Download - Chrysler Cusw Fanuc Robot Standard Rel 1.3
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Chrysler’s Robotics Group Applications Standards For
Controlled Robots For Use On CUSW North America Projects
If you received this document by means other than a direct E-Mail from Chrysler AAME Robotics Group, you are not on the distribution list and you will
not receive future updates. It is the user’s responsibility to obtain the latest updates to this document.
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TABLE OF CONTENTS
RELEASE REVISION AND COMMENTS PAGE ...................................................................................................... 5
PROCESS REQUIREMENTS TO ALLOW FOR ALIGNMENT OF ROBOT ............................................................ 7
ROBOTIC BY-PASS CONCEPT ............................................................................................................................... 7
TEACH PENDANT USER KEY ASSIGNMENT ........................................................................................................ 7
USE OF PULSED OUTPUTS .................................................................................................................................... 7
USE OF ROBOT PROGRAM SPACE CHECK ........................................................................................................ 7
COORDINATED MOTION OF HORIZONTAL AXIS ................................................................................................. 7
ROBOT DRESS REQUIREMENTS........................................................................................................................... 7
SEALER STYLE NUMBERS ..................................................................................................................................... 7
SEALER SYSTEM CALIBRATION TO ROBOT ANALOG OUTPUT ...................................................................... 8
SEALER SCHEDULES ............................................................................................................................................. 8
NETWORK ADDRESSES ......................................................................................................................................... 8
FANUC ROBOTICS ROBOT SIGNALS AND MACHINE AUTOMATIC .................................................................. 8
ROBOT D-NET OUTPUT BIT MAP (ROBOT TO PLC)............................................................................................ 9
ROBOT D-NET INPUT BIT MAP (PLC TO ROBOT) .............................................................................................. 13
ROBOT IO MAP ASSIGNMENTS ........................................................................................................................... 18
ROBOT BIT MAP .................................................................................................................................................... 19
ROBOT APPLICATION ERROR TIMING ............................................................................................................... 41
ROBOT APPLICATION ERRORS .......................................................................................................................... 42
PLC LOGIC REFERENCE ...................................................................................................................................... 48
ROBOT PROGRAM NAMING ................................................................................................................................. 49
ROBOT INTERFERENCE ZONES .......................................................................................................................... 50
INTERFERENCE ZONE EXAMPLE 1 ............................................................................................................................ 51 INTERFERENCE ZONE EXAMPLE 2 ............................................................................................................................ 52
INTERFERENCE ZONE EXAMPLE 3 .................................................................................................................... 53
PLC / ROBOT TIMING DIAGRAMS........................................................................................................................ 54
REGISTER USAGE ................................................................................................................................................. 57
NUMERICAL REGISTER USAGE .......................................................................................................................... 57
POSITION REGISTER USAGE ............................................................................................................................... 59
USER ALARMS ....................................................................................................................................................... 61
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REFERENCE POSITION USAGE ........................................................................................................................... 62
INTERCONNECTS .................................................................................................................................................. 63
MACROS ................................................................................................................................................................. 64
FLOW CHART EXAMPLES .................................................................................................................................... 66
MATERIAL HANDLING .............................................................................................................................................. 67 DISPENSE............................................................................................................................................................... 72 SPOT WELDING ...................................................................................................................................................... 73 STUD WELDING ...................................................................................................................................................... 75 TIP CHANGE (STYLE #3) ......................................................................................................................................... 76 PURGE (STYLE #4) ................................................................................................................................................. 77 TIP BURN IN (STYLE #5) .......................................................................................................................................... 78 SERVICE (STYLE #6) ............................................................................................................................................... 79 TIP DRESS GUN 1 (STYLE #7) ................................................................................................................................. 80 TIP DRESS GUN 2 (STYLE #8) ................................................................................................................................. 81 TOOL CHANGE (STYLE #9) ...................................................................................................................................... 82 SET APPLICATION IO (MACRO) ................................................................................................................................ 83 CHECK ATI ERRORS (MACRO) ................................................................................................................................ 84 CHECK TOOL (MACRO) ........................................................................................................................................... 85 DROP TOOL NEST 1 (MACRO) ................................................................................................................................. 86 ENTER ZONE 1 (MACRO) ......................................................................................................................................... 88 HOME IO (MACRO) ................................................................................................................................................. 88 MOVE HOME (MACRO) ............................................................................................................................................ 88 MOVE HOME FROM POUNCE (MACRO) .................................................................................................................... 88 PICK TOOL NEST 1 (MACRO) ................................................................................................................................... 89 PROCESS APPLICATION MACROS (SPOT, DISPENSE, STUD) ...................................................................................... 91 PURGE PED GUN (MACRO) ..................................................................................................................................... 94 RESET STEPPER (MACRO) ...................................................................................................................................... 94 TIP BURN IN (MACRO) ............................................................................................................................................. 95 TIP DRESS GUN 1 (MACRO) .................................................................................................................................... 97 TIP DRESS GUN 2 (MACRO) .................................................................................................................................... 98 TIP DRESS PED GUN (MACRO) ................................................................................................................................ 99 TOOL DROP PREPARATION (MACRO) ..................................................................................................................... 100 TOOL PICK PREPARATION (MACRO) ....................................................................................................................... 101
TEACH PENDANT LOGIC EXAMPLES ............................................................................................................... 102
MATERIAL HANDLING ............................................................................................................................................ 103 DISPENSE............................................................................................................................................................. 105 SPOT WELDING .................................................................................................................................................... 106 STUD WELDING .................................................................................................................................................... 107 TIP CHANGE (STYLE #3) ....................................................................................................................................... 108 PURGE (STYLE #4) ............................................................................................................................................... 108 TIP BURN IN (STYLE #5) ........................................................................................................................................ 109 SERVICE PROGRAM (STYLE #6)............................................................................................................................. 109 TIP DRESS GUN 1 (STYLE #7) ............................................................................................................................... 109 TIP DRESS GUN 2 (STYLE #8) ............................................................................................................................... 110 TOOL CHANGE (STYLE #9) .................................................................................................................................... 110 CHECK ATI ERRORS (MACRO) .............................................................................................................................. 111 CHECK TOOL (MACRO) ......................................................................................................................................... 112 DROP TOOL NEST 1 (MACRO) ............................................................................................................................... 113 PICK TOOL NEST 1 (MACRO) ................................................................................................................................. 114 ENTER ZONE 1 (MACRO) ....................................................................................................................................... 116 HOME IO (MACRO) ............................................................................................................................................... 116 PROCESS APPLICATION – PED SPOT (MACRO) ....................................................................................................... 117 PROCESS APPLICATION – PED DISPENSE (MACRO) ................................................................................................ 118 PROCESS APPLICATION – PED STUD (MACRO) ....................................................................................................... 119 PURGE PED GUN (MACRO) ................................................................................................................................... 119 RESET STEPPER (MACRO) .................................................................................................................................... 119 TIP BURN IN (MACRO) ........................................................................................................................................... 119
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TIP CHANGE PED GUN (MACRO) ........................................................................................................................... 119 TIP DRESS GUN 1 (MACRO) .................................................................................................................................. 120 TIP DRESS GUN 2 (MACRO) .................................................................................................................................. 120 TIP DRESS PED GUN (MACRO) .............................................................................................................................. 121 TOOL DROP PREPERATION (MACRO) ..................................................................................................................... 122 TOOL PICK PREPERATION (MACRO) ....................................................................................................................... 123
The flow charts and sample programs supplied in this document are intended as a basic example and may not include all information required to properly control a robot in all applications. It is the build vendor's responsibility to provide robot programming required for proper system operation. The examples set forth in this document shall be followed. Any deviations will require approval by Chrysler Robot Specialist.
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RELEASE REVISION AND COMMENTS PAGE
Release # Release Date Comments Rel. 1.0 12/14/10 - Initial Release
Rel. 1.1 2/4/11 Adjusted Rbt/PLC bitmap to eliminate water saver control. DO[99], DI[7], DI[97], DI[98]. Update the Node Allocation – Eliminated the Water Savers, moved to PLC control. Updated Rbt/PLC Node descriptors per the bitmap. Spared out 4 Water Saver Nodes-I/O. Updated Safety I/O Added WaterOff to the bitmap DO[100] Removed reference to WK and WD in robot program naming Spared out DO91, 92, 95, 96 and 100 – Use Group Output [MaintReqBits1-8]. (TipChangeReq, ServiceReq, RbtTPPurgeGun1, RbtTPPurgeGun2, TipDressReq) Added air pressure master node and outputs to PLC DO[91] and [92] Added StepMode output DO[103] Added SignatureChgInd output DO[111] Updated Watersaver App Errors Updated Nordson App Errors to match new configuration Updated Nordson BitMap to match new configuration REL. 1.2 Added sealer style comment. Added sealer calibration requirement Added sealer schedule programming requirement Swapped air pressure inputs to match tooling Removed repo input bit 4 DI[84] Added General Communication Fault DeviceNet Master App Error [2] Added Low Battery Indicator App Error [4] Removed App Error [127] Dispense 1 Minor Alarm Removed App Error [128] Dispense 1 Communication Fault to Robot Removed App Error [137] Dispense 2 Minor Alarm Removed App Error [138] Dispense 2 Communication Fault to Robot Nordson app errors modifications Added Interference Zone 3 reference Added DO[107] – TipBurnInComp Added AtPurgePos to position register Added Tip Wear Update to Spotweld program Added PartPresent 7-10 on bit map sheet.
