ *HOLD
_RNENBL NO_HOLD
N00004 X1026.4 R0100.5

E 9 S BREAK A NO HOLD
SI12_HOL BREAK_A_
DSW NO_HOLD
N00005 X1026.5 R0100.5

F 11 R BREAK A NO HOLD
SI13_RES BREAK_A_
ETSW NO_HOLD
X1026.4 X1025.6
G
SI12_HOL CYCLE___
DSW START
X0000.1 X1026.4
H
DI_2_EX_ SI12_HOL
RNEN_RST DSW
N00006 R0000.0 G1000.2

I 19 SAFE SPEED
ALWAYS__ SFSPD
ON
N00007 X1000.3 G1000.3

J 21
O
N00008 X1025.1 G1000.4

A 23 FAULT RESET
FAULT___ RB_FAULT
RESET _RESET
X0000.1 X0001.2
B
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
X1026.5
C
SI13_RES
ETSW
X0000.3
D
DI_4_EXT
_CY_STRT
X0000.2
E
DI_3_EXT
MTR_ON
Y0119.6
F
DO_959_F
LT_RESET
N00009 X1000.6 G1000.6

G 32 GO HOME
HOME
N00010 R0000.0 G1000.7

H 34 ENABLE
ALWAYS__ ENABLE
ON
N00011 F1000.0 Y1000.0

I 36
COMMAND_
ENABLE
N00012 F1000.1 Y1000.1

J 38
SYSTEM__
READY
Y1025.5
K MOTORS ENABLE
MOTORS__
ENABLE
N00013 F1000.2 Y1000.2

L 41
PROGRAM_
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

N 45
HELD
Y0000.0
O ROBOT RUN ENABLE INTERRUPT ACK
DO_1_RUN
_ENB_ACK
N00016 F1000.5 ACT R0338.0

A 48 SUB 3 0031 INTERNAL FAULT DELAY
FAULT TMR INT_FLT_
__DELAY
N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

B 52
FAULT RB_FAULT FILTERED INT_FLT_
_RESET _FAULT __DELAY
Y0120.2 Y0000.4
C ROBOT CONTROLLER FAULT
DO_963__ DO_5_RBT
PRG_FLT _CNT_FLT
Y0001.6
D
DO_15_CO
LL_DTCT
R0211.2
E
DI882_HE
AD_COLLI
N00018 F1000.6 Y1000.6

F 61
AT_HOME
Y0002.0 Y0000.1
G ROBOT AT HOME
DO_17_RB DO_2_RBT
T_@_HM1 _@_HOME
Y0002.1
H
DO_18_RB
T_@_HM2
Y0002.2
I
DO_19_RB
T_@_HM3
Y0002.3
J
DO_20_RB
T_@_HM4
Y0002.4
K
DO_21_RB
T_@_HM5
Y0002.5
L
DO_22_RB
T_@_HM6
Y0002.6
M
DO_23_RB
T_@_HM7
N00019 F1000.7 Y1000.7

N 71
TPENABLE
Y0119.7 Y0000.3
O ROBOT IN TEACH
DO_960__ DO_4_RBT
AUTO_KEY _IN_TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

A 75
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.0
B S
ECO24___ FACILITY
FC128 _CODE_11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

C 84
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

D
2 R1401.7 R1405.1
E
ECO16 ERROR_4
N00022 R1405.0 R1405.1 G1000.4 R1405.2

F 99 FENCE FAULT
FACILITY ERROR_4 RB_FAULT FENCE___
_CODE_11 _RESET FAULT
R1405.2
G
FENCE___
FAULT
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

H 104 POWER FAIL RECOVERY
INT_EXT_ FAULT BRK_PWR_ COMMAND_ SYSTEM__ PWR_FAIL
MTR_ON FL_RCVRY ENABLE READY _RECVRY
R0000.2
I
INT_EXT_
CYC_STRT
K0010.3
J
PWR_FAIL
_RECVRY
N00024 K0010.3 ACT R1466.0

K 112 SUB 3 0027 BREAK POWER FAIL RECOVERY
PWR_FAIL TMR BRK_PWR_
_RECVRY FL_RCVRY
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

L 116
DO_4_RBT COMMAND_ DO_5_RBT INT_EXT_ INT_EXT_ SYSTEM__ STEP
_IN_TCH ENABLE _CNT_FLT MTR_ON CYC_STRT READY
R1404.5 Y0000.2
M
DRP_AUTO DO_3_RBT
_FAULT _IN_AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

N ROBOT IN AUTOMATIC
TP______ FANUC___ FENCE___ TEACH___ DO_15_CO DO_3_RBT
E-STOP E-STOP FAULT MEMORY LL_DTCT _IN_AUTO
N00026 Y0119.5 Y0072.4

O 133 INPUT SIMULATED
DO_958_I DO_581_I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

A 135 S DROP AUTO FAULT
FC_AVAIL APPL____ FC_ZERO FAULT RB_FAULT DRP_AUTO
ALARMS _RESET _FAULT
N00028 F1000.5 R1404.5

B 141 R DROP AUTO FAULT
FAULT DRP_AUTO
_FAULT
G1000.4
C
RB_FAULT
_RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

D 144
FAULT ECO33___ ECO_____ FC_AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 148
FC_AVAIL ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___
1 R1402.6 R1402.7 R1404.3

F S
ECO23___ ECO24___ SPOT____
FC64 FC128 ALARM
N00031 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

G 158
1 R1402.6 R1402.7 R0330.0

H S
ECO23___ ECO24___ ARC_____
FC64 FC128 ALARM
N00032 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

I 168
1 R1402.6 R1402.7 R0330.1

J S
ECO23___ ECO24___ SEALER__
FC64 FC128 ALARM
N00033 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

K 178
1 R1402.6 R1402.7 R0330.2

L S
ECO23___ ECO24___ SERVOGUN
FC64 FC128 _ALARM
N00034 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 188
1 R1402.6 R1402.7 R0330.3

N S
ECO23___ ECO24___ TOOLCHNG
FC64 FC128 __ALARM
O
N00035 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 198
1 R1402.6 R1402.7 R0330.4

B S
ECO23___ ECO24___ SYSTEM__
FC64 FC128 _ALARM
N00036 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

C 208
1 R1402.6 R1402.7 R1406.0

D S
ECO23___ ECO24___ FACILITY
FC64 FC128 _CODE_15
N00037 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 218
1 R1402.6 R1402.7 R1404.2

F
ECO23___ ECO24___ FC_ZERO
FC64 FC128
N00038 R1404.1 ACT R1404.3

G 228 SUB57 0001 R
ECO_____ DIFU SPOT____
RETRIEVE ALARM
R0330.0
H R
ARC_____
ALARM
R0330.1
I R
SEALER__
ALARM
R0330.2
J R
SERVOGUN
_ALARM
R0330.3
K R
TOOLCHNG
__ALARM
R0330.4
L R
SYSTEM__
_ALARM
R1405.0
M R
FACILITY
_CODE_11
R1406.0
N R
FACILITY
_CODE_15
N00039 R1404.4 ACT R1404.6

O 239 SUB 3 0006
FC_AVAIL TMR RETRIEVE
_DELAY
N00040 R1404.6 R1404.1

A 243 S
RETRIEVE ECO_____
_DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

B 245 SUB 3 0007 R
ECO_____ TMR ECO_____
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

C 249 S WELD FAULT #1
FC_AVAIL SPOT____ FC_ZERO FAULT DO_126_W
ALARM LD_FLT_1
N00043 X0083.1 Y0015.5

D 254 R WELD FAULT #1
DI_666_L DO_126_W
ASER_ON LD_FLT_1
N00044 K0010.1 K0010.0 R0000.1

E 256
EXT_MTR_ TEACH___ INT_EXT_
ON MEMORY MTR_ON
N00045 X0000.2 K0010.0 K0010.5 K0010.1

F 259 S EXTERNAL MOTORS ON
DI_3_EXT TEACH___ MAINT_ME EXT_MTR_
MTR_ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

G
SI13_RES DO_5_RBT FAULT
ETSW _CNT_FLT
X1025.1
H
FAULT___
RESET
X0000.1 X0001.2
I
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
K0010.3
J
PWR_FAIL
_RECVRY
N00046 Y0000.2 Y0000.4 G1000.4 K0010.1

K 272 R EXTERNAL MOTORS ON
DO_3_RBT DO_5_RBT RB_FAULT EXT_MTR_
_IN_AUTO _CNT_FLT _RESET ON
N00047 K0010.2 K0010.0 K0010.5 R0000.2

L 276
EXT_CYC_ TEACH___ MAINT_ME INT_EXT_
START MEMORY M CYC_STRT
O
N00048 X0000.3 K0010.0 K0010.2

A 280 S EXTERNAL CYCLE START
DI_4_EXT TEACH___ EXT_CYC_
_CY_STRT MEMORY START
X1026.5 Y0000.4 F1000.5

B
SI13_RES DO_5_RBT FAULT
ETSW _CNT_FLT
X1025.1
C
FAULT___
RESET
X0000.1 X0001.2
D
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
K0010.3
E
PWR_FAIL
_RECVRY
R0340.0
F
MANUAL__
WELD
N00049 Y0000.2 Y0000.4 G1000.4 K0010.2

G 293 R EXTERNAL CYCLE START
DO_3_RBT DO_5_RBT RB_FAULT EXT_CYC_
_IN_AUTO _CNT_FLT _RESET START
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

H 297
DI_17_PG DI_18_PG DI_19_PG DI_20_PG DI_21_PG DI_22_PG DI_23_PG
_SLCT_1 _SLCT_2 _SLCT_4 _SLCT_8 _SLCT_16 _SLCT_32 _SLCT_64
1 X0002.7 R0507.0
I PROGRAM 1
DI_24_PG PROGRAM_
_SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

J 306
1 X0002.7 R0507.1
K PROGRAM 2
DI_24_PG PROGRAM_
_SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

L 315
1 X0002.7 R0507.2
M PROGRAM 3
DI_24_PG PROGRAM_
_SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