REL1.3 Updated DI[121] Added RbtClrZone7 & 8 to DO[39], DO[40], Zone(7 & 8)ClrToEnter to DI[39], DI[40] and DO[908] PulseBatteryLow Updated Interconnects list Added IPG_Laser and HighYag Head I/O to nodes 17 and 18 Added LaserEnbld DO[87] and HYagEnbld DO[88] Added LaserEnable1 DI[6] and LaserGuideOn DI[7] Added LaserCut Head and Grinder to nodes 19 – 23 Changed the TipChange burn-in schedule from 58 to 62 per Welding CoC team P. 104. Updated the Nordson bitmaps per the requirements of the tech sealer document. Added DI[98:StartUpPurge] to PLC bitmap per tech requirements. Added DO[95:TipDressReq] to PLC bitmap Updated Interconnect Table Added track lube faults to the application error list Added note indicating responsibility to set IP addresses and Node addresses. Added I/O map for the Precitec unit. Added DI127 Tip Dress Bypass Added DI768-775 and DO768-775 for Mig Weld Reamer Added DI776-783 and DO776-783 for Laser cutting field I/O Update Tip Dress Macro add DI127 TipDressInBypass Added RTU Auto Lube I/O
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PROCESS REQUIREMENTS TO ALLOW FOR ALIGNMENT OF ROBOT It is an AAME requirement that all Body shop and Assembly robots be capable of running an alignment program. This program will bring the robot into a position which will allow positioning of all axes to check robot alignment. The robot alignment position and path to reach this position must be considered when locating and processing the robot in the cell. Consideration must also be given when dressing out robot cables, hoses, end effectors and junction boxes on the robot arm so these items do not impede the robots ability to move to the alignment position. Where possible, all axes should be aligned at the same time. In cases where cell layout would be affected or additional dress-out or safeties would be required to align all axes simultaneously, multiple alignment positions will be allowed. In addition to alignment program, all OEM‟S must verify that the robot is set to FANUC ROBOTICS factory values for alignment position prior to programming robot.
PROCESS CYCLE TIME REQUIREMENTS
It is an AAME requirement that all Body shop and Assembly robots be capable of meeting process cycle time without the presence of robot errors or warnings of any kind.
ROBOTIC BY-PASS CONCEPT The Robot By-pass Mode is selected through the HMI screen associated with the specific robot. When in By-pass Mode, the PLC logic should allow the following: In processes which allow a specific robot to be by-passed, (line capable of running without this specific robot with manual or automatic back-
up capabilities).
A. Allow the current part or job to transfer out of that station (if the robot is clear). B. Allow the line to continue to run while the robot is in by-pass and clear of all tooling. C. Send required back-up information to down stream robot(s) and/or FIS/AVI for downstream manual backup.
In processes which do not allow for the line to run with a specific robot in by-pass.
A. Allow the current part or job to transfer out of that station (if the robot is clear). B. Stop further machine cycles if left in by-pass mode. C. Allow for easy changes to the PLC logic to override item “B” in the event that the plant provides temporary manual back-up for
continued production. Note: Process Engineering, during the Design Phase of a project, will identify robots that can be by-passed while tooling continues to operate.
TEACH PENDANT USER KEY ASSIGNMENT The user definable keys on the robot teach pendants are to remain at FANUC ROBOTICS default settings unless a deviation is submitted by the Requestor and approved by a Chrysler Robotic Group representative.
USE OF PULSED OUTPUTS The use of pulsed outputs requires approval by a Chrysler Robot Specialist.
USE OF ROBOT PROGRAM SPACE CHECK The use of robot program space check requires approval by a Chrysler Robot Specialist.
COORDINATED MOTION OF HORIZONTAL AXIS All robots utilizing a horizontal slide axis shall be setup and programmed using coordinated motion with the other six axes of the robot arm.
ROBOT DRESS REQUIREMENTS FANUC robot dress packages for all spot welding and material handling robots will be supplied for installation. It is the responsibility of the build supplier (robot programmer) to adjust and validate all robot dress packages to meet the dress manufacturer‟s warranty. Robot programs must be considered when configuring the supplied dress package.
SEALER STYLE NUMBERS Sealer styles shall match the value of the robot program number. (i.e. If the sealer robot is executing program #30, the sealer style program shall utilize style #30).
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SEALER SYSTEM CALIBRATION TO ROBOT ANALOG OUTPUT
- It is the robot programmers responsibility to calibrate the Sealer System to the Robot System. Minimum and maximum speeds
related to the robot analog output signal to produce required bead sizes must be established and verified at time of programming.
SEALER SCHEDULES
- It is the robot programmers responsibility to populate all sealer schedules with values appropriate for the working programs. All
sealer schedules not utilized in a program shall be set to the maximum flow rate available from the sealer system.
NETWORK ADDRESSES
- It is the robot programmers responsibility to set all IP addresses and Node addresses associated with the robot system.
FANUC ROBOTICS ROBOT SIGNALS AND MACHINE AUTOMATIC The PLC logic should monitor the following robot DeviceNet outputs. The “Robot Ready” signal should be true to achieve machine automatic but is not required to maintain machine automatic. Proper fault messages should be generated for each associated condition. “Robot Ready” DeviceNet - This signal is true when the following conditions are met: CMDENBL SI[2]=ON (OK) (standard operator panel input 2, remote) CMDENBL SFSPD=ON (OK) (safety speed input signal) CMDENBL ENBL=ON (OK) CMDENBL $RMT_MASTER=0 (OK) (no remote device in control of motion) CMDENBL No active alarms (OK) CMDENBL Not in single step (OK) SYSRDY ENBL=ON (OK) SYSRDY GRP1 Servo ready (OK) SYSRDY GRP2 Servo ready (OK) (Spotweld only) GRP1 Motion enabled (OK) (Robot motion group) GRP2 Motion enabled (OK) (Servo motion group, spotweld only) Spot weld enabled (OK) (Weld status, welding applications only) Gun stroke enabled (OK) (Gun stroke status, welding applications only) The following signals are available through DeviceNet and should be displayed as faults or messages when their appropriate state hinders achievement of the tooling system automatic: Robot System Ready for AUTO RobotInAuto RbtReady IOSimulated 20HourRunModeAct Collision Guard Enabled TP Enabled Waiting for TP Input Robot E-Stop Enabled Weld Enabled (Spotweld only) STEP Mode
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ROBOT D-NET OUTPUT BIT MAP (ROBOT TO PLC)
SIGNAL NAME ROBOT OUTPUT DESCRIPTION
RobotInAuto 1 This robot output signal is used to inform the PLC that the robot Auto/Teach key switch is the auto position.
RobotFaulted 2 This robot output signal is used to inform the PLC that the robot is in a faulted state.
WaitForTPInput 3 This robot output signal is used to inform the PLC that a user response is required at the robot teach pendant.
InCycle 4 This robot output signal is used to inform the PLC that a robot program is executing. This includes Home I/O execution. “InCycle” remains high when the program is paused.
CollisionDetd 5 This robot output signal is used to inform the PLC that a collision was detected on the robot.
IOSimulated 6 This robot output signal is used to inform the PLC that a robot input is simulated.
WldEnabled 7 This robot output signal is used to inform the PLC that the weld mode is enabled at the weld controller.
RobotReady 8 This robot output signal is used to inform the PLC that all conditions for robot ready are satisfied.
ActiveStyleBit1 9 This robot output along with the next six bits, grouped as “Group Outputs”, are used to inform the PLC of the current style active. The group outputs are viewed as the binary bit weight viewed as a decimal value.
ActiveStyleBit2 10 Reference description: “ActiveStyleBit1”
ActiveStyleBit4 11 Reference description: “ActiveStyleBit1”
ActiveStyleBit8 12 Reference description: “ActiveStyleBit1”
ActiveStyleBit16 13 Reference description: “ActiveStyleBit1”
ActiveStyleBit32 14 Reference description: “ActiveStyleBit1”
ActiveStyleBit64 15 Reference description: “ActiveStyleBit1”
PrgPaused 16 This robot system output signal “UO[4: Paused]” is used to inform the PLC that the robot program is in a paused condition. Signal is active in Auto and Teach modes.
PrgRunning 17 This robot system output signal “UO[3: Program Running]” is used to inform the PLC that the robot program is running. Signal is active in Auto and Teach modes.
RobotAtWork 18 This robot output signal is used to inform the PLC that the robot has left the pounce position and is in the work portion of the robot program.
WorkComplete 19 This robot output signal is used to inform the PLC that the robot has completed the work program. Resets after WorkCompleteAck received from the PLC.
20HourRunModeAct 20 This robot output signal is used to inform the PLC that the robot is in 20 hour run mode.
MaintReqBit1 21 This robot output signal along with the next 3 bits, grouped as “Group Outputs” are used to inform the PLC to execute the desired maintenance program 1-9. The group outputs are viewed as the binary bit weight viewed as a decimal value.
MaintReqBit2 22 Reference description: “MaintReqBit1”
MaintReqBit4 23 Reference description: “MaintReqBit1”
MaintReqBit8 24 Reference description: “MaintReqBit1”
RobotAtPounce 25 This robot output signal is used to inform the PLC that the robot is at the pounce position. (Output set by user program)
RobotAtService 26 This robot output signal is used to inform the PLC that the robot is at the service position.
RobotAtHome 27 This robot output signal is used to inform the PLC that the robot is at the home position.
RobotInTipDress 28 This robot output signal is used to inform the PLC that the robot is at the tip dress position.
TipDressComplt 29 This robot output signal is used to inform the PLC that the tip dress procedure has completed.
RdyForTipChg 30 This robot output signal is used to inform the PLC that the robot is in tip change position.
ClearToTransfer 31 This robot output signal is used to inform the PLC that the robot is clear of the transfer.
WldInPrgrsActiv1 32 This robot output signal is used to inform the PLC that the weld controller 1 is executing a weld sequence.
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RobotClrZone1 33 This robot output signal is used to inform the PLC that the robot is clear of interference zone 1.
RobotClrZone2 34 This robot output signal is used to inform the PLC that the robot is clear of interference zone 2
RobotClrZone3 35 This robot output signal is used to inform the PLC that the robot is clear of interference zone 3.
RobotClrZone4 36 This robot output signal is used to inform the PLC that the robot is clear of interference zone 4.
RobotClrZone5 37 This robot output signal is used to inform the PLC that the robot is clear of interference zone 5.
RobotClrZone6 38 This robot output signal is used to inform the PLC that the robot is clear of interference zone 6.
RobotClrZone7 39 This robot output signal is used to inform the PLC that the robot is clear of interference zone 7.
RobotClrZone8 40 This robot output signal is used to inform the PLC that the robot is clear of interference zone 8.
UserOutput1 41 This robot output signal is designated as user defined output 1.
UserOutput2 42 This robot output signal is designated as user defined output 2.
UserOutput3 43 This robot output signal is designated as user defined output 3.
UserOutput4 44 This robot output signal is designated as user defined output 4.
UserOutput5 45 This robot output signal is designated as user defined output 5.
UserOutput6 46 This robot output signal is designated as user defined output 6.
UserOutput7 47 This robot output signal is designated as user defined output 7.
UserOutput8 48 This robot output signal is designated as user defined output 8.
ClrOfPickup1 49 This robot output signal is used to inform the PLC that the robot is clear of pickup 1 position.
AtPickup1 50 This robot output signal is used to inform the PLC that the robot is at the pickup 1 position.
ClrOfDropoff1 51 This robot output signal is used to inform the PLC that the robot is clear of dropoff 1 position.
AtDropoff1 52 This robot output signal is used to inform the PLC that the robot is at the dropoff 1 position.
ClrOfPickup2 53 This robot output signal is used to inform the PLC that the robot is clear of pickup 2 position.
AtPickup2 54 This robot output signal is used to inform the PLC that the robot is at the pickup 2 position.
ClrOfDropoff2 55 This robot output signal is used to inform the PLC that the robot is clear of dropoff 2 position.
AtDropoff2 56 This robot output signal is used to inform the PLC that the robot is at the dropoff 2 position.
ClrOfPickup3 57 This robot output signal is used to inform the PLC that the robot is clear of pickup 3 position.
AtPickup3 58 This robot output signal is used to inform the PLC that the robot is at the pickup 3 position.
ClrOfDropoff3 59 This robot output signal is used to inform the PLC that the robot is clear of dropoff 3 position.
AtDropoff3 60 This robot output signal is used to inform the PLC that the robot is at the dropoff 3 position.
ClrOfPickup4 61 This robot output signal is used to inform the PLC that the robot is clear of pickup 4 position.
AtPickup4 62 This robot output signal is used to inform the PLC that the robot is at the pickup 4 position.
ClrOfDropoff4 63 This robot output signal is used to inform the PLC that the robot is clear of dropoff 4 position.
AtDropoff4 64 This robot output signal is used to inform the PLC that the robot is at the dropoff 4 position.
Clr2UnclampEarly 65 This robot output signal is used to inform the PLC that the robot is clear to unclamp the tooling.
RbtAtUserPos1 66 This robot output signal is used to inform the PLC that the robot is at user position 1
RbtAtUserPos2 67 This robot output signal is used to inform the PLC that the robot is at user position 2
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RbtAtUserPos3 68 This robot output signal is used to inform the PLC that the robot is at user position 3
RbtAtUserPos4 69 This robot output signal is used to inform the PLC that the robot is at user position 4
Spare 70 Spare
Req2EntrToolNest 71 This robot output signal is used as a request from the robot, entry to the tool nests to the PLC.
ClearOfToolNest 72 This robot output signal is used to inform the PLC that the robot is clear of the tool nest.
ServiceComp 73 This robot output signal is used to signal the PLC that service is complete.
MajorMinorFlt 74 This robot output signal is used to signal the PLC that the posted application error is a major fault
WaitingForPlcCmd 75 This robot output signal is used to inform the PLC that the robot is waiting for a PLC command. (Active while in a user program – WaitDI or WaitGI)
RemoveFault 76 This robot output signal is used to inform the PLC to remove the application error.
RobotPartPres1 77 This robot output signal is used to inform the PLC that part present 1 is activated.
RobotPartPres2 78 This robot output signal is used to inform the PLC that part present 2 is activated.
RobotPartPres3 79 This robot output signal is used to inform the PLC that part present 3 is activated.
RobotPartPres4 80 This robot output signal is used to inform the PLC that part present 4 is activated.
RobotPartPres5 81 This robot output signal is used to inform the PLC that part present 5 is activated.
RobotPartPres6 82 This robot output signal is used to inform the PLC that part present 6 is activated.
RobotPartPres7 83 This robot output signal is used to inform the PLC that part present 7 is activated.
RobotPartPres8 84 This robot output signal is used to inform the PLC that part present 8 is activated.
RobotPartPres9 85 This robot output signal is used to inform the PLC that part present 9 is activated.
RobotPartPres10 86 This robot output signal is used to inform the PLC that part present 10 is activated.
LaserEnbld 87 This robot output signal is used to inform the PLC that the Laser is enabled.
HYagEnbld 88 This robot output signal is used to inform the PLC that the HighYag head is enabled.
PickOverride 89 This robot output signal is used to inform the PLC that the robot is in a pick over ride process.
CollisGuardEnbld 90 This robot output signal is used to inform the PLC if collision guard is enabled.
AIr OK 91 This robot output indicates the air pressure is OK
AirPressAcptRng 92 This robot output indicates the air pressure is within acceptable range.
WetDryMode 93 This robot output signal is used to inform the PLC if the robot is in Wet mode.
AbortPickReq 94 This robot output signal is used to inform the PLC that the robot is requesting the abort pick sequence.
TipDressReq 95 This robot output informs the PLC that the weld timer has issued a tip dress request.
Spare 96 Spare
ExtPurg1InProgrs 97 This robot output signal is used to inform the PLC that dispenser 1 purge sequence is in progress.
ExtPurg2InProgrs 98 This robot output signal is used to inform the PLC that dispenser 2 purge sequence is in progress.
WaterOn 99 This robot output signal is used to inform the PLC to turn the water saver on.
WaterOff 100 This robot output signal is used to inform the PLC to turn the water saver off.
TurnOnTipDresser 101 This robot output signal is used to inform the PLC to turn on the tip dresser motor(s).
StepperResetAck 102 This robot output signal is used to inform the PLC that the weld controller has reset stepper .
StepMode 103 This robot output signal is used to inform the PLC that the robot is in StepMode.
RobotAtPurgePos 104 This robot output indicates the robot is in position to purge.
RobotClrFixt1 105 This robot output signal is used to inform the PLC that the robot is clear of fixture 1 (based on automatic zone/window definition in the robot).
RobotClrFixt2 106 This robot output signal is used to inform the PLC that the robot is clear of fixture 2 (based on automatic zone/window definition in the robot).
TipBurnInComp 107 This robot output informs the PLC that the tip burn in is complete.
Spare 108 Spare
ReposTooling1 109 This robot output along with the next two bits, (ReposTooling2 – ReposTooling4) grouped as “Group Outputs”, are used to inform the PLC to reposition the tooling. The group outputs are viewed as the binary bit weight viewed as a decimal value.
ReposTooling2 110 Reference description: “ReposTooling1”
SignatureChgInd 111 This robot output indicates to the PLC that the DCS signature current and previous match and have been verified.
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RbtAtInspectPos 112 This robot output signal is used to inform the PLC that the robot is at the inspection position.
TeachPendantEnbd 113 This robot output signal is used to inform the PLC that the teach pendant switch is enabled.
StartExtApp1Proc 114 This robot output informs the PLC to start external application 1 process.
StartExtApp2Proc 115 This robot output informs the PLC to start external application 2 process.
ToolIDOnWrist1 116 This robot output signal along with the next two bits, (ToolIDOnWrist2 - ToolIDOnWrist4) grouped as “Group Outputs”, are used to inform the PLC which tool is on the robot wrist. The group outputs are viewed as the binary bit weight viewed as a decimal value.
ToolIDOnWrist2 117 Reference description: “ToolIDOnWrist2”
ToolIDOnWrist4 118 Reference description: “ToolIDOnWrist4”
ProcessFault 119 This robot output signal is used to inform the PLC that a process fault is present.
AppErrorActive 120 This robot output signal is used to inform the PLC that an application error is active. Reference: Robot input 8 as acknowledge to this bit.
AppErrorBit1 121 This robot output signal along with the next seven bits, (AppErrorBit2 - AppErrorBit128) grouped as “Group Outputs”, are used to inform the PLC of the current value of the application error that is posted. The group outputs are viewed as the binary bit weight viewed as a decimal value.
AppErrorBit2 122 Reference description: “AppErrorBit1”
AppErrorBit4 123 Reference description: “AppErrorBit1”
AppErrorBit8 124 Reference description: “AppErrorBit1”
AppErrorBit16 125 Reference description: “AppErrorBit1”
AppErrorBit32 126 Reference description: “AppErrorBit1”
AppErrorBit64 127 Reference description: “AppErrorBit1”
AppErrorBit128 128 Reference description: “AppErrorBit1”
Reference DCX Book of Implementation Guidelines for proper Tag and UDT Naming – Design standards for Control Logix AMS 0220 Section 9.3.2, 7.0 Tag – DeviceNet Tag Naming Guidelines, Starting on page 28.
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ROBOT D-NET INPUT BIT MAP (PLC TO ROBOT)
SIGNAL NAME ROBOT INPUT # DESCRIPTION
NoHold 1 This robot system input “UI[2:Hold]” is used to decelerate and stop the robot. This signal is held high for normal operation of the robot.
Resume 2 This robot system input “UI[6:Start]” is used to resume a paused style program.
FaultReset 3 This robot system input “UI[5:Fault Reset]” is used to reset robot and robot controlled peripheral device faults.
20HourRunMode 4 This robot input is used to put the robot into 20 hour run mode.
ReqToEnter 5 This robot input is used to pause the robot program after it has completed the current task and/or motion.
LaserEnable1 6 This robot input is used to signal the robot to activate the Laser system
LaserGuideOn 7 This robot input is used to signal the robot to activate the Laser Guide
AppErrorAck 8 This robot input is used as an acknowledgment from the PLC that the application error has been read.
STYLEBit1 9 This robot system input “UI[9:RSR1/PNS1/STYLE1]” along with the next six bits, grouped as “Group Inputs”, are used for style selection inputs from the PLC. The group inputs are viewed as the binary bit weight in a decimal fashion.