N 324
1 X0002.7 R0507.3
O PROGRAM 4
DI_24_PG PROGRAM_
_SLCT128 4
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 333
1 X0002.7 R0507.4
B PROGRAM 5
DI_24_PG PROGRAM_
_SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 342
1 X0002.7 R0507.5
D PROGRAM 6
DI_24_PG PROGRAM_
_SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 351
1 X0002.7 R0507.6
F PROGRAM 7
DI_24_PG PROGRAM_
_SLCT128 7
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 360
1 X0002.7 R0507.7
H PROGRAM 8
DI_24_PG PROGRAM_
_SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 369
1 X0002.7 R0508.0
J PROGRAM 9
DI_24_PG PROGRAM_
_SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 378
1 X0002.7 R0508.1
L PROGRAM 10
DI_24_PG PROGRAM_
_SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 387
1 X0002.7 R0508.2
N PROGRAM 11
DI_24_PG PROGRAM_
_SLCT128 11
O
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 396
1 X0002.7 R0508.3
B PROGRAM 12
DI_24_PG PROGRAM_
_SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 405
1 X0002.7 R0508.4
D PROGRAM 13
DI_24_PG PROGRAM_
_SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 414
1 X0002.7 R0508.5
F PROGRAM 14
DI_24_PG PROGRAM_
_SLCT128 14
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 423
1 X0002.7 R0508.6
H PROGRAM 15
DI_24_PG PROGRAM_
_SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 432
1 X0002.7 R0508.7
J PROGRAM 16
DI_24_PG PROGRAM_
_SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 441
1 X0002.7 R0509.0
L PROGRAM 17
DI_24_PG PROGRAM_
_SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 450
1 X0002.7 R0509.1
N PROGRAM 18
DI_24_PG PROGRAM_
_SLCT128 18
O
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 459
1 X0002.7 R0509.2
B PROGRAM 19
DI_24_PG PROGRAM_
_SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 468
1 X0002.7 R0509.3
D PROGRAM 20
DI_24_PG PROGRAM_
_SLCT128 20
O
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 477
DI_5_MV_ DO_3_RBT PROGRAM_ PAUSED AT_HOME DI_11___ *HOLD
TO_POUNC _IN_AUTO RUNNING PLC_AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

B
DO_3_RBT PAUSED PROGRAM_ DI_11___
_IN_AUTO RUNNING PLC_AUTO
F1000.6 R0507.0 F1000.2 F1000.3

C
AT_HOME PROGRAM_ PROGRAM_ PAUSED
1 RUNNING
R0507.1
D
PROGRAM_
2
R0507.2
E
PROGRAM_
3
R0507.3
F
PROGRAM_
4
R0507.4
G
PROGRAM_
5
R0507.5
H
PROGRAM_
6
R0507.6
I
PROGRAM_
7
R0507.7
J
PROGRAM_
8
R0508.0
K
PROGRAM_
9
R0508.1
L
PROGRAM_
10
R0508.2
M
PROGRAM_
11
R0508.3
N
PROGRAM_
12
R0508.4
O
PROGRAM_
13
R0508.5
A
PROGRAM_
14
R0508.6
B
PROGRAM_
15
R0508.7
C
PROGRAM_
16
R0509.0
D
PROGRAM_
17
R0509.1
E
PROGRAM_
18
R0509.2
F
PROGRAM_
19
R0509.3
G
PROGRAM_
20
Y0000.2 F1000.3 F1000.2 X0000.1 X0001.2

H
DO_3_RBT PAUSED PROGRAM_ DI_2_EX_ DI_11___
_IN_AUTO RUNNING RNEN_RST PLC_AUTO
X1025.6
I
CYCLE___
START
1 R0000.1 D0603.0 Y0000.4 R0100.5 F1000.5 G1000.5

J UOP CYCLE START
INT_EXT_ CYCLE___ DO_5_RBT BREAK_A_ FAULT UOP_CYC_
MTR_ON STRT_DLY _CNT_FLT NO_HOLD START
N00071 G1000.5 F1000.2 ACT D0603.0

K 528 SUB 3 0008 S CYCLE START DELAY
UOP_CYC_ PROGRAM_ TMR CYCLE___
START RUNNING STRT_DLY
N00072 D0603.0 ACT D0603.0

L 533 SUB 3 0009 R CYCLE START DELAY
CYCLE___ TMR CYCLE___
STRT_DLY STRT_DLY
N00073 F1000.2 D0603.0

M 537 R CYCLE START DELAY
PROGRAM_ CYCLE___
RUNNING STRT_DLY
N00074
N 539 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

O 540 SUB 3 0011 TEACH MEMORY DELAY
DO_960__ TMR TEACH_ME
AUTO_KEY M_DELAY
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 544 TEACH MEMORY
DO_4_RBT SI13_RES FAULT___ CYCLE___ TEACH___
_IN_TCH ETSW RESET START MEMORY
K0010.4
B
TEACH_ME
M_DELAY
K0010.0
C
TEACH___
MEMORY
N00077 K0008.0 R0350.0

D 551 MAINTENANCE MODE
AUTO/MAI IN_MAINT
NT_SS
N00078 R0350.0 ACT D0610.0

E 553 SUB 3 0012 MAINTENANCE MODE DELAY
IN_MAINT TMR MAINT___
DELAY
N00079 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

F 557 MAINTENANCE MEMORY
MAINT___ DO_3_RBT DO_2_RBT SI13_RES FAULT___ MAINT_ME
DELAY _IN_AUTO _@_HOME ETSW RESET M
K0010.5 X0000.6
G
MAINT_ME DI_7_MAI
M NT_PSCLR
N00080 X0000.2 X0000.3 Y0000.2 K0010.6

H 566 EXTERNAL START ANTI-TIE DOWN
DI_3_EXT DI_4_EXT DO_3_RBT EXT_STRT
MTR_ON _CY_STRT _IN_AUTO _ANTI_TD
K0010.6
I
EXT_STRT
_ANTI_TD
N00081 X0002.0 G1001.0

J 571
DI_17_PG PNS_1
_SLCT_1
N00082 X0002.1 G1001.1

K 573
DI_18_PG PNS_2
_SLCT_2
N00083 X0002.2 G1001.2

L 575
DI_19_PG PNS_3
_SLCT_4
N00084 X0002.3 G1001.3

M 577
DI_20_PG PNS_4
_SLCT_8
N00085 X0002.4 G1001.4

N 579
DI_21_PG PNS_5
_SLCT_16
N00086 X0002.5 G1001.5

O 581
DI_22_PG PNS_6
_SLCT_32
N00087 X0002.6 G1001.6

A 583
DI_23_PG PNS_7
_SLCT_64
N00088 X0002.7 G1001.7

B 585
DI_24_PG PNS_8
_SLCT128
N00089 X0000.6 K0008.0 Y0120.5

C 587 MAINTENANCE POSITION CLEAR
DI_7_MAI AUTO/MAI DO_966_M
NT_PSCLR NT_SS ANTP_CLR
N00090 K0008.0 Y0001.4

D 590 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO_13_SN
NT_SS DRBT_MNT
N00091 Y0112.3 Y0003.0

E 592 CLEAR OF ZONE #1
DO_900__ DO_25_CL
CLR_ZN_1 R_ZON_1
N00092 Y0112.4 Y0003.1

F 594 CLEAR OF ZONE #2
DO_901__ DO_26_CL
CLR_ZN_2 R_ZON_2
N00093 Y0112.5 Y0003.2

G 596 CLEAR OF ZONE #3
DO_902__ DO_27_CL
CLR_ZN_3 R_ZON_3
N00094 Y0112.6 Y0003.3

H 598 CLEAR OF ZONE #4
DO_903__ DO_28_CL
CLR_ZN_4 R_ZON_4
N00095 Y0112.7 Y0003.4

I 600 CLEAR OF ZONE #5
DO_904__ DO_29_CL
CLR_ZN_5 R_ZON_5
N00096 Y0113.0 Y0003.5

J 602 CLEAR OF ZONE #6
DO_905__ DO_30_CL
CLR_ZN_6 R_ZON_6
N00097 Y0113.1 Y0003.6

K 604 CLEAR OF ZONE #7
DO_906__ DO_31_CL
CLR_ZN_7 R_ZON_7
N00098 Y0113.2 Y0003.7

L 606 CLEAR OF ZONE #8
DO_907__ DO_32_CL
CLR_ZN_8 R_ZON_8
N00099 Y0113.3 Y0004.0

M 608 CLEAR OF ZONE #9
DO_908__ DO_33_CL
CLR_ZN_9 R_ZON_9
N00100 Y0113.4 Y0004.1

N 610 CLEAR OF ZONE #10
DO_909_C DO_34_CL
LR_ZN_10 R_ZON_10
N00101 Y0113.5 Y0004.2

O 612 CLEAR OF ZONE #11
DO_910_C DO_35_CL
LR_ZN_11 R_ZON_11
N00102 Y0113.6 Y0004.3

A 614 CLEAR OF ZONE #12
DO_911_C DO_36_CL
LR_ZN_12 R_ZON_12
N00103 Y0113.7 Y0004.4

B 616 CLEAR OF ZONE #13
DO_912_C DO_37_CL
LR_ZN_13 R_ZON_13
N00104 Y0116.4 Y0004.5

C 618 CLEAR OF ZONE #14
DO_933_C DO_38_CL
LR_ZN_14 R_ZON_14
N00105 Y0118.7 Y0004.6

D 620 CLR OF INDEPENDENT MOTION ZN1
DO952_CL DO_39_CL
RMOTZN1 R_INDMOT
N00106 Y0119.0 Y0004.7

E 622 CLR OF INDEPENDENT MOTION ZN2
DO953_CL DO_40_CL
RMOTZN2 R_INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

F 624 CLEAR TO ADVANCE TRANSFER
DO_954_C DI_1_EXT DO_7_CLR
LRAV_XFR _RNENBL _ADV
N00108 Y0119.2 X0000.0 Y0000.7

G 627 CLEAR TO RETURN TRANSFER
LRET_XFR _RNENBL _RET_XFR
N00109 Y0119.3 X0000.0 Y0001.0

H 630 CLEAR TO UNCLAMP
LR_UNCLP _RNENBL _2_UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 633 PROMPT BOX
DO_4_RBT DO_19001 DO_585__
_IN_TCH _PRPTBX PRMPT_BX
N00111 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