STYLEBit2 10 System input “UI[10:RSR2/PNS2/STYLE2]” Reference description: “Style1”
STYLEBit4 11 System input “UI[11:RSR3/PNS3/STYLE3]” Reference description: “Style1”
STYLEBit8 12 System input “UI[12:RSR4/PNS4/STYLE4]” Reference description: “Style1”
STYLEBit16 13 System input “UI[13:RSR5/PNS5/STYLE5]” Reference description: “Style1”
STYLEBit32 14 System input “UI[14:RSR6/PNS6/STYLE6]” Reference description: “Style1”
STYLEBit64 15 System input “UI[15:RSR7/PNS7/STYLE7]” Reference description: “Style1”
WeldGunForceChk 16 This robot input is used to initiate the weld gun force check from a style program at the wait for dropoff position.
InterferenceClr1 17 This robot input is used to signal the robot that interference is clear at area 1.
InterferenceClr2 18 This robot input is used to signal the robot that interference is clear at area 2.
AcceptVolume 19 This robot input is used to externally accept the sealer bead from the PLC if a volume fault was issued.
VolumeFltReset 20 This robot input is used to externally tell the robot from the PLC to reset a volume fault on the dispense unit.
PPOK_ClrToGrip 21 This robot input is used to signal the robot to grip the part. (Used for Clr to Grip part)
GripOK_ClrToExit 22 This robot input is used to signal the robot to exit the position. (Used for Clmp&Hold)
AbortExitPick 23 This robot input is used to signal the robot to Abort Exit Pick.
AbortExitDrop 24 This robot input is used to signal the robot to Abort Exit Drop.
RetFromPounce 25 This robot input is used to signal the robot to return from the pounce position back to the home position. When executed, the robot program will return to the home position and mainline program without issuing a “WorkComplete”.
ServiceCompltReq 26 This robot input is used to signal the robot to complete the service program and return to home position and mainline program from the service position.
ServiceRequest 27 This robot input is used to signal the robot to execute a maintenance routine when the robot is at the Waiting for Dropoff# position. (M/H robots only)
TipDressGunReq 28 This robot input is used to signal the robot to initiate the tip dress procedure from a style program.
ProdStart 29 This robot system input “UI[18:Prod Start]” is used to initiate a new style program. When this bit is high and a style number has been set, the robot will start executing the selected style program. [Go to pounce position of selected program]
Spare 30 This robot input is not used.
GoToWork 31 This robot input is used to signal the robot to leave “Pounce Position” and execute the work portion of the robot program.
WorkCompleteAck 32 This robot input is used to signal that “WorkComplete” was received by the PLC.
Zone1ClrToEnter 33 This robot input is used to inform the robot that interference zone 1 is clear to enter. Reference the AME zone logic standard for further information.
Zone2ClrToEnter 34 This robot input is used to inform the robot that interference zone 2 is clear to enter. Reference the AME zone logic standard for further information.
Zone3ClrToEnter 35 This robot input is used to inform the robot that interference zone 3 is clear to enter. Reference the AME zone logic standard for further information.
Zone4ClrToEnter 36 This robot input is used to inform the robot that interference zone 4 is clear to enter.
AS OF 1/12/2012 14 CUSW REL1.3
Printed copies are not source controlled
Reference the AME zone logic standard for further information.
Zone5ClrToEnter 37 This robot input is used to inform the robot that interference zone 5 is clear to enter. Reference the AME zone logic standard for further information.
Zone6ClrToEnter 38 This robot input is used to inform the robot that interference zone 6 is clear to enter. Reference the AME zone logic standard for further information.
Zone7ClrToEnter 39 This robot input is used to inform the robot that interference zone 7 is clear to enter. Reference the AME zone logic standard for further information.
Zone8ClrToEnter 40 This robot input is used to inform the robot that interference zone 8 is clear to enter. Reference the AME zone logic standard for further information.
UserInput1 41 This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input.
UserInput2 42 This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input.
UserInput3 43 This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input.
UserInput4 44 This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input.
UserInput5 45 This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input.
UserInput6 46 This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input.
UserInput7 47 This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input.
UserInput8 48 This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input.
GoToPickup1 49 This robot input is used to signal the robot to continue its program to the pickup 1 position.
ExitPickup1 50 This robot input is used to signal the robot to continue its program from the pickup 1 position.
GoToDropoff1 51 This robot input is used to signal the robot to continue its program to the dropoff 1 position.
ExitDropoff1 52 This robot input is used to signal the robot to continue its program from the dropoff 1 position.
GoToPickup2 53 This robot input is used to signal the robot to continue its program to the pickup 2 position.
ExitPickup2 54 This robot input is used to signal the robot to continue its program from the pickup 2 position.
GoToDropoff2 55 This robot input is used to signal the robot to continue its program to the dropoff 2 position.
ExitDropoff2 56 This robot input is used to signal the robot to continue its program from the dropoff 2 position.
GoToPickup3 57 This robot input is used to signal the robot to continue its program to the pickup 3 position.
ExitPickup3 58 This robot input is used to signal the robot to continue its program from the pickup 3 position.
GoToDropoff3 59 This robot input is used to signal the robot to continue its program to the dropoff 3 position.
ExitDropoff3 60 This robot input is used to signal the robot to continue its program from the dropoff 3 position.
GoToPickup4 61 This robot input is used to signal the robot to continue its program to the pickup 4 position.
ExitPickup4 62 This robot input is used to signal the robot to continue its program from the pickup 4 position.
GoToDropoff4 63 This robot input is used to signal the robot to continue its program to the dropoff 4 position.
ExitDropoff4 64 This robot input is used to signal the robot to continue its program from the dropoff 4 position.
Part1InFixture 65 This robot input is used to signal the robot that part 1 is present in the tooling fixture.
Part2InFixture 66 This robot input is used to signal the robot that part 2 is present in the tooling fixture.
Part3InFixture 67 This robot input is used to signal the robot that part 3 is present in the tooling fixture.
AS OF 1/12/2012 15 CUSW REL1.3
Printed copies are not source controlled
Part4InFixture 68 This robot input is used to signal the robot that part 4 is present in the tooling fixture.
Part5InFixture 69 This robot input is used to signal the robot that part 5 is present in the tooling fixture.
Part6InFixture 70 This robot input is used to signal the robot that part 6 is present in the tooling fixture.
App1ClrToEnter 71 This robot input is used to signal the robot that the process application 1 fixture/area is clear for the robot to enter.
App2ClrToEnter 72 This robot input is used to signal the robot that the process application 2 fixture/area is clear for the robot to enter.
ToolInNest1 73 This robot input is used to inform the robot there is a tool present in nest 1.
ToolInNest2 74 This robot input is used to inform the robot there is a tool present in nest 2.
ToolInNest3 75 This robot input is used to inform the robot there is a tool present in nest 3.
ToolInNest4 76 This robot input is used to inform the robot there is a tool present in nest 4.
PickTool1 77 This robot input along with the next three bits, (PickTool2 – PickTool8) grouped as “Group Inputs”, are used to signal the robot to pick up a specific tool. The group inputs are viewed as the binary bit weight in a decimal fashion.
PickTool2 78 Reference description: “PickTool1”
PickTool4 79 Reference description: “PickTool1”
PickTool8 80 Reference description: “PickTool1”
Clr2EntToolNest 81 This robot input is used to signal the robot that the tool nest(s) is clear to enter.
ToolingRepod1 82 This robot input along with the next two bits, (ToolingRepod2 – ToolingRepod4) grouped as “Group Inputs”, are used to signal the robot that the tooling/fixture/dumps are repositioned. The group inputs are viewed as the binary bit weight in a decimal fashion.
ToolingRepod2 83 Reference description: “ToolingRepod1”
Spare 84 This robot input is not currently used.
PalletPosBit1 85 This robot input along with the next seven bits, (PalletPosBit2 – PalletPosBit128) grouped as “Group Inputs”, are used to signal the robot to move to a specific pallet position.
PalletPosBit2 86 Reference description: “PalletPosBit1”
PalletPosBit4 87 Reference description: “PalletPosBit1”
PalletPosBit8 88 Reference description: “PalletPosBit1”
PalletPosBit16 89 Reference description: “PalletPosBit1”
PalletPosBit32 90 Reference description: “PalletPosBit1”
PalletPosBit64 91 Reference description: “PalletPosBit1”
PalletPosBit128 92 Reference description: “PalletPosBit1”
WetDryMode 93 This robot input is used to signal the robot to go into Wet mode.
AbortReq 94 This robot input is used to signal the robot to run an Abort routine.
PurgeGun1Req 95 This robot input is used to signal the robot to execute a purge sequence for dispenser 1.
PurgeGun2Req 96 This robot input is used to signal the robot to execute a purge sequence for dispenser 2.
WaterFlowOK 97 This robot input is used to signal the robot that water flow is OK.
StartUpPurge 98 This robot input is used during the sealer purge process to instruct the robot to execute a longer purge time due to the enabling of the sealer unit from conservation mode.
TipDressDumpExtd 99 This robot input is used to signal the robot that the tip dresser dump is extended.
TipDrsDumpRetrct 100 This robot input is used to signal the robot that the tip dresser dump is retracted.
TipDrsMotorOn 101 This robot input is used to signal the robot that the tip dresser motor is running.
ExtStepperReset1 102 This robot input is used to signal the robot to reset weld controller stepper 1.
ExtStepperReset2 103 This robot input is used to signal the robot to reset weld controller stepper 2.
TipBurnInReq 104 This robot input is used to call the tip burn in program from the work program while the robot is at home position and from the wait for dropoff position. (Requires input looping)
TipChgReq 105 This robot input is used to call the tip change program from the work program while the robot is at home position and from the wait for dropoff position. (Requires input looping)
InspectRequired 106 This robot input is used to signal the robot to execute the inspection process.
InspectComplete 107 This robot input is used to signal the robot to return from inspection position.
ClrToExitUsrPos1 108 This robot input is used to signal the robot that it is clear to exit user position 1.
ClrToExitUsrPos2 109 This robot input is used to signal the robot that it is clear to exit user position 2.
AS OF 1/12/2012 16 CUSW REL1.3
Printed copies are not source controlled
ClrToExitUsrPos3 110 This robot input is used to signal the robot that it is clear to exit user position 3.
ClrToExitUsrPos4 111 This robot input is used to signal the robot that it is clear to exit user position 4.
ClrToExitUsrPos5 112 This robot input is used to signal the robot that it is clear to exit user position 5.
ExtApp1StartReq 113 This robot input is used to signal the robot to tell dispense controller 1 to initiate a remote start.
ExtApp1Complete 114 This robot input is used to signal the robot that external application 1 is complete.
ExtApp2StartReq 115 This robot input is used to signal the robot to tell dispense controller 2 to initiate a remote start.
ExtApp2Complete 116 This robot input is used to signal the robot that external application 2 is complete.
Reseal 117 This robot input is used to execute a Reseal process.
RejectPart 118 This robot input is used to execute a Reject Part process
NoSafeSpeed1 119 This robot input is used to drop the robot into a slow speed during part inspection.
ReweldStud 120 This robot input is used to command the robot to issue a Reweld Stud command. (Fault Ack and Start1 or Start2 to ST/W.
AcceptStud/Part 121 This robot input is used to command the robot to issue a Accept Stud command. (Fault Ack to ST/W and Weld Complete to robot) Accept Part (MH application)
RejectStud 122 This robot input is used to command the robot to issue a Reject Stud command. (Fault Ack to ST/W and Weld Complete and JumpLbl to Dropoff to the robot.
ChangedHead 123 This robot input is used to instruct the robot that the ST/W head has been changed.
StudSlide1InPos 124 This robot input indicates to the robot, that studwelder 1 is in the weld position.
StudSlide2InPos 125 This robot input indicates to the robot, that studwelder 2 is in the weld position.
PickOverrideReq 126 This robot input indicates to the robot to execute the pick override section of the program
TipDressBypass 127 This robot input indicates to the robot that the tip dresser is in bypass.
NoSafeSpeed2 128 This robot input is used to drop the robot into a slow speed during part inspection.
Reference DCX Book of Implementation Guidelines for proper Tag and UDT Naming – Design standards for Control Logix AMS 0220 Section 9.3.2, 7.0 Tag – DeviceNet Tag Naming Guidelines, Starting on page 28.
AS OF 1/12/2012 17 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS
ROBOT INPUTS SAFETY PLC COMMUNICATIONS
SAFETY PLC COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS SIGNAL NAME
1 CSO 1 ESPB
1 CSI 1 EES
1 CSO 2 RB MTR OFF
1 CSI 2 EGS
1 CSO 3 AUTO
1 CSI 3 SW24V
1 CSO 4 AXP1 MON
1 CSI 4 TC24V
1 CSO 5 TC24V MON
1 CSI 5 spare
1 CSO 6 spare
1 CSI 6 spare
1 CSO 7 DM MON
1 CSI 7 spare
1 CSO 8 CSBP
1 CSI 8 spare
1 CSO 9 spare
1 CSI 9 spare
1 CSO 10 Joint 1 Zone Disabled
1 CSI 10 Joint 1 Zone Disable
1 CSO 11 Joint 2 Zone Disabled
1 CSI 11 Joint 2 Zone Disable
1 CSO 12 spare
1 CSI 12 spare
1 CSO 13 spare
1 CSI 13 spare
1 CSO 14 spare
1 CSI 14 spare
1 CSO 15 spare
1 CSI 15 spare
1 CSO 16 spare
1 CSI 16 spare
RTU Auto Lube I/O
RTU Auto Lube I/O Robot Input # Name
Robot Output # Name
1 PinionCRMon
1 PinionLubeOn 2 BearingCRMon
2 BearingLubeOn
3 Pinion24VOkMon
3 4 Bearing24VOkMon
4
5 Pinion24VOk
5 6 Bearing24VOk
6
7
7 8
8
AS OF 1/12/2012 18 CUSW REL1.3
Printed copies are not source controlled
ROBOT IO MAP ASSIGNMENTS
ROBOT COMMUNICATION OUTPUT
ASSIGNMENTS INPUT
ASSIGNMENTS NODE NUMBER PLC COMMUNICATIONS DO [1 - 128] DI [1 - 128] 1
SPARES DO [129 - 192] DI [129 - 192]
PRECITEC DO [193 - 352] DI [193 - 352] 10
SPOT WELD SCR#1 DO [193 - 224] DI [193 - 224] 11
SPOT WELD SCR#2 DO [225 - 256] DI [225 - 256] 12
SPOT WELD SCR#3 DO [257 - 288] DI [257 - 288] 13
SPOT WELD SCR#4 DO [289 - 320] DI [289 - 320] 14
NELSON STUD WELDER DO [321 - 384] DI [321 - 384] 16
DISPENSE #1 DO [385 - 448] DI [385 - 448] 25
DISPENSE #2 DO [449 - 512] DI [449 - 512] 26
MH EOAT MODULE #1 INPUT DI [513 - 528] 31
MH EOAT MODULE #2 INPUT DI [529 - 544] 32
MH EOAT MODULE #3 INPUT DI [545 - 560] 33
MH EOAT MODULE #4 INPUT DI [561 - 576] 34
MH EOAT MODULE #5 INPUT DI [577 - 592] 35
MH EOAT MODULE #1 OUTPUT DO [513 - 544] 39
MH EOAT MODULE MISC OUTPUT DO [545 - 576] 36
SPARE DO [577 - 585]
MH EOAT VAC MODULE #1 DO [593 - 600] DI [593 - 600] 37
MH EOAT VAC MODULE #2 DO [601 - 608] DI [601 - 608] 38
USER DEFINABLE IO #1 DO [609 - 616] DI [609 - 616] 43
USER DEFINABLE IO #2 DO [617 - 624] DI [617 - 624] 44
SPARE DO [625 - 631] DI [625 - 631]
ATI TOOLCHANGER DO [632 - 639] DI [632 - 695] 54
ATI TOOLCHANGER (Robot Internal) DO [640 - 654]
SPARES DO [640 - 695]
FORM & PIERCE MOOG DO [696 - 727] DI [696 - 727] 48
FORM & PIERCE CLINCH NUT-FEEDER DO [728 - 743] DI [728 - 743] 49
FORM & PIERCE CLINCH NUT-TOOL DO [744 - 759] DI [744 - 759] 50
FORM & PIERCE PUMP DO [760 - 767] DI [760 - 767] 51
Mig Weld Reamer DO (768- 775) DI (768 - 775) 46
SPARES DO [776 - 784] DI [776 - 784]
TOOLCHANGER COVER / NEST #1 55
TOOLCHANGER COVER / NEST #2 56
TOOLCHANGER COVER / NEST #3 57
TOOLCHANGER COVER / NEST #4 58
IPG_LASERWELD_GENERATOR (ASME) DO [785 - 800] DI [785 - 800] 17
HIGHYAG_HEAD (ASME) DO [817 - 848] DI [817 - 848] 18
LaserCut Head DO [849 - 856] DO [849 - 856] 19
GrinderMod1 DO [857 - 864] DO [857 - 864] 20
GrinderMod2 DO [865 - 872] DO [865 - 872] 21
GrinderAnalogMod1 AL 1-1 AL 2-2 AL 1-1 AL 2-2 22
GrinderAnalogMod2 AL 1-1 AL 2-2 AL 1-1 AL 2-2 23
Laser Cut Field I/O DO (776- 783) DI (776 - 783) 24
ISRA OR OTHER VISION DO [913 - 944] DI [913 - 1024] 60
APP ERROR SPARES DO [945 - 1024]
AS OF 1/12/2012 19 CUSW REL1.3
Printed copies are not source controlled
ROBOT BIT MAP
ROBOT OUTPUTS ROBOT INPUTS
PLC COMMUNICATIONS PLC COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
1 DO 1 Y 0.0 RobotInAuto 1 DI 1 X 0.0 NOHold
1 DO 2 Y 0.1 RobotFaulted 1 DI 2 X 0.1 Resume
1 DO 3 Y 0.2 WaitForTPInput 1 DI 3 X 0.2 FaultReset
1 DO 4 Y 0.3 InCycle 1 DI 4 X 0.3 20HourRunMode
1 DO 5 Y 0.4 CollisionDetd 1 DI 5 X 0.4 ReqToEnter
1 DO 6 Y 0.5 IOSimulated 1 DI 6 X 0.5 LaserEnable1
1 DO 7 Y 0.6 WldEnabled 1 DI 7 X 0.6 LaserGuideOn
1 DO 8 Y 0.7 RobotReady 1 DI 8 X 0.7 AppErrorAck
1 DO 9 Y 1.0 GO[1] ActiveStyBit1 1 DI 9 X 1.0 GI[1] STYLEBit1
1 DO 10 Y 1.1 GO[1] ActiveStyBit2 1 DI 10 X 1.1 GI[1] STYLEBit2
1 DO 11 Y 1.2 GO[1] ActiveStyBit4 1 DI 11 X 1.2 GI[1] STYLEBit4
1 DO 12 Y 1.3 GO[1] ActiveStyBit8 1 DI 12 X 1.3 GI[1] STYLEBit8
1 DO 13 Y 1.4 GO[1] ActiveStyBit16 1 DI 13 X 1.4 GI[1] STYLEBit16
1 DO 14 Y 1.5 GO[1] ActiveStyBit32 1 DI 14 X 1.5 GI[1] STYLEBit32
1 DO 15 Y 1.6 GO[1] ActiveStyBit64 1 DI 15 X 1.6 GI[1] STYLEBit64
1 DO 16 Y 1.7 PrgPaused 1 DI 16 X 1.7 WeldGunForceChk