J 636
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.3
K SYSTEM FACILITY CODE (24)
ECO24___ SYS_FCLY
FC128 CODE
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 645
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R0365.0

N SRVO-001 OPERATOR PANEL E-STOP
O
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 663
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0366.0

C SRVO-002 TEACH PENDANT E-STOP
N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 681
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0367.0

F SRVO-003 DEADMAN SWITCH RELEAS
N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 699
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0368.0

I SRVO-005 ROBOT OVERTRAVELL
N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 717
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.2

L SRVO-006 HAND BROKEN
N00117 R0370.2 G1000.4 R0370.3

M 735 HAND BROKEN LATCH
SRVO-006 RB_FAULT HAND_BRO
_RESET KN_LTCH
R0370.3
N
HAND_BRO
KN_LTCH
O
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 739
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.0

C SRVO-007 EXTERNAL EMERGENCY ST
N00119 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 757
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.1

F SRVO-408 DCS SSO EXT EMERGSTOP
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 775
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.3

I SRVO-50 COLLISION DETECT
N00121 R1406.3 X1025.1 Y0001.6

J 793 COLLISION DETECT
SRVO-50 FAULT___ DO_15_CO
RESET LL_DTCT
Y0001.6
K
DO_15_CO
LL_DTCT
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 797
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.2

N SRVO-65 LOW BATTERY
ECO13 ECO14 ECO15 ECO16 SRVO-65_
LOW_BATT
N00123 F1001.0 Y0001.1

O 815 ROBOT BATTERY LOW
BATALM DO_10_RB
T_BAT_LW
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 817
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0371.0

C SRVO-101 ROBOT OVERATRAVEL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 835
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.1

F DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE_EXCE
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 853
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0373.0

I SRVO-199 CONTROL STOP
_CONTROL
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 871
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0374.0

L SRVO-232 NTED INPUT
_NTED_IN
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 889
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0375.0

O SRVO-233 TP OFF IN T1,T2/DOOR
_TP_OFF
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 907
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0376.0

C SRVO-280 SVOFF INPUT
_SVOFF_I
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 925
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.0

_OPSFT11
N00131 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 943
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.1

_OPSFT12
N00132 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 961
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.2

_OPSFT21
N00133 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 979
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.3

O SRVO-381 OPSFTY22 STATUS ABNOR
_OPSFT22
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 997
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.4

C SRVO-382 OPSFTY31 STATUS ABNOR
_OPSFT31
N00135 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1015
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.5

_OPSFT32
N00136 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1033
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.6

_OPSFT41
N00137 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1051
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.7

_OPSFT42
O
N00138 R0387.0 R0388.0

A 1069 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 OPSFTY_F
_OPSFT11 LT_LATCH
R0387.1
B
SRVO-379
_OPSFT12
R0387.2
C
SRVO-380
_OPSFT21
R0387.3
D
SRVO-381
_OPSFT22
R0387.4
E
SRVO-382
_OPSFT31
R0387.5
F
SRVO-383
_OPSFT32
R0387.6
G
SRVO-384
_OPSFT41
R0387.7
H
SRVO-385
_OPSFT42
R0388.0 F1000.5
I
OPSFTY_F FAULT
LT_LATCH
N00139 R0388.0 Y0073.1

J 1081 SAFETY CHAIN FAULT
OPSFTY_F DO_586_S
LT_LATCH FTY_CHN
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

K 1083
SYS_FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

L
2 R1401.4 R1401.5 R1401.6 R1401.7 R0377.0

M SYST-034 HOLD SIGNAL FROM SOP/
_HOLD_SI
O
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1101
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0378.0

C SYST-038 OPERATION MODE T1 SEL
_OPERATI
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1119
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0379.0

F
N00143 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1137
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0380.0

I SYST-040 OPERATION MODE AUTO S
_OPERATI
N00144 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1155
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0381.0

L SYST-042 DEADMAN DEFEATED
_DEADMAN
N00145 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1173
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0382.0

O SYST-043 TP DISABLE IN T1/T2
_TP_DISA
N00146 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1191
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0383.0

C SYST-045 TP ENABLE IN AUTO MO
_TP_ENAB
N00147 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1209
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0384.0

F SYST-154 NO START IN ISOLATE/B
_NO_STAR
N00148 R0397.0 F1000.0 R0397.0

G 1227 FILTERED FAULT
FILTERED COMMAND_ FILTERED
_FAULT ENABLE _FAULT
R0398.0
H
FILTER__
FLT_GRP1
R0399.0
I
FILTER__
FLT_GRP2
O
N00149 R0365.0 R0398.0

SRVO-001 FILTER__
FLT_GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0__
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0__
RESERVED
R0373.0
I
SRVO-199
_CONTROL
R0374.0
J
SRVO-232
_NTED_IN
R0375.0
K
SRVO-233
_TP_OFF
R0376.0
L
SRVO-280
_SVOFF_I
R0370.1
M
SRVO-408
R1456.0
N
APPL____
ALARMS
O
N00150 R0377.0 R0399.0

SYST-034 FILTER__
_HOLD_SI FLT_GRP2
R0378.0
B
SYST-038
_OPERATI
R0379.0
C
SYST-039
R0380.0
D
SYST-040
_OPERATI
R0381.0
E
SYST-042
_DEADMAN
R0382.0
F
SYST-043
_TP_DISA
R0383.0
G
SYST-045
_TP_ENAB
R0384.0
H
SYST-154
_NO_STAR
X1025.0
I
FANUC___
E-STOP
F1008.2
J
TP______
E-STOP
X1026.1
K
SI9_____
AUTOMDSW
Y0000.3
L
DO_4_RBT
_IN_TCH
K0010.0
M
TEACH___
MEMORY
R1405.2
N
FENCE___
FAULT
O
N00151 R0330.0 F1000.5 R1456.0

A 1262
ARC_____ FAULT APPL____
ALARM ALARMS
R0330.1
B
SEALER__
ALARM
R0330.2
C
SERVOGUN
_ALARM
R0330.3
D
TOOLCHNG
__ALARM
R0330.4
E
SYSTEM__
_ALARM
R1404.3
F
SPOT____
ALARM
R1456.0
G
APPL____
ALARMS
N00152 D0001.0 Y0079.0

H 1271 S TOOL CHANGER LOCK
TOOL_CHA DO_633_T
NGE_APP C_LOCK
Y0079.1
I R TOOL CHANGER UNLOCK
DO_634_T
C_UNLOCK
N00153 D0001.0 ACT

J 1274 SUB10 0000
TOOL_CHA JMP
NGE_APP
N00154
K 1277 SUB66 P0001
CALLU TOOL_CHANGING
N00155
L 1279 SUB30
JMPE
N00156
M 1280 SUB66 P0004
CALLU AIR_SWITCH
N00157
N 1282 SUB66 P0006
CALLU UALM
N00158
O 1284 SUB66 P0007
CALLU INTERFACE
N00159
A 1286 SUB66 P0008
CALLU MH
N00160
B 1288 SUB66 P0009
CALLU APPLICATION
N00161
C 1290 SUB66 P0018
CALLU LASER_CONTROLLER
N00162
D 1292 SUB66 P0023
CALLU LASER_CUT_HEAD
N00163
E 1294 SUB 2
END2
N00164 ### TOOL_CHANGING ###

F 1295 SUB71 P0001
SP TOOL_CHANGING
N00165 X0080.0 R0347.0

G 1297 GUN ID NOT 0
DI_641__ GUN_ID__
TOOL_ID1 NOT_0
X0080.1
H
DI_642__
TOOL_ID2
X0080.2
I
DI_643__
TOOL_ID4
X0080.3
J
DI_644__
TOOL_ID8
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

K 1302
DI_641__ DI_642__ DI_643__ DI_644__ GUN_1_ON
TOOL_ID1 TOOL_ID2 TOOL_ID4 TOOL_ID8 _ARM
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

L 1307
DI_641__ DI_642__ DI_643__ DI_644__ GUN_2_ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

M 1312
DI_641__ DI_642__ DI_643__ DI_644__ GUN_3_ON
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

N 1317
DI_641__ DI_642__ DI_643__ DI_644__ GUN_4_ON
N00170 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

O 1322
DI_641__ DI_642__ DI_643__ DI_644__ GUN_5_ON
N00171 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

A 1327
DI_641__ DI_642__ DI_643__ DI_644__ GUN_6_ON
N00172 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

B 1332
DI_641__ DI_642__ DI_643__ DI_644__ GUN_7_ON
N00173 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

C 1337
DI_641__ DI_642__ DI_643__ DI_644__ GUN_8_ON
N00174 R0321.0 R0328.6

D 1342 TOOL ON ROBOT
GUN_1_ON TOOLONRO
_ARM BOT
R0322.0
E
GUN_2_ON
_ARM
R0323.0
F
GUN_3_ON
_ARM
R0324.0
G
GUN_4_ON
_ARM
R0325.0
H
GUN_5_ON
_ARM
R0326.0
I
GUN_6_ON
_ARM
R0326.1
J
GUN_7_ON
_ARM
R0326.2
K
GUN_8_ON
_ARM
N00175 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

L 1351
GUN_1_ON GUN_2_ON GUN_3_ON GUN_4_ON GUN_5_ON GUN_6_ON GUN_7_ON
_ARM _ARM _ARM _ARM _ARM _ARM _ARM
1 R0326.2 R0348.0
M ANY GEO TOOL PRESENT ON ROBOT
GUN_8_ON GEOTOOLP
_ARM RSNT
N00176 X0080.0 Y0038.0

N 1360
DI_641__ DO_305__
TOOL_ID1 TOOL_ID1
N00177 X0080.1 Y0038.1

O 1362
DI_642__ DO_306__
TOOL_ID2 TOOL_ID2
N00178 X0080.2 Y0038.2

A 1364
DI_643__ DO_307__
TOOL_ID4 TOOL_ID4
N00179 X0080.3 Y0038.3

B 1366
DI_644__ DO_308__
TOOL_ID8 TOOL_ID8
N00180 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