1 DO 17 Y 2.0 PrgRunning 1 DI 17 X 2.0 InterferenceClr1
1 DO 18 Y 2.1 RobotAtWork 1 DI 18 X 2.1 InterferenceClr2
1 DO 19 Y 2.2 WorkComplete 1 DI 19 X 2.2 AcceptVolume
1 DO 20 Y 2.3 20HourRunModeAct 1 DI 20 X 2.3 VolumeFltReset
1 DO 21 Y 2.4 GO[5] MaintReqBit1 1 DI 21 X 2.4 PPOK_ClrToGrip
1 DO 22 Y 2.5 GO[5] MaintReqBit2 1 DI 22 X 2.5 GripOK_ClrToExit
1 DO 23 Y 2.6 GO[5] MaintReqBit4 1 DI 23 X 2.6 AbortExitPick
1 DO 24 Y 2.7 GO[5] MaintReqBit8 1 DI 24 X 2.7 AbortExitDrop
1 DO 25 Y 3.0 RobotAtPounce 1 DI 25 X 3.0 RetFromPounce
1 DO 26 Y 3.1 RobotAtService 1 DI 26 X 3.1 ServiceCompltReq
1 DO 27 Y 3.2 RobotAtHome 1 DI 27 X 3.2 ServiceRequest
1 DO 28 Y 3.3 RobotInTipDress 1 DI 28 X 3.3 TipDressGunReq
1 DO 29 Y 3.4 TipDressComplt 1 DI 29 X 3.4 ProdStart
1 DO 30 Y 3.5 RdyForTipChg 1 DI 30 X 3.5 Spare
1 DO 31 Y 3.6 CleartoTransfer 1 DI 31 X 3.6 GoToWork
1 DO 32 Y 3.7 WldInPrgrsActiv1 1 DI 32 X 3.7 WorkCompleteAck
1 DO 33 Y 4.0 RbtClrZone1 1 DI 33 X 4.0 Zone1ClrToEnter
1 DO 34 Y 4.1 RbtClrZone2 1 DI 34 X 4.1 Zone2ClrToEnter
1 DO 35 Y 4.2 RbtClrZone3 1 DI 35 X 4.2 Zone3ClrToEnter
1 DO 36 Y 4.3 RbtClrZone4 1 DI 36 X 4.3 Zone4ClrToEnter
1 DO 37 Y 4.4 RbtClrZone5 1 DI 37 X 4.4 Zone5ClrToEnter
1 DO 38 Y 4.5 RbtClrZone6 1 DI 38 X 4.5 Zone6ClrToEnter
1 DO 39 Y 4.6 RbtClrZone7 1 DI 39 X 4.6 Zone7ClrToEnter
1 DO 40 Y 4.7 RbtClrZone8 1 DI 40 X 4.7 Zone8ClrToEnter
1 DO 41 Y 5.0 UserOutput1 1 DI 41 X 5.0 UserInput1
1 DO 42 Y 5.1 UserOutput2 1 DI 42 X 5.1 UserInput2
1 DO 43 Y 5.2 UserOutput3 1 DI 43 X 5.2 UserInput3
1 DO 44 Y 5.3 UserOutput4 1 DI 44 X 5.3 UserInput4
1 DO 45 Y 5.4 UserOutput5 1 DI 45 X 5.4 UserInput5
1 DO 46 Y 5.5 UserOutput6 1 DI 46 X 5.5 UserInput6
1 DO 47 Y 5.6 UserOutput7 1 DI 47 X 5.6 UserInput7
1 DO 48 Y 5.7 UserOutput8 1 DI 48 X 5.7 UserInput8
1 DO 49 Y 6.0 ClrOfPickup1 1 DI 49 X 6.0 GoToPickup1
1 DO 50 Y 6.1 AtPickup1 1 DI 50 X 6.1 ExitPickup1
1 DO 51 Y 6.2 ClrOfDropoff1 1 DI 51 X 6.2 GoToDropoff1
1 DO 52 Y 6.3 AtDropoff1 1 DI 52 X 6.3 ExitDropoff1
1 DO 53 Y 6.4 ClrOfPickup2 1 DI 53 X 6.4 GoToPickup2
1 DO 54 Y 6.5 AtPickup2 1 DI 54 X 6.5 ExitPickup2
1 DO 55 Y 6.6 ClrOfDropoff2 1 DI 55 X 6.6 GoToDropoff2
1 DO 56 Y 6.7 AtDropoff2 1 DI 56 X 6.7 ExitDropoff2
1 DO 57 Y 7.0 ClrOfPickup3 1 DI 57 X 7.0 GoToPickup3
1 DO 58 Y 7.1 AtPickup3 1 DI 58 X 7.1 ExitPickup3
1 DO 59 Y 7.2 ClrOfDropoff3 1 DI 59 X 7.2 GoToDropoff3
1 DO 60 Y 7.3 AtDropoff3 1 DI 60 X 7.3 ExitDropoff3
1 DO 61 Y 7.4 ClrOfPickup4 1 DI 61 X 7.4 GoToPickup4
1 DO 62 Y 7.5 AtPickup4 1 DI 62 X 7.5 ExitPickup4
1 DO 63 Y 7.6 ClrOfDropoff4 1 DI 63 X 7.6 GoToDropoff4
1 DO 64 Y 7.7 AtDropoff4 1 DI 64 X 7.7 ExitDropoff4
1 DO 65 Y 8.0 Clr2UnclampEarly 1 DI 65 X 8.0 Part1InFixture
1 DO 66 Y 8.1 RbtAtUserPos1 1 DI 66 X 8.1 Part2InFixture
1 DO 67 Y 8.2 RbtAtUserPos2 1 DI 67 X 8.2 Part3InFixture
1 DO 68 Y 8.3 RbtAtUserPos3 1 DI 68 X 8.3 Part4InFixture
1 DO 69 Y 8.4 RbtAtUserPos4 1 DI 69 X 8.4 Part5InFixture
1 DO 70 Y 8.5 Spare 1 DI 70 X 8.5 Part6InFixture
1 DO 71 Y 8.6 Req2EntrToolNest 1 DI 71 X 8.6 App1ClrToEnter
AS OF 1/12/2012 20 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
PLC COMMUNICATIONS PLC COMMUNICATIONS 1 DO 72 Y 8.7 ClearOfToolNest 1 DI 72 X 8.7 App2ClrToEnter
1 DO 73 Y 9.0 ServiceComp 1 DI 73 X 9.0 ToolInNest1
1 DO 74 Y 9.1 MajorMinorFlt 1 DI 74 X 9.1 ToolInNest2
1 DO 75 Y 9.2 WaitingForPlcCmd 1 DI 75 X 9.2 ToolInNest3
1 DO 76 Y 9.3 RemoveFault 1 DI 76 X 9.3 ToolInNest4
1 DO 77 Y 9.4 RobotPartPres1 1 DI 77 X 9.4 GI[4] PickTool1
1 DO 78 Y 9.5 RobotPartPres2 1 DI 78 X 9.5 GI[4] PickTool2
1 DO 79 Y 9.6 RobotPartPres3 1 DI 79 X 9.6 GI[4] PickTool4
1 DO 80 Y 9.7 RobotPartPres4 1 DI 80 X 9.7 GI[4] PickTool8
1 DO 81 Y 10.0 RobotPartPres5 1 DI 81 X 10.0 Clr2EntToolNest
1 DO 82 Y 10.1 RobotPartPres6 1 DI 82 X 10.1 GI[5] ToolingRepod1
1 DO 83 Y 10.2 RobotPartPres7 1 DI 83 X 10.2 GI[5] ToolingRepod2
1 DO 84 Y 10.3 RobotPartPres8 1 DI 84 X 10.3 Spare
1 DO 85 Y 10.4 RobotPartPres9 1 DI 85 X 10.4 GI[6] PalletPosBit1
1 DO 86 Y 10.5 RobotPartPres10 1 DI 86 X 10.5 GI[6] PalletPosBit2
1 DO 87 Y 10.6 LaserEnbld 1 DI 87 X 10.6 GI[6] PalletPosBit4
1 DO 88 Y 10.7 HYagEnbld 1 DI 88 X 10.7 GI[6] PalletPosBit8
1 DO 89 Y 11.0 PickOverride 1 DI 89 X 11.0 GI[6] PalletPosBit16
1 DO 90 Y 11.1 CollisGuardEnbld 1 DI 90 X 11.1 GI[6] PalletPosBit32
1 DO 91 Y 11.2 AirOK 1 DI 91 X 11.2 GI[6] PalletPosBit64
1 DO 92 Y 11.3 AirPressAcptRng 1 DI 92 X 11.3 GI[6] PalletPosBit128
1 DO 93 Y 11.4 WetDryMode 1 DI 93 X 11.4 WetDryMode
1 DO 94 Y 11.5 AbortPickReq 1 DI 94 X 11.5 AbortReq
1 DO 95 Y 11.6 TipDressReq 1 DI 95 X 11.6 PurgeGun1Req
1 DO 96 Y 11.7 Spare 1 DI 96 X 11.7 PurgeGun2Req
1 DO 97 Y 12.0 ExtPurg1InProgrs 1 DI 97 X 12.0 WaterFlowOK
1 DO 98 Y 12.1 ExtPurg2InProgrs 1 DI 98 X 12.1 StartUpPurge
1 DO 99 Y 12.2 WaterOn 1 DI 99 X 12.2 TipDressDumpExtd
1 DO 100 Y 12.3 WaterOff 1 DI 100 X 12.3 TipDrsDumpRetrct
1 DO 101 Y 12.4 TurnOnTipDresser 1 DI 101 X 12.4 TipDrsMotorOn
1 DO 102 Y 12.5 StepperRstAck 1 DI 102 X 12.5 ExtStepperReset1
1 DO 103 Y 12.6 StepMode 1 DI 103 X 12.6 ExtStepperReset2
1 DO 104 Y 12.7 RobotAtPurgePos 1 DI 104 X 12.7 TipBurnInReq
1 DO 105 Y 13.0 RobotClrFixt1 1 DI 105 X 13.0 TipChgReq
1 DO 106 Y 13.1 RobotClrFixt2 1 DI 106 X 13.1 InspectRequired
1 DO 107 Y 13.2 TipBurnInComp 1 DI 107 X 13.2 InspectComplete
1 DO 108 Y 13.3 Spare 1 DI 108 X 13.3 ClrToExitUsrPos1
1 DO 109 Y 13.4 GO[2] ReposTooling1 1 DI 109 X 13.4 ClrToExitUsrPos2
1 DO 110 Y 13.5 GO[2] ReposTooling2 1 DI 110 X 13.5 ClrToExitUsrPos3
1 DO 111 Y 13.6 SignatureChgInd 1 DI 111 X 13.6 ClrToExitUsrPos4
1 DO 112 Y 13.7 RbtAtInspectPos 1 DI 112 X 13.7 ClrToExitUsrPos5
1 DO 113 Y 14.0 TeachPendantEnbd 1 DI 113 X 14.0 ExtApp1StartReq
1 DO 114 Y 14.1 StartExtApp1Proc 1 DI 114 X 14.1 ExtApp1Complete
1 DO 115 Y 14.2 StartExtApp1Proc 1 DI 115 X 14.2 ExtApp2StartReq
1 DO 116 Y 14.3 GO[3] ToolIDOnWrist1 1 DI 116 X 14.3 ExtApp2Complete
1 DO 117 Y 14.4 GO[3] ToolIDOnWrist2 1 DI 117 X 14.4 Reseal
1 DO 118 Y 14.5 GO[3] ToolIDOnWrist4 1 DI 118 X 14.5 RejectPart
1 DO 119 Y 14.6 ProcessFault 1 DI 119 X 14.6 NoSafeSpeed1
1 DO 120 Y 14.7 AppErrorActive 1 DI 120 X 14.7 ReweldStud
1 DO 121 Y 15.0 GO[4] AppErorrBit1 1 DI 121 X 15.0 AcceptStud/Part
1 DO 122 Y 15.1 GO[4] AppErrorBit2 1 DI 122 X 15.1 RejectStud
1 DO 123 Y 15.2 GO[4] AppErrorBit4 1 DI 123 X 15.2 ChangedHead
1 DO 124 Y 15.3 GO[4] AppErrorBit8 1 DI 124 X 15.3 StudSlide1InPos