C 1368
DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__ DI_311__
TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6 TCSTND7
1 X0038.7 R0327.0
D GUN 1-8 (ALL TOOLS IN STAND)
DI_312__ GUN_1-8
TCSTND8
N00181 Y0117.4 K0011.1

E 1377 TOOL CHANGER RELEASE
DO_941__ TC______
TC_UNLCK RELEASED
N00182 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

F 1379 S TOOL CHANGER LOCK
DO_940__ DO_3_RBT DI_637__ DI_638__ TOOLONRO DO_633_T
TC_LOCK _IN_AUTO RDY2LCK1 RDY2LCK2 BOT C_LOCK
F1000.7 Y0119.7 K0015.0 R0328.6

G
TPENABLE DO_960__ TC_LOCK_ TOOLONRO
AUTO_KEY PB BOT
N00183 Y0117.4 Y0117.3 Y0000.2 Y0079.0

H 1392 R TOOL CHANGER LOCK
DO_941__ DO_940__ DO_3_RBT DO_633_T
TC_UNLCK TC_LOCK _IN_AUTO C_LOCK
F1000.7 Y0119.7 K0016.0

I
TPENABLE DO_960__ TC_UNLOC
AUTO_KEY K_PB
N00184 X0079.0 Y0040.6

J 1401
DI_633__ DO_327_T
TC_LOCKD CCOUPMON
N00185 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

K 1403
TC______ DO_633_T DO_3_RBT DI_645_T DI_646_T
RELEASED C_LOCK _IN_AUTO SIV SRV
F1000.7 Y0119.7 K0016.0 R0328.6 2

L
TPENABLE DO_960__ TC_UNLOC TOOLONRO
AUTO_KEY K_PB BOT
1 R0328.6 Y0079.1
M TOOL CHANGER UNLOCK
TOOLONRO DO_634_T
BOT C_UNLOCK
2
N
N00186 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

O 1417 TC LOCK PUSH BUTTON
TC_LOCK_ TC_UNLOC TPENABLE DO_960__ TC_LOCK_
PB K_PB AUTO_KEY PB
N00187 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

A 1422 TC UNLOCK PUSH BUTTON
TC_UNLOC TC_LOCK_ TPENABLE DO_960__ TC_UNLOC
K_PB PB AUTO_KEY K_PB
N00188 X0079.1 Y0040.7

B 1427
DI_634__ DO_328_T
TC_ULCKD CRELMON
N00189 R0328.6 K0008.0 R0218.4

C 1429 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI_940_T
BOT NT_SS C_NOTOOL
N00190 Y0117.5 Y0117.6 Y0000.2 Y0038.5

D 1432 TOOL CHANGER OPEN COVERS
DO_942__ DO_943__ DO_3_RBT DO_310_T
TCOPNCVR TCCLSCVR _IN_AUTO C_OPNCVR
K0011.4 K0011.5 Y0000.3

E
TC_OPENG TC__CLOS DO_4_RBT
UNCOVER GUNCOVER _IN_TCH
N00191 Y0117.5 Y0117.6 Y0000.2 Y0038.6

F 1440 TOOL CHANGER CLOSE COVERS
DO_942__ DO_943__ DO_3_RBT DO_311_T
TCOPNCVR TCCLSCVR _IN_AUTO C_CLSCVR
K0011.5 K0011.4 Y0000.3

G
TC__CLOS TC_OPENG DO_4_RBT
GUNCOVER UNCOVER _IN_TCH
N00192 X0038.0 R0321.0 R0329.0

H 1448 GUN1 POSITION
DI_305__ GUN_1_ON GUN1_POS
TCSTND1 _ARM ITION
X0038.0 X0039.3
I
DI_305__ DI_316_G
TCSTND1 EOTPDCK
N00193 X0038.1 R0322.0 R0329.1

J 1454 GUN2 POSITION
TCSTND2 _ARM ITION
X0038.1 X0039.3
K
DI_306__ DI_316_G
TCSTND2 EOTPDCK
N00194 X0038.2 R0323.0 R0329.2

L 1460 GUN3 POSITION
TCSTND3 _ARM ITION
X0038.2 X0039.3
M
DI_307__ DI_316_G
TCSTND3 EOTPDCK
N00195 X0038.3 R0324.0 R0329.3

N 1466 GUN4 POSITION
TCSTND4 _ARM ITION
X0038.3 X0039.3
O
DI_308__ DI_316_G
TCSTND4 EOTPDCK
N00196 X0038.4 R0325.0 R0329.4

A 1472 GUN5 POSITION
TCSTND5 _ARM ITION
X0038.4 X0039.3
B
DI_309__ DI_316_G
TCSTND5 EOTPDCK
N00197 X0038.5 R0326.0 R0329.5

C 1478 GUN6 POSITION
TCSTND6 _ARM ITION
X0038.5 X0039.3
D
DI_310__ DI_316_G
TCSTND6 EOTPDCK
N00198 X0038.6 R0326.1 R0329.6

E 1484 GUN7 POSITION
TCSTND7 _ARM ITION
X0038.6 X0039.3
F
DI_311__ DI_316_G
TCSTND7 EOTPDCK
N00199 X0038.7 R0326.2 R0329.7

G 1490 GUN8 POSITION
TCSTND8 _ARM ITION
X0038.7 X0039.3
H
DI_312__ DI_316_G
TCSTND8 EOTPDCK
O
N00200 R0329.0 R0328.7

A 1496 ALL GUN1-8 POSITION
GUN1_POS GUN1-8_P
ITION OSITION
R0329.1
B
GUN2_POS
ITION
R0329.2
C
GUN3_POS
ITION
R0329.3
D
GUN4_POS
ITION
R0329.4
E
GUN5_POS
ITION
R0329.5
F
GUN6_POS
ITION
R0329.6
G
GUN7_POS
ITION
R0329.7
H
GUN8_POS
ITION
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1505
DI_316_G DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__
1 X0038.6 X0038.7 R0320.0

J TOOL 1 IN OPDOCK
DI_311__ DI_312__ TOOL1INO
N00202 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1515
1 X0038.6 X0038.7 R0320.1

L TOOL 2 IN OPDOCK
N00203 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1525
1 X0038.6 X0038.7 R0320.2

N TOOL 3 IN OPDOCK
O
N00204 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1535
1 X0038.6 X0038.7 R0320.3

B TOOL 4 IN OPDOCK
N00205 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1545
1 X0038.6 X0038.7 R0320.4

D TOOL 5 IN OPDOCK
N00206 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1555
1 X0038.6 X0038.7 R0320.5

F TOOL 6 IN OPDOCK
N00207 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1565
1 X0038.6 X0038.7 R0320.6

H TOOL 7 IN OPDOCK
N00208 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1575
1 X0038.6 X0038.7 R0320.7

J TOOL 8 IN OPDOCK
O
N00209 R0320.0 R0319.0

A 1585 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00210 X0082.6 Y0038.7

I 1594
DI_663_T DO_312_T
CCOMMOK CCOMMOK
N00211 X0082.7 Y0039.2

J 1596
DI_664_T DO_315_T
CTLSLDPW LSLIDPWR
N00212 X0079.4 X0079.5 G1008.4

K 1598 RTL1&L2SWITCHMISMATCH
DI_637__ DI_638__ UALM_5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI_637__ DI_638__
RDY2LCK1 RDY2LCK2
N00213 R0328.6 G1008.5

M 1604 NO TOOL ON ARM
TOOLONRO UALM_6
BOT
N00214 K0013.1 R0000.7 Y0126.7

N 1606 NO TOOL ON EOAT SS
NOTOOLON PART_PRE DO_1016_
EOATSS SENT NOEOATSS
N00215 K0013.1 R0000.7 K0013.1

O 1609 R NO TOOL ON EOAT SS
NOTOOLON PART_PRE NOTOOLON
EOATSS SENT EOATSS
N00216 Y0039.3 Y0039.3

A 1612 S WRONG TOOL IN STAND
DO_316_W DO_316_W
RNGTLSTD RNGTLSTD
N00217 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1614 R WRONG TOOL IN STAND
DO_316_W FAULT___ DO_2_RBT DO_316_W
RNGTLSTD RESET _@_HOME RNGTLSTD
N00218
C 1618 SUB72
SPE
N00219 ### AIR_SWITCH ###

D 1619 SUB71 P0004
SP AIR_SWITCH
N00220 X1020.6 Y0001.5

E 1621 END OF ARM AIR ON
RI_7_AIR DO_14_EO
_FL_SW A_AIR_ON
N00221
F 1623 SUB72
SPE
N00222 ### UALM ###

G 1624 SUB71 P0006
SP UALM
N00223 Y0120.2 X1025.1 Y0120.2

H 1626 PROGRAM FAULT
DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00224 Y0120.2 G1008.0

I 1629 PROGRAM VERIFY FAULT
DO_963__ UALM1
PRG_FLT
N00225 K0010.0 Y0119.7 Y0000.3 G1010.6

J 1631 TEACH MEMORY ON
TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00226 R0000.0 G1011.0

K 1635 GUN DISABLED SELECTOR SWITCH
ALWAYS__ UALM_25
ON
N00227 R0000.0 G1011.1

L 1637 RETRACT ENABLED
ALWAYS__ UALM_26
ON
N00228 Y0002.7 G1011.4

M 1639 IN PROGRAM LOOP
DO_24_RB UALM_29
T_LOOP
N00229 Y0039.3 G1009.7

N 1641 TC PRESS FAULT RESET
DO_316_W UALM_16
RNGTLSTD
N00230
O 1643 SUB72
SPE
N00231 ### INTERFACE ###

A 1644 SUB71 P0007
SP INTERFACE
N00232 D0612.1 ACT D0612.0

B 1646 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH_IF_PB TMR ALL_IF_P
_TO B_TO
D0612.2
C
SEAL_IF_
PB_TO
D0612.3
D
STUD_IF_
PB_TO
D0612.4
E
LASER_IF
_PB_TO
O
N00233 K0002.0 D0612.1

A 1653 MH IF PB TO
CLMP1CLS MH_IF_PB
_TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC_1_ON
_PB
K0014.3
G
VAC_2_ON
_PB
K0014.4
H
VAC_3_ON
_PB
K0014.5
I
BLOWOFF_
1_ON_PB
K0014.6
J
BLOWOFF_
2_ON_PB
K0014.7
K
BLOWOFF_
3_ON_PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
K0011.4
A
TC_OPENG
UNCOVER
K0011.5
B
TC__CLOS
GUNCOVER
K0016.1
C
VAC_4_ON
_PB
K0016.2
D
BLOWOFF_
4_ON_PB
O
N00234 K0009.4 D0612.2

A 1688 SEAL IF PB TO
MAN_FLOW SEAL_IF_
_PB1 PB_TO
K0008.7
B
RESEAL_P
B1
K0011.2
C
AUTO_PUR
GE_PB1
K0008.2
D
ACCEPTSE
ALER1_IF
K0008.3
E
REJECTSE
ALER1_IF
K0012.3
F
INSPECTI
ON_PB_1
K0009.5
G
MAN_FLOW
_PB2
K0009.0
H
RESEAL_P
B2
K0011.3
I
AUTO_PUR
GE_PB2
K0012.4
J
INSPECTI
ON_PB_2
K0013.5
K
ACCEPTSE
ALER2_IF
K0013.6
L
REJECTSE
ALER2_IF
O
N00235 K0012.1 D0612.4

A 1701 LASER IF PB TO
LASER_RE LASER_IF
SET_PB _PB_TO
K0012.2
B
LASERGLS
SNOTPRSS
K0012.6
C
LSR_MANU
AL_UP
K0012.7
D
LSR_MANU
AL_DWN
K0013.0
E
LSR_REF_
TRAVEL
N00236
F 1707 SUB72
SPE
N00237 ### MH ###

G 1708 SUB71 P0008
SP MH
N00238 Y0000.3 K0004.4 R1410.0

H 1710 MANUAL GRIP ENABLE
DO_4_RBT MAN_GRP_ MAN_GRP_
_IN_TCH ENBLE_SS ENABLE
N00239 R1410.0 ACT

I 1713 SUB10 0000
MAN_GRP_ JMP
ENABLE
N00240 R0000.0 Y0114.0

J 1716 OPEN CLAMP 1
ALWAYS__ DO_913__
ON OPNCLMP1
N00241 R0000.0 Y0114.1

ALWAYS__ DO_914__
ON CLSCLMP1
N00242 R0000.0 Y0114.2

L 1720 OPEN CLAMP 2
ALWAYS__ DO_915__
ON OPNCLMP2
N00243 R0000.0 Y0114.3

ALWAYS__ DO_916__
ON CLSCLMP2
N00244 R0000.0 Y0114.4

N 1724 OPEN CLAMP 3
ALWAYS__ DO_917__
ON OPNCLMP3
N00245 R0000.0 Y0114.5

ALWAYS__ DO_918__
ON CLSCLMP3
N00246 R0000.0 Y0114.6

A 1728 OPEN CLAMP 4
ALWAYS__ DO_919__
ON OPNCLMP4
N00247 R0000.0 Y0114.7

ALWAYS__ DO_920__
ON CLSCLMP4
N00248 R0000.0 Y0115.0

C 1732 OPEN CLAMP 5
ALWAYS__ DO_921__
ON OPNCLMP5
N00249 R0000.0 Y0115.1

ALWAYS__ DO_922__
ON CLSCLMP5
N00250 R0000.0 Y0115.2

E 1736 OPEN CLAMP 6
ALWAYS__ DO_923__
ON OPNCLMP6
N00251 R0000.0 Y0115.3

ALWAYS__ DO_924__
ON CLSCLMP6
N00252 R0000.0 Y0115.4

G 1740 OPEN CLAMP 7
ALWAYS__ DO_925__
ON OPNCLMP7
N00253 R0000.0 Y0115.5

H 1742 CLOSE CLAMP 7
ALWAYS__ DO_926__
ON CLSCLMP7
N00254 R0000.0 Y0115.6

I 1744 OPEN CLAMP 8
ALWAYS__ DO_927__
ON OPNCLMP8
N00255 R0000.0 Y0115.7

ALWAYS__ DO_928__
ON CLSCLMP8
N00256 R0000.0 Y0116.0

K 1748 OPEN CLAMP 9
ALWAYS__ DO_929__
ON OPNCLMP9
N00257 R0000.0 Y0116.1

L 1750 CLOSE CLAMP 9
ALWAYS__ DO_930__
ON CLSCLMP9
N00258 R0000.0 Y0116.2

M 1752 OPEN CLAMP 10
ALWAYS__ DO_931__
ON OPNCLP10
N00259 R0000.0 Y0116.3

ALWAYS__ DO_932__
ON CLSCLP10
N00260 R0000.0 Y0127.2

O 1756 VACUUM 1 ON
ALWAYS__ DO1019_V
ON AC1ON
N00261 R0000.0 Y0127.3

A 1758 BLOWOFF 1 ON
ALWAYS__ DO1020_B
ON LWOF1ON
N00262 R0000.0 Y0127.4

B 1760 VACUUM 2 ON
ALWAYS__ DO1021_V
ON AC2ON
N00263 R0000.0 Y0127.5

C 1762 BLOWOFF 2 ON
ALWAYS__ DO1022_B
ON LWOF2ON
N00264 R0000.0 Y0127.6

D 1764 VACUUM 3 ON
ALWAYS__ DO1023_V
ON AC3ON
N00265 R0000.0 Y0127.7

E 1766 BLOWOFF 3 ON
ALWAYS__ DO1024_B
ON LWOF3ON
N00266 R0000.0 Y0118.5

F 1768 VACUUM 4 ON
ALWAYS__ DO_950_V
ON AC4ON
N00267 R0000.0 Y0118.6

G 1770 BLOWOFF 4 ON
ALWAYS__ DO_951_B
ON LWOF4ON
N00268
H 1772 SUB30
JMPE
N00269 R1410.0 ACT R0001.1

I 1773 SUB 3 0038
MAN_GRP_ TMR MAN_GRP_
ENABLE TO
N00270 R0001.1 ACT

J 1777 SUB10 0000
MAN_GRP_ JMP
TO
N00271 K0002.1 X1026.1 Y0114.0

K 1780 OPEN CLAMP 1
CLMP1OPN SI9_____ DO_913__
AUTOMDSW OPNCLMP1
N00272 Y0114.0 Y0009.0

L 1783 OPEN CLAMP #1
DO_913__ DO_73_OP
OPNCLMP1 N_CLMP1
N00273 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9_____ DO_914__
AUTOMDSW CLSCLMP1
N00274 Y0114.1 Y0009.1