1 DO 125 Y 15.4 GO[4] AppErrorBit16 1 DI 125 X 15.4 StudSlide2InPos
1 DO 126 Y 15.5 GO[4] AppErrorBit32 1 DI 126 X 15.5 PickOverrideReq
1 DO 127 Y 15.6 GO[4] AppErrorBit64 1 DI 127 X 15.6 TipDressBypass
1 DO 128 Y 15.7 GO[4] AppErrorBit128 1 DI 128 X 15.7 NoSafeSpeed2
AS OF 1/12/2012 21 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
PLC COMMUNICATIONS Precitec PLC COMMUNICATIONS Precitec
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
1 DO 129 Part OK 1 DI 129 Part No Bit 0
1 DO 130 Part Not OK 1 DI 130 Part No Bit 1 1 DO 131 Inspection Incomplete 1 DI 131 Part No Bit 2 1 DO 132 Line Stop 1 DI 132 Part No Bit 3 1 DO 133 Not OK Left Side 1 DI 133 Part No Bit 4 1 DO 134 Not OK Right Side 1 DI 134 Part No Bit 5 1 DO 135 Reserved 1 DI 135 Part No Bit 6 1 DO 136 Reserved 1 DI 136 Part No Bit 7 1 DO 137 Seam Fault Generic Term A 1 DI 137 Part No Bit 8 1 DO 138 Seam Fault Generic Term B 1 DI 138 Part No Bit 9 1 DO 139 Seam Fault Generic Term C 1 DI 139 Part No Bit 10 1 DO 140 Reserved 1 DI 140 Part No Bit 11 1 DO 141 Reserved 1 DI 141 Part No Bit 12 1 DO 142 Reserved 1 DI 142 Part No Bit 13 1 DO 143 Reserved 1 DI 143 Part No Bit 14 1 DO 144 Reserved 1 DI 144 Part No Bit 15 1 DO 145 System Ready 1 DI 145 Part No Bit 16 1 DO 146 Spare 1 DI 146 Part No Bit 16 1 DO 147 Spare 1 DI 147 Part No Bit 18 1 DO 148 Spare 1 DI 148 Part No Bit 19 1 DO 149 Spare 1 DI 149 Part No Bit 20 1 DO 150 Spare 1 DI 150 Part No Bit 21 1 DO 151 Spare 1 DI 151 Part No Bit 22 1 DO 152 Spare 1 DI 152 Part No Bit 23 1 DO 153 Spare 1 DI 153 Part No Bit 24 1 DO 154 Spare 1 DI 154 Part No Bit 25 1 DO 155 Spare 1 DI 155 Part No Bit 26 1 DO 156 Spare 1 DI 156 Part No Bit 27 1 DO 157 Spare 1 DI 157 Part No Bit 28 1 DO 158 Spare 1 DI 158 Part No Bit 29 1 DO 159 Spare 1 DI 159 Part No Bit 30 1 DO 160 Spare 1 DI 160 Part No Bit 31 1 DO 161 Spare 1 DI 161 Part Type Bit 0
1 DO 162 Spare 1 DI 162 Part Type Bit 1 1 DO 163 Spare 1 DI 163 Part Type Bit 2 1 DO 164 Spare 1 DI 164 Part Type Bit 3 1 DO 165 Spare 1 DI 165 Part Type Bit 4 1 DO 166 Spare 1 DI 166 Part Type Bit 5 1 DO 167 Spare 1 DI 167 Part Type Bit 6 1 DO 168 Spare 1 DI 168 Part Type Bit 7 DO 169 Spare DI 169 Spare
DO 170 Spare DI 170 Spare
DO 171 Spare DI 171 Spare
DO 172 Spare DI 172 Spare
DO 173 Spare DI 173 Spare
DO 174 Spare DI 174 Spare
DO 175 Spare DI 175 Spare
DO 176 Spare DI 176 Spare
DO 177 Spare DI 177 Spare
DO 178 Spare DI 178 Spare
DO 179 Spare DI 179 Spare
DO 180 Spare DI 180 Spare
DO 181 Spare DI 181 Spare
DO 182 Spare DI 182 Spare
DO 183 Spare DI 183 Spare
DO 184 Spare DI 184 Spare
DO 185 Spare DI 185 Spare
DO 186 Spare DI 186 Spare
DO 187 Spare DI 187 Spare
DO 188 Spare DI 188 Spare
DO 189 Spare DI 189 Spare
DO 190 Spare DI 190 Spare
DO 191 Spare DI 191 Spare
DO 192 Spare DI 192 Spare
AS OF 1/12/2012 22 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
PRECITEC COMMUNICATIONS PRECITEC COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
10 DO 193 Y 0.0 Seam Sequence number Bit 0 10 DI 193 X 0.0 System fault: no laserlines
10 DO 194 Seam Sequence number Bit 1 10 DI 194 System fault: no flasht
10 DO 195 Seam Sequence number Bit 2 10 DI 195 System fault: camera problem
10 DO 196 Seam Sequence number Bit 3 10 DI 196 System fault: reserved
10 DO 197 Seam Sequence number Bit 4 10 DI 197 System fault: internal software problem
10 DO 198 Seam Sequence number Bit 5 10 DI 198 System fault: autofocus-axis
10 DO 199 Seam Sequence number Bit 6 10 DI 199 System fault: reserved
10 DO 200 Seam Sequence number Bit 7 10 DI 200 System fault: reserved
10 DO 201 Seam number Bit 0 10 DI 201 System fault: wrong position of sensor head
10 DO 202 Seam number Bit 1
10 DI 202 System fault: seam start/seam end not detected
10 DO 203 Seam number Bit 2 10 DI 203 System fault: reserved
10 DO 204 Seam number Bit 3 10 DI 204 System fault: reserved
10 DO 205 Seam number Bit 4
10 DI 205 System fault: Air conditioner / cabinet temperature
10 DO 206 Seam number Bit 5 10 DI 206 System fault: inkjet has fault
10 DO 207 Seam number Bit 6 10 DI 207 System fault: inkjet has warning
10 DO 208 Seam number Bit 7 10 DI 208 System fault: reserved
10 DO 209 Inspection part active 10 DI 209 Part OK (OK=1)
10 DO 210 Take-over Seam Seq. No 10 DI 210 Part NOK (NOK = 1)
10 DO 211 Inspection seam active 10 DI 211 Inspection incomplete
10 DO 212 Linelaser on 10 DI 212 Linestop (Stop = 1)
10 DO 213 No images 10 DI 213 NOK left side
10 DO 214 Air nozzle on 10 DI 214 NOK right side
10 DO 215 Select inkjet 10 DI 215 reserved
10 DO 216 reserved 10 DI 216 reserved
10 DO 217 Error code left 10 DI 217 Seam fault generic term A
10 DO 218 Error code right 10 DI 218 Seam fault generic term B
10 DO 219 reserved 10 DI 219 Seam fault generic term C
10 DO 220 reserved 10 DI 220 reserved
10 DO 221 reserved 10 DI 221 reserved
10 DO 222 reserved 10 DI 222 reserved
10 DO 223 reserved 10 DI 223 reserved
10 DO 224 reserved 10 DI 224 reserved
10 DO 225 Quit system fault 10 DI 225 System ready (collective signal)
10 DO 226 reserved 10 DI 226 Sensor ready
10 DO 227 reserved 10 DI 227 Inkjet ready
10 DO 228 reserved 10 DI 228 reserved
10 DO 229 reserved 10 DI 229 reserved
10 DO 230 reserved 10 DI 230 reserved
10 DO 231 reserved 10 DI 231 reserved
10 DO 232 reserved 10 DI 232 reserved
10 DO 233 reserved 10 DI 233 reserved
10 DO 234 reserved 10 DI 234 reserved
10 DO 235 reserved 10 DI 235 reserved
10 DO 236 reserved 10 DI 236 reserved
10 DO 237 reserved 10 DI 237 reserved
10 DO 238 reserved 10 DI 238 reserved
10 DO 239 reserved 10 DI 239 reserved
10 DO 240 reserved 10 DI 240 reserved
10 DO 241 Calibration active 10 DI 241 Calibration request
10 DO 242 reserved 10 DI 242 Calibration finished
10 DO 243 reserved 10 DI 243 Calibration OK
10 DO 244 reserved 10 DI 244 Calibration NOK
10 DO 245 reserved 10 DI 245 reserved
10 DO 246 reserved 10 DI 246 reserved
10 DO 247 reserved 10 DI 247 reserved
10 DO 248 reserved 10 DI 248 reserved
10 DO 249 reserved 10 DI 249 reserved
10 DO 250 reserved 10 DI 250 reserved
10 DO 251 reserved 10 DI 251 reserved
10 DO 252 reserved 10 DI 252 reserved
10 DO 253 reserved 10 DI 253 reserved
10 DO 254 reserved 10 DI 254 reserved
10 DO 255 reserved 10 DI 255 reserved
10 DO 256 reserved 10 DI 256 reserved
10 DO 257 reserved 10 DI 257 reserved
10 DO 258 reserved 10 DI 258 reserved