N 1788 CLOSE CLAMP #1
DO_914__ DO_74_CL
CLSCLMP1 S_CLMP1
N00275 K0002.3 X1026.1 Y0114.2

O 1790 OPEN CLAMP 2
AUTOMDSW OPNCLMP2
N00276 Y0114.2 Y0009.2

A 1793 OPEN CLAMP #2
DO_915__ DO_75_OP
OPNCLMP2 N_CLMP2
N00277 K0002.2 X1026.1 Y0114.3

AUTOMDSW CLSCLMP2
N00278 Y0114.3 Y0009.3

C 1798 CLOSE CLAMP #2
DO_916__ DO_76_CL
CLSCLMP2 S_CLMP2
N00279 K0002.5 X1026.1 Y0114.4

D 1800 OPEN CLAMP 3
AUTOMDSW OPNCLMP3
N00280 Y0114.4 Y0009.4

E 1803 OPEN CLAMP #3
DO_917__ DO_77_OP
OPNCLMP3 N_CLMP_3
N00281 K0002.4 X1026.1 Y0114.5

AUTOMDSW CLSCLMP3
N00282 Y0114.5 Y0009.5

G 1808 CLOSE CLAMP #3
DO_918__ DO_78_CL
CLSCLMP3 S_CLMP3
N00283 K0002.7 X1026.1 Y0114.6

H 1810 OPEN CLAMP 4
AUTOMDSW OPNCLMP4
N00284 Y0114.6 Y0009.6

I 1813 OPEN CLAMP #4
DO_919__ DO_79_OP
OPNCLMP4 N_CLMP4
N00285 K0002.6 X1026.1 Y0114.7

AUTOMDSW CLSCLMP4
N00286 Y0114.7 Y0009.7

K 1818 CLOSE CLAMP #4
DO_920__ DO_80_CL
CLSCLMP4 S_CLMP4
N00287 K0003.1 X1026.1 Y0115.0

L 1820 OPEN CLAMP 5
AUTOMDSW OPNCLMP5
N00288 Y0115.0 Y0010.0

M 1823 OPEN CLAMP #5
DO_921__ DO_81_OP
OPNCLMP5 N_CLMP5
N00289 K0003.0 X1026.1 Y0115.1

AUTOMDSW CLSCLMP5
N00290 Y0115.1 Y0010.1

O 1828 CLOSE CLAMP #5
DO_922__ DO_82_CL
CLSCLMP5 S_CLMP5
N00291 K0003.3 X1026.1 Y0115.2

A 1830 OPEN CLAMP 6
AUTOMDSW OPNCLMP6
N00292 Y0115.2 Y0010.2

B 1833 OPEN CLAMP #6
DO_923__ DO_83_OP
OPNCLMP6 N_CLMP6
N00293 K0003.2 X1026.1 Y0115.3

C 1835 CLOSE CLAMP 6
AUTOMDSW CLSCLMP6
N00294 Y0115.3 Y0010.3

D 1838 CLOSE CLAMP #6
DO_924__ DO_84_CL
CLSCLMP6 S_CLMP_6
N00295 K0003.5 X1026.1 Y0115.4

E 1840 OPEN CLAMP 7
AUTOMDSW OPNCLMP7
N00296 Y0115.4 Y0010.4

F 1843 OPEN CLAMP #7
DO_925__ DO_85_OP
OPNCLMP7 N_CLMP_7
N00297 K0003.4 X1026.1 Y0115.5

G 1845 CLOSE CLAMP 7
AUTOMDSW CLSCLMP7
N00298 Y0115.5 Y0010.5

H 1848 CLOSE CLAMP #7
DO_926__ DO_86_CL
CLSCLMP7 S_CLAMP7
N00299 K0003.7 X1026.1 Y0115.6

I 1850 OPEN CLAMP 8
AUTOMDSW OPNCLMP8
N00300 Y0115.6 Y0010.6

J 1853 OPEN CLAMP #8
DO_927__ DO_87_OP
OPNCLMP8 N_CLMP8
N00301 K0003.6 X1026.1 Y0115.7

AUTOMDSW CLSCLMP8
N00302 Y0115.7 Y0010.7

L 1858 CLOSE CLAMP #8
DO_928__ DO_88_CL
CLSCLMP8 S_CLAMP8
N00303 K0004.1 X1026.1 Y0116.0

M 1860 OPEN CLAMP 9
AUTOMDSW OPNCLMP9
N00304 Y0116.0 Y0011.0

N 1863 OPEN CLAMP #9
DO_929__ DO_89_OP
OPNCLMP9 N_CLMP9
N00305 K0004.0 X1026.1 Y0116.1

AUTOMDSW CLSCLMP9
N00306 Y0116.1 Y0011.1

A 1868 CLOSE CLAMP #9
DO_930__ DO_90_CL
CLSCLMP9 S_CLMP9
N00307 K0004.3 X1026.1 Y0116.2

B 1870 OPEN CLAMP 10
CLP10OPN SI9_____ DO_931__
AUTOMDSW OPNCLP10
N00308 Y0116.2 Y0011.2

C 1873 OPEN CLAMP #10
DO_931__ DO_91_OP
OPNCLP10 N_CLMP10
N00309 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9_____ DO_932__
AUTOMDSW CLSCLP10
N00310 Y0116.3 Y0011.3

E 1878 CLOSE CLAMP #10
DO_932__ DO_92_CL
CLSCLP10 S_CLMP10
N00311 K0014.2 X1026.1 K0014.1 Y0127.2

F 1880 VACUUM 1 ON
VAC_1_ON SI9_____ VAC/BLOW DO1019_V
_PB AUTOMDSW OFFTIMER AC1ON
N00312 Y0127.2 Y0008.0

G 1884
DO1019_V DO_65_VA
AC1ON C_1_ON
N00313 K0014.5 X1026.1 K0014.1 Y0127.3

H 1886 BLOWOFF 1 ON
BLOWOFF_ SI9_____ VAC/BLOW DO1020_B
1_ON_PB AUTOMDSW OFFTIMER LWOF1ON
N00314 Y0127.3 Y0008.1

I 1890
DO1020_B DO_66_BL
LWOF1ON WOFF1ON
N00315 K0014.3 X1026.1 K0014.1 Y0127.4

J 1892 VACUUM 2 ON
N00316 Y0127.4 Y0008.2

K 1896
DO1021_V DO_67_VA
AC2ON C_2_ON
N00317 K0014.6 X1026.1 K0014.1 Y0127.5

L 1898 BLOWOFF 2 ON
N00318 Y0127.5 Y0008.3

M 1902
DO1022_B DO_68_BL
LWOF2ON WOFF2ON
N00319 K0014.4 X1026.1 K0014.1 Y0127.6

N 1904 VACUUM 3 ON
N00320 Y0127.6 Y0008.4

O 1908
DO1023_V DO_69_VA
AC3ON C_3_ON
N00321 K0014.7 X1026.1 K0014.1 Y0127.7

A 1910 BLOWOFF 3 ON
N00322 Y0127.7 Y0008.5

B 1914
DO1024_B DO_70_BL
LWOF3ON WOFF3ON
N00323 K0016.1 X1026.1 K0014.1 Y0118.5

C 1916 VACUUM 4 ON
VAC_4_ON SI9_____ VAC/BLOW DO_950_V
N00324 Y0118.5 Y0008.6

D 1920
DO_950_V DO_71_VA
AC4ON C_4_ON
N00325 K0016.2 X1026.1 K0014.1 Y0118.6

E 1922 BLOWOFF 4 ON
BLOWOFF_ SI9_____ VAC/BLOW DO_951_B
N00326 Y0118.6 Y0008.7

F 1926
DO_951_B DO_72_BL
LWOF4ON WOFF4ON
N00327
G 1928 SUB30
JMPE
N00328 Y0008.0 ACT K0014.1

H 1929 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO_65_VA TMR VAC/BLOW
C_1_ON OFFTIMER
Y0008.1
I
DO_66_BL
WOFF1ON
Y0008.2
J
DO_67_VA
C_2_ON
Y0008.3
K
DO_68_BL
WOFF2ON
Y0008.4
L
DO_69_VA
C_3_ON
Y0008.5
M
DO_70_BL
WOFF3ON
Y0008.6
N
DO_71_VA
C_4_ON
Y0008.7
O
DO_72_BL
WOFF4ON
N00329 K0002.0 D0612.0 K0002.0

A 1940 CLMP1 CLOSE
CLMP1CLS ALL_IF_P CLMP1CLS
B_TO
N00330 K0002.1 D0612.0 K0002.1

B 1943 CLMP1 OPEN
CLMP1OPN ALL_IF_P CLMP1OPN
B_TO
N00331 K0002.2 D0612.0 K0002.2

C 1946 CLMP2 CLOSE
B_TO
N00332 K0002.3 D0612.0 K0002.3

D 1949 CLMP2 OPEN
B_TO
N00333 K0002.4 D0612.0 K0002.4

E 1952 CLMP3 CLOSE
B_TO
N00334 K0002.5 D0612.0 K0002.5

F 1955 CLMP3 OPEN
B_TO
N00335 K0002.6 D0612.0 K0002.6

G 1958 CLMP4 CLOSE
B_TO
N00336 K0002.7 D0612.0 K0002.7

H 1961 CLMP4 OPEN
B_TO
N00337 K0003.0 D0612.0 K0003.0

I 1964 CLMP5 CLOSE
B_TO
N00338 K0003.1 D0612.0 K0003.1

J 1967 CLMP5 OPEN
B_TO
N00339 K0003.2 D0612.0 K0003.2

K 1970 CLMP6 CLOSE
B_TO
N00340 K0003.3 D0612.0 K0003.3

L 1973 CLMP6 OPEN
B_TO
N00341 K0003.4 D0612.0 K0003.4

M 1976 CLMP7 CLOSE
B_TO
N00342 K0003.5 D0612.0 K0003.5

N 1979 CLMP7 OPEN
B_TO
N00343 K0003.6 D0612.0 K0003.6

O 1982 CLMP8 CLOSE
B_TO
N00344 K0003.7 D0612.0 K0003.7

A 1985 CLMP8 OPEN
B_TO
N00345 K0004.0 D0612.0 K0004.0

B 1988 CLMP9 CLOSE
B_TO
N00346 K0004.1 D0612.0 K0004.1

C 1991 CLMP9 OPEN
B_TO
N00347 K0004.2 D0612.0 K0004.2

D 1994 CLMP10 CLOSE
CLP10CLS ALL_IF_P CLP10CLS
B_TO
N00348 K0004.3 D0612.0 K0004.3

E 1997 CLMP10 OPEN
CLP10OPN ALL_IF_P CLP10OPN
B_TO
N00349 K0014.2 D0612.0 K0014.2

F 2000
VAC_1_ON ALL_IF_P VAC_1_ON
_PB B_TO _PB
N00350 K0014.3 D0612.0 K0014.3

G 2003
_PB B_TO _PB
N00351 K0014.4 D0612.0 K0014.4

H 2006
_PB B_TO _PB
N00352 K0016.1 D0612.0 K0016.1

I 2009
_PB B_TO _PB
N00353 K0014.5 D0612.0 K0014.5

J 2012
BLOWOFF_ ALL_IF_P BLOWOFF_
1_ON_PB B_TO 1_ON_PB
N00354 K0014.6 D0612.0 K0014.6

K 2015
N00355 K0014.7 D0612.0 K0014.7

L 2018
N00356 K0016.2 D0612.0 K0016.2

M 2021
N00357 K0000.4 Y0012.6

N 2024 RERUN PROCESS
RERUNPRC DO_103_R
PB ERUNPRC
N00358 K0000.5 Y0012.7

O 2026 ACCEPT PROCESS
ACCPTPRC DO_104_A
PB CCPTPRC
N00359 K0000.6 Y0013.0

A 2028 REJECT PROCESS
REJCTPRC DO_105_R
PB EJCTPRC
N00360 K0000.7 Y0013.1

B 2030 INSPECTION SELECTED
INSPCTSE DO_106_I
LPB NSP_SEL
K0001.3 K0001.5
C
VISIONIN ABORTPRO
TERVENSS CESS
N00361 K0000.4 D0612.0 K0000.4

D 2035 S RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00362 K0000.4 D0612.0 K0000.4

E 2038 R RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00363 K0000.5 D0612.0 K0000.5

F 2041 S ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00364 K0000.5 D0612.0 K0000.5

G 2044 R ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00365 K0000.6 D0612.0 K0000.6

H 2047 S REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00366 K0000.6 D0612.0 K0000.6

I 2050 R REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00367 K0000.7 D0612.0 K0000.7

J 2053 S INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00368 K0000.7 D0612.0 K0000.7

K 2056 R INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00369 K0011.4 D0612.0 K0011.4

L 2059 TOOL CHANGER OPEN GUN COVER
TC_OPENG ALL_IF_P TC_OPENG
UNCOVER B_TO UNCOVER
N00370 K0011.5 D0612.0 K0011.5

M 2062 TOOL CHANGER CLOSE GUN COVER
TC__CLOS ALL_IF_P TC__CLOS
GUNCOVER B_TO GUNCOVER
O
N00371 X0008.2 R0000.7

A 2065 PART PRESENT ON EOAT
DI_67_PR PART_PRE
T_PRES1 SENT
X0008.3
B
DI_68_PR
T_PRES2
X0008.4
C
DI_69_PR
T_PRES3
X0008.5
D
DI_70_PR
T_PRES4
X0008.6
E
DI_71_PR
T_PRES5
X0008.7
F
DI_72_PR
T_PRES6
N00372
G 2072 SUB72
SPE
N00373 ### APPLICATION ###

H 2073 SUB71 P0009
SP APPLICATION
N00374 D0000.0 Y0048.0

I 2075 MATERIAL HANLDING APPLICATION
MH_APP DO_385_M
H_APP
N00375 D0000.1 Y0048.1

J 2077 WELD 1 APPLICATION
WELD_1_A DO_386__
PP WLD1_APP
N00376 D0000.2 Y0048.2

K 2079 WELD 2 APPLICATION
WELD_2_A DO_387_W
PP LD2_APP
N00377 D0000.3 Y0048.3

L 2081 NUT FEED APPLICATION
NUT_FEED DO_388_N
_APP UTFD_APP
N00378 D0000.4 Y0048.4

M 2083 SEALER 1 APPLICATION
SEAL_1_A DO_389_S
PP LR_1_APP
N00379 D0000.5 Y0048.5

N 2085 SEALER 2 APPLICATION
SEAL_2__ DO_390_S
APP LR_2_APP
N00380 D0000.6 Y0048.6

O 2087 STUD WELD 1 APPLICATION
STUD_1_A DO_391_S
PP TDW_1APP
N00381 D0000.7 Y0048.7

A 2089 STUD WELD 2 APPLICATION
STUD_2_A DO_392_S
PP TDW_2APP
N00382 D0001.0 Y0049.0

B 2091 TOOL CHANGE APPLICATION
TOOL_CHA DO_393_T
NGE_APP C_APP
N00383 D0001.1 Y0049.1

C 2093 RIVET 1 APPLICAYION
RIVET_1_ DO_394_R
APP VT_1_APP
N00384 D0001.2 Y0049.2

D 2095 RIVET 2 APPLICATION
RIVET_2_ DO_395_R
APP VT_2_APP
N00385 D0001.3 Y0049.3

E 2097 NUT RUNNER APPLICATION
NUT_RUNN DO_396_N
ER_APP UTR_APP
N00386 D0001.4 Y0049.4

F 2099 MIG WELD APPLICATION
MIG_WELD DO_397_M
_APP IGW_APP
N00387 D0001.5 Y0049.5

G 2101 ROLL HEMMER APPLICATION
ROLLER_H DO_398_R
EMM_APP LLHEM_AP
N00388 D0001.6 Y0049.6

H 2103 LASER CUT APPLICATION
LASER_CU DO_399_L
T_APP SRCT_APP
N00389 D0001.7 Y0049.7

I 2105 PLASMA CUT APPLICATION
PLASMA_C DO_400_P
UT_APP LSMA_APP
N00390 D0002.0 Y0050.0

J 2107 LASER WELD APPLICATION
LASER_WE DO_401_L
LD_APP SRWLDAPP
N00391 D0002.1 Y0050.1

K 2109 OPERATOR LOAD APPLICATION
OPER_LOA DO_402_O
D_APP P_LD_APP
N00392 D0002.2 Y0050.2

L 2111 VISION APPLICATION
VISION_A DO_403_V
PP IS_APP
N00393 D0002.3 Y0050.3

M 2113 PROGRAM LOCATOR APPLICATION
PROG_LOC DO_404_P
_APP RG_LCAPP
N00394 D0002.4 Y0050.4

N 2115 INTERFACE DEFINITION BIT 21
IF_DEF__ DO_405__
21 INDEFB21
N00395 D0002.5 Y0050.5

O 2117 NUT FEEDER 2 APPLICATION
NUT_FEED DO_406_N
ER_2_APP TFD_2APP
N00396 D0002.6 Y0050.6

A 2119 INTERFACE DEFINITION BIT 23
IF_DEF__ DO_407_I
23 NDEF_B23
N00397 D0002.7 Y0050.7

B 2121 INTERFACE DEFINITION BIT 24
IF_DEF__ DO_408_I
24 NDEF_B24
N00398 D0003.0 Y0051.0

C 2123 INTERFACE DEFINITION BIT 25
IF_DEF__ DO_409_I
25 NDEF_B25
N00399 D0003.1 Y0051.1

D 2125 INTERFACE DEFINITION BIT 26
IF_DEF__ DO_410_I
26 NDEF_B26
N00400 D0003.2 Y0051.2

E 2127 INTERFACE DEFINITION BIT 27
IF_DEF__ DO_411_I
27 NDEF_B27
N00401 D0003.3 Y0051.3

F 2129 INTERFACE DEFINITION BIT 28
IF_DEF__ DO_412_I
28 NDEF_B28
N00402 D0003.4 Y0051.4

G 2131 INTERFACE DEFINITION BIT 29
IF_DEF__ DO_413_I
29 NDEF_B29
N00403 D0003.5 Y0051.5

H 2133 INTERFACE DEFINITION BIT 30
IF_DEF__ DO_414_I
30 NDEF_B30
N00404 D0003.6 Y0051.6

I 2135 INTERFACE DEFINITION BIT 31
IF_DEF__ DO_415_I
31 NDEF_B31
N00405 D0003.7 Y0051.7

J 2137 INTERFACE DEFINITION BIT 32
IF_DEF__ DO_416_I
32 NDEF_B32
N00406
K 2139 SUB72
SPE
N00407 ### LASER_CONTROLLER ###

L 2140 SUB71 P0018
SP LASER_CONTROLLER
N00408 X0064.3 R0208.1

M 2142 LASER IS ON
DI_516_L DI857_LA
ASERISON SER_ON
X0001.1
N
DI_10_AU
TO_REPT
O
N00409 X0083.2 R0208.2

A 2145 LASER READY
DI_667_L DI858_LA
ASERRDY SER_RDY
X0001.1
B
DI_10_AU
TO_REPT
N00410 X0083.3 R0208.3

C 2148 LASER PRG ACTIVE
DI_668_P DI859_PR
RGACTIV G_ACTIVE
X0001.1
D
DI_10_AU
TO_REPT
N00411 X0084.3 R0209.1

E 2151 LASER FAULT
DI_676_L DI865_FA
ASERFLT ULT
Y0061.5
F LASER FAULT
DO_494_L
SR_FAULT
N00412 X0084.1 R0209.2

G 2154 LASER SIK OPEN
DI_674_S DI866_SI
IK K_OPEN
N00413 G1000.1 Y1025.5 Y0000.3 Y0000.2 Y0083.0

H 2156 LASER EXTERNAL ACTIVATION
*HOLD MOTORS__ DO_4_RBT DO_3_RBT DO_665_E
ENABLE _IN_TCH _IN_AUTO XTACTIV
Y0083.0
I
DO_665_E
XTACTIV
N00414 Y0083.0 Y0083.1

J 2162 LASER LOCK OPERATING UNIT
DO_665_E DO_666__
XTACTIV LCKOPUNT
N00415 Y0083.0 X0083.0 X0001.1 Y0083.2

K 2164 LASER ON
DO_665_E DI_665_A DI_10_AU DO_667_L
XTACTIV CTACTIVE TO_REPT ASRON
N00416 X0083.1 X0001.1 Y0083.3

L 2168 LASER STANDBY
DI_666_L DI_10_AU DO_668_S
ASER_ON TO_REPT TANDBY
N00417 R0303.0 ACT D0601.0

M 2171 SUB 3 0001 DELAY FOR LASER START
R303_DEL TMR D601_DLY
AYTIM 4LASRSTR
N00418 Y0000.0 Y0000.3 Y1025.5 R0301.0

N 2175 START STATICAL SAFETIES
DO_1_RUN DO_4_RBT MOTORS__ R301_STA
_ENB_ACK _IN_TCH ENABLE TSAFE
N00419 Y0108.1 X0001.1 D0601.0 R0302.0

O 2179 START STATICAL ENABLES
DO866_WL DI_10_AU D601_DLY R302_STA
DENBL TO_REPT 4LASRSTR TENBLES
N00420 Y0000.0 G1000.1 R0208.2 R0303.0

A 2183 AUX FLAG FOR DELAY TIMER
DO_1_RUN *HOLD DI858_LA R303_DEL
_ENB_ACK SER_RDY AYTIM
R0208.3
B
DI859_PR
G_ACTIVE
N00421 Y0108.0 R0301.0 R0302.0 F1000.5 Y0083.4

C 2189 LASER START STATICAL
DO865_ST R301_STA R302_STA FAULT DO_669_S
RTSTAT TSAFE TENBLES TRTSTAT
N00422 Y0108.4 Y0083.6

D 2194 LASER PROGRAM STOP
DO869_ST DO_671_P
OP RGSTOP
N00423 Y0108.5 Y0084.2

E 2196 LASER PILOT LASER ON
DO870_PI DO_675_P
LOTLIGHT ILTLSRON
N00424 Y0108.6 Y0084.3

F 2198 LASER RESET
DO871_LA DO_676_R
SRRESET ESET
Y0107.7 R0209.1
G
DO864_RE DI865_FA
SETERR ULT
X0060.1
H
DI_482_E
XTERRRST
K0012.1
I
LASER_RE
SET_PB
Y0112.2
J
DO899_BR
ZHDRST
N00425 Y0108.7 Y0084.4

K 2206 LASER FAULT EXTERNAL
DO872_FA DO_677_F
ILUREEXT LTEXT
N00426 Y0109.0 Y0084.5

L 2208 LASER INQUIRY INPUT 1
DO873_IN DO_678_I
QUIRSYN1 NQRYIN1
N00427 Y0109.1 Y0084.6

M 2210 LASER INQUIRY INPUT 2
DO874_IN DO_679__
QUIRSYN2 INQRYIN2
N00428 X0084.3 G1008.6

N 2212 LASER UNIT ERROR
DI_676_L UALM_7
ASERFLT
N00429 X0083.2 G1008.7

O 2214 LASER UNIT NOT READY ERROR
DI_667_L UALM_8
ASERRDY
N00430 X0083.1 Y0060.0

A 2216
DI_666_L DO_481_L
ASER_ON ASERON
N00431 X0083.3 Y0060.2

B 2218
DI_668_P DO_483_L
RGACTIV ASERISON
N00432 X0083.5 Y0060.1

C 2220
DI_670_P DO_482_A
RGCANCEL BTPRCS
N00433 X0084.7 Y0060.4

D 2222
DI_680_C DO_485_C
HILLRDY HILLERON
N00434 X0083.4 Y0061.1

E 2224
DI_669_P DO_490_L
RGCOMP SRPGCOMP
N00435 X0083.2 Y0061.2

F 2226
DI_667_L DO_491_L
ASERRDY SRSTDBY
N00436 X0084.6 Y0061.3

G 2228
DI_679_C DO_492_L
OMM_OK SRCOMMOK
N00437 K0012.0 Y0000.3 Y0084.2

H 2230 LASER PILOT LASER ON
PILOTLAS DO_4_RBT DO_675_P
ERONSS _IN_TCH ILTLSRON
N00438 K0012.1 D0612.0 K0012.1

I 2233 S LASER RESET PB
LASER_RE ALL_IF_P LASER_RE
SET_PB B_TO SET_PB
N00439 K0012.1 D0612.0 K0012.1

J 2236 R LASER RESET PB
LASER_RE ALL_IF_P LASER_RE
SET_PB B_TO SET_PB
N00440 K0012.2 D0612.0 K0012.2

K 2239 S LASER GLASS NOT PRESENT SS
LASERGLS ALL_IF_P LASERGLS
SNOTPRSS B_TO SNOTPRSS
N00441 K0012.2 D0612.0 K0012.2

L 2242 R LASER GLASS NOT PRESENT SS
LASERGLS ALL_IF_P LASERGLS
SNOTPRSS B_TO SNOTPRSS
N00442 X0084.4 Y0061.4

M 2245 LASER WARNING
DI_677_L DO_493_L
ASERWARN SR_WARNG
N00443 K0012.2 Y0060.7

N 2247
LASERGLS DO_488_L
SNOTPRSS SRCOUPRQ
N00444
O 2249 SUB72
SPE
N00445 ### LASER_CUT_HEAD ###

A 2250 SUB71 P0023
SP LASER_CUT_HEAD
N00446 X0064.2 R0210.4

B 2252 LASER RE-CUT ENABLED
DI_515_R DI876_LS
ECUTREQ RRECUT
N00447 X0091.1 ACT D0601.1

C 2254 SUB 3 0026 LASER CUT HEAD STABILIZED
DI_730_P TMR D601.1_H
OS_RECHD EADSTABL
N00448 D0601.1 R0210.5

D 2258 LASER CUTHEAD POSITION REACHED
D601.1_H DI877_HD
EADSTABL POSREACH
X0001.1
E
DI_10_AU
TO_REPT
N00449 X0001.1 R0210.6 R0211.0 Y0091.0

F 2261 CUT HEAD IN AUTOMATIC
DI_10_AU DI878_SR DI880_HE DO_729_A
TO_REPT CHREFMAN AD_ERR UTO
N00450 X0001.1 R0210.6 Y0091.3

G 2265 CUT HEAD PROGRAMMED POSITION
DI_10_AU DI878_SR DO_732_P
TO_REPT CHREFMAN ROG_POS
Y0111.4
H
DO893_LS
RCUTPRG
N00451 Y0000.3 K0012.6 K0012.5 R0210.7 Y0091.1

I 2269 CUT HEAD MANUAL UP
DO_4_RBT LSR_MANU LSR_MANU DI879_UP DO_730_M
_IN_TCH AL_UP AL_CNTRL PERLIMIT ANL_UP
N00452 Y0000.3 K0012.7 K0012.5 R0211.3 Y0091.2

J 2274 CUT HEAD MANUAL DOWN
DO_4_RBT LSR_MANU LSR_MANU DI883_LO DO_731_M
_IN_TCH AL_DWN AL_CNTRL WERLIMIT ANL_DWN
N00453 X0092.2 R0210.7

K 2279 LASERCUTHEAD UPPER TRAVELLIMIT
DI_739_U DI879_UP
PR_LIMIT PERLIMIT
N00454 X0092.1 R0211.3

L 2281 LASERCUTHEAD LOWER TRAVELLIMIT
DI_738_L DI883_LO
WR_LIMIT WERLIMIT
N00455 Y0111.0 R0210.6

M 2283 LASERCUTHEAD SEARCH REF MANUAL
DO889_BR DI878_SR
AKINACT CHREFMAN
N00456 Y0111.1 R0210.6 Y0091.4

N 2285 CUT HEAD REFERENCE TRAVEL
DO890_HE DI878_SR DO_733_R
ADREFTRV CHREFMAN EF_TRVL
Y0000.3 K0012.5 K0013.0

O
DO_4_RBT LSR_MANU LSR_REF_
_IN_TCH AL_CNTRL TRAVEL
N00457 X0091.3 X0001.1 R0208.7

A 2292 LASER HEAD FAR
DI_732_F DI_10_AU DI863_HE
AR TO_REPT AD_FAR
O
N00458 X0091.2 R0211.0

A 2295 LASER CUT HEAD ERROR
DI_731_S DI880_HE
YS_ERR AD_ERR
X0093.0
B
DI_745_P
WR_FAIL
X0093.1
C
DI_746_D
C/DC_ERR
X0093.2
D
DI_747_E
LEC_FUSE
X0093.3
E
DI_748_D
C_PWR_ER
X0093.4
F
DI_749_A
C_PWR_ER
X0093.5
G
DI_750_T
EMP_ERR
X0093.6
H
DI_751_R
EF_ERR
X0093.7
I
DI_752_O
VRLOAD
X0094.0
J
DI_753_E
NCD_ERR
X0094.1
K
DI_754_U
NDR_LOAD
X0094.2
L
DI_755_C
OLL_PROT
X0094.3
M
DI_756_L
IMSW_ERR
X0094.4
N
DI_757_S
ET_TRVL
X0094.5
O
DI_758_F
UNC_ERR
X0094.6
A
DI_759_T
IPTCH_ER
X0095.0
B
DI_761_G
AIN_ERR
X0095.1
C
DI_762_R
ESL_ERR
X0095.2
D
DI_763_C
ALB_TO
X0095.4
E
DI_765_P
ROTO_ERR
X0095.5
F
DI_766_S
ENSR_ERR
N00459 X0091.0 X0001.1 R0211.1

G 2317 LASER CUT HEAD READY
DI_729_R DI_10_AU DI881_HE
EADY TO_REPT AD_RDY
N00460 X0094.2 R0211.2

H 2320 LASER CUT HEAD COLLISION
DI_755_C DI882_HE
OLL_PROT AD_COLLI
R0370.3
I
HAND_BRO
KN_LTCH
N00461 R0211.2 Y0060.3

J 2323
DI882_HE DO_484_L
AD_COLLI SRHDCOLL
N00462 R0211.0 Y0060.5

K 2325
DI880_HE DO_486_L
AD_ERR SRHDERR
N00463 R0208.7 Y0064.1

L 2327
DI863_HE DO_514_L
AD_FAR SRHDFAR
N00464 R0211.1 Y0060.6

M 2329
DI881_HE DO_487_L
AD_RDY SRHDRDY
R0211.0
N
DI880_HE
AD_ERR
N00465 Y0111.3 Y0064.3

O 2332
DO892_LS DO_516_C
RCUTSEQ UTOPERAT
N00466 K0012.5 Y0091.1 ACT D0614.1

A 2334 SUB 3 0029 LASER HEAD MANUAL ENB TIMEOUT
LSR_MANU DO_730_M TMR LSRHEAD_
AL_CNTRL ANL_UP MAN_ENB
Y0091.2
B
DO_731_M
ANL_DWN
Y0091.4
C
DO_733_R
EF_TRVL
N00467 K0012.5 D0614.1 K0012.5

D 2342 LSR CUT HEAD MANUAL CNTRL ENAB
LSR_MANU LSRHEAD_ LSR_MANU
AL_CNTRL MAN_ENB AL_CNTRL
N00468 K0012.6 D0612.0 K0012.6

E 2345 LSR CUT HEAD MANAUL HEAD UP
LSR_MANU ALL_IF_P LSR_MANU
AL_UP B_TO AL_UP
N00469 K0012.7 D0612.0 K0012.7

F 2348 LSR CUT HEAD MANUAL HEAD DOWN
LSR_MANU ALL_IF_P LSR_MANU
AL_DWN B_TO AL_DWN
N00470 K0013.0 D0612.0 K0013.0

G 2351 LSR CUT HEAD REFERENCE TRAVEL
LSR_REF_ ALL_IF_P LSR_REF_
TRAVEL B_TO TRAVEL
N00471 X0095.3 Y0063.3

H 2354
DI_764_B DO_508_L
US_ERR SRCOMMOK
N00472 R0211.0 G1010.4

I 2356 LASER CUT HEAD ERROR
DI880_HE UALM_21
AD_ERR
N00473
J 2358 SUB72
SPE

Ford Fanuc R30ia R30ib Nextgen E161

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VEHICLE OPERATION STRUCTURE AND STANDARDS

FORD Robot Programming Guide - FANUC Implementation

Appendix Laser Cut

2 SOFTWARE I/F PANELS ................................................................... 34

3 PMC LOGIC (S-LOGIC) FOR R-30IA CONTROLLERS.................. 36

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1.1 PG21 – Laser Cutting (PG34)

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/PROG HOME_IO Macro

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2.1 LASER CONTROLLER MENU I/F

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N00001 R0000.0 R0000.0

N00002 R0000.0 G1000.0

N00003 X0000.0 R0100.5 G1000.1

N00004 X1026.4 R0100.5

N00005 X1026.5 R0100.5

N00006 R0000.0 G1000.2

N00007 X1000.3 G1000.3

N00008 X1025.1 G1000.4

N00009 X1000.6 G1000.6

N00010 R0000.0 G1000.7

N00011 F1000.0 Y1000.0

N00012 F1000.1 Y1000.1

N00013 F1000.2 Y1000.2

N00014 F1000.3 Y1000.3

N00015 F1000.4 Y1000.4

N00016 F1000.5 ACT R0338.0