10 DO 259 reserved 10 DI 259 reserved
10 DO 260 reserved 10 DI 260 reserved
10 DO 261 reserved 10 DI 261 reserved
10 DO 262 reserved 10 DI 262 reserved
10 DO 263 reserved 10 DI 263 reserved
AS OF 1/12/2012 23 CUSW REL1.3
Printed copies are not source controlled
10 DO 264 reserved 10 DI 264 reserved
10 DO 265 reserved 10 DI 265 reserved
10 DO 266 reserved 10 DI 266 reserved
10 DO 267 reserved 10 DI 267 reserved
10 DO 268 reserved 10 DI 268 reserved
10 DO 269 reserved 10 DI 269 reserved
10 DO 270 reserved 10 DI 270 reserved
10 DO 271 reserved 10 DI 271 reserved
10 DO 272 reserved 10 DI 272 reserved
10 DO 273 Part-No Bit 0 (Year Bit 0) 10 DI 273 Part-No Bit 0 (Year Bit 0)
10 DO 274 Part-No Bit 1 (Year Bit 1) 10 DI 274 Part-No Bit 1 (Year Bit 1)
10 DO 275 Part-No Bit 2 (Year Bit 2) 10 DI 275 Part-No Bit 2 (Year Bit 2)
10 DO 276 Part-No Bit 3 (Year Bit 3) 10 DI 276 Part-No Bit 3 (Year Bit 3)
10 DO 277 Part-No Bit 4 (Day Bit 0) 10 DI 277 Part-No Bit 4 (Day Bit 0)
10 DO 278 Part-No Bit 5 (Day Bit 1) 10 DI 278 Part-No Bit 5 (Day Bit 1)
10 DO 279 Part-No Bit 6 (Day Bit 2) 10 DI 279 Part-No Bit 6 (Day Bit 2)
10 DO 280 Part-No Bit 7 (Day Bit 3) 10 DI 280 Part-No Bit 7 (Day Bit 3)
10 DO 281 Part-No Bit 8 (Day Bit 4) 10 DI 281 Part-No Bit 8 (Day Bit 4)
10 DO 282 Part-No Bit 9 (Day Bit 5) 10 DI 282 Part-No Bit 9 (Day Bit 5)
10 DO 283 Part-No Bit 10 (Day Bit 6) 10 DI 283 Part-No Bit 10 (Day Bit 6)
10 DO 284 Part-No Bit 11 (Day Bit 7) 10 DI 284 Part-No Bit 11 (Day Bit 7)
10 DO 285 Part-No Bit 12 (Day Bit 8) 10 DI 285 Part-No Bit 12 (Day Bit 8)
10 DO 286 Part-No Bit 13 (Day Bit 9) 10 DI 286 Part-No Bit 13 (Day Bit 9)
10 DO 287 Part-No Bit 14 (Day Bit 10) 10 DI 287 Part-No Bit 14 (Day Bit 10)
10 DO 288 Part-No Bit 15 (Day Bit 11) 10 DI 288 Part-No Bit 15 (Day Bit 11)
10 DO 289 Part-No Bit 16 (Current no Bit 0) 10 DI 289 Part-No Bit 16 (Current no Bit 0)
10 DO 290 Part-No Bit 17 (Current no Bit 1) 10 DI 290 Part-No Bit 17 (Current no Bit 1)
10 DO 291 Part-No Bit 18 (Current no Bit 2) 10 DI 291 Part-No Bit 18 (Current no Bit 2)
10 DO 292 Part-No Bit 19 (Current no Bit 3) 10 DI 292 Part-No Bit 19 (Current no Bit 3)
10 DO 293 Part-No Bit 20 (Current no Bit 4) 10 DI 293 Part-No Bit 20 (Current no Bit 4)
10 DO 294 Part-No Bit 21 (Current no Bit 5) 10 DI 294 Part-No Bit 21 (Current no Bit 5)
10 DO 295 Part-No Bit 22 (Current no Bit 6) 10 DI 295 Part-No Bit 22 (Current no Bit 6)
10 DO 296 Part-No Bit 23 (Current no Bit 7) 10 DI 296 Part-No Bit 23 (Current no Bit 7)
10 DO 297 Part-No Bit 24 (Current no Bit 8) 10 DI 297 Part-No Bit 24 (Current no Bit 8)
10 DO 298 Part-No Bit 25 (Current no Bit 9) 10 DI 298 Part-No Bit 25 (Current no Bit 9)
10 DO 299 Part-No Bit 26 (Current no Bit 10)
10 DI 299 Part-No Bit 26 (Current no Bit 10)
10 DO 300 Part-No Bit 27 (Current no Bit 11)
10 DI 300 Part-No Bit 27 (Current no Bit 11)
10 DO 301 Part-No Bit 28 (Current no Bit 12)
10 DI 301 Part-No Bit 28 (Current no Bit 12)
10 DO 302 Part-No Bit 29 (Current no Bit 13)
10 DI 302 Part-No Bit 29 (Current no Bit 13)
10 DO 303 Part-No Bit 30 (Current no Bit 14)
10 DI 303 Part-No Bit 30 (Current no Bit 14)
10 DO 304 Part-No Bit 31 (Current no Bit 15)
10 DI 304 Part-No Bit 31 (Current no Bit 15)
10 DO 305 Part-No Bit 32 10 DI 305 Part-No Bit 32
10 DO 306 Part-No Bit 33 10 DI 306 Part-No Bit 33
10 DO 307 Part-No Bit 34 10 DI 307 Part-No Bit 34
10 DO 308 Part-No Bit 35 10 DI 308 Part-No Bit 35
10 DO 309 Part-No Bit 36 10 DI 309 Part-No Bit 36
10 DO 310 Part-No Bit 37 10 DI 310 Part-No Bit 37
10 DO 311 Part-No Bit 38 10 DI 311 Part-No Bit 38
10 DO 312 Part-No Bit 39 10 DI 312 Part-No Bit 39
10 DO 313 Part-No Bit 40 10 DI 313 Part-No Bit 40
10 DO 314 Part-No Bit 41 10 DI 314 Part-No Bit 41
10 DO 315 Part-No Bit 42 10 DI 315 Part-No Bit 42
10 DO 316 Part-No Bit 43 10 DI 316 Part-No Bit 43
10 DO 317 Part-No Bit 44 10 DI 317 Part-No Bit 44
10 DO 318 Part-No Bit 45 10 DI 318 Part-No Bit 45
10 DO 319 Part-No Bit 46 10 DI 319 Part-No Bit 46
10 DO 320 Part-No Bit 47 10 DI 320 Part-No Bit 47
10 DO 321 Part-Type Bit 0 10 Part-Type Bit 0
10 DO 322 Part-Type Bit 1 10 Part-Type Bit 1
10 DO 323 Part-Type Bit 2 10 Part-Type Bit 2
10 DO 324 Part-Type Bit 3 10 Part-Type Bit 3
10 DO 325 Part-Type Bit 4 10 Part-Type Bit 4
10 DO 326 Part-Type Bit 5 10 Part-Type Bit 5
10 DO 327 Part-Type Bit 6 10 Part-Type Bit 6
10 DO 328 Part-Type Bit 7 10 Part-Type Bit 7
10 DO 329 reserved 10 reserved
10 DO 330 reserved 10 reserved
10 DO 331 reserved 10 reserved
10 DO 332 reserved 10 reserved
10 DO 333 reserved 10 reserved
10 DO 334 reserved 10 reserved
10 DO 335 reserved 10 reserved
10 DO 336 reserved 10 reserved
10 DO 337 reserved 10 reserved
10 DO 338 reserved 10 reserved
10 DO 339 reserved 10 reserved
AS OF 1/12/2012 24 CUSW REL1.3
Printed copies are not source controlled
10 DO 340 reserved 10 reserved
10 DO 341 reserved 10 reserved
10 DO 342 reserved 10 reserved
10 DO 343 reserved 10 reserved
10 DO 344 reserved 10 reserved
10 DO 345 reserved 10 reserved
10 DO 346 reserved 10 reserved
10 DO 347 reserved 10 reserved
10 DO 348 reserved 10 reserved
10 DO 349 reserved 10 reserved
10 DO 350 reserved 10 reserved
10 DO 351 reserved 10 reserved
10 DO 352 reserved 10 reserved
Note: Configuration of the Precitec must done manually by the robot programmer. The robot must be set up with the custo as
a material handling robot and spotwelding and studwelding cannot be configured.
AS OF 1/12/2012 25 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
SPOT WELD SCR#1 COMMUNICATIONS SPOT WELD SCR#1 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
11 DO 193 Y 0.0 W1EnableWld 11 DI 193 X 0.0 W1WeldEnabled
11 DO 194 W1FaultRst 11 DI 194 W1NoFault
11 DO 195 W1WldFltAck 11 DI 195 W1NoAlert
11 DO 196 GO[11] W1PrgBit1 11 DI 196 W1WeldFltAvail
11 DO 197 GO[11] W1PrgBit2 11 DI 197 GI[11] W1WeldFltBit1
11 DO 198 GO[11] W1PrgBit4 11 DI 198 GI[11] W1WeldFltBit2
11 DO 199 GO[11] W1PrgBit8 11 DI 199 GI[11] W1WeldFltBit4
11 DO 200 GO[11] W1PrgBit16 11 DI 200 GI[11] W1WeldFltBit8
11 DO 201 GO[11] W1PrgBit32 11 DI 201 GI[11] W1WeldFltBit16
11 DO 202 W1InitiateWld 11 DI 202 W1WeldComplete
11 DO 203 W1PressTest 11 DI 203 W1WeldInProgres
11 DO 204 W1InitRet 11 DI 204 W1SteppersReset
11 DO 205 W1RstStepper 11 DI 205 W1NearEndOfStep
11 DO 206 W1IsoContSvrEnb 11 DI 206 W1EndOfStepper
11 DO 207 W1ControlStop 11 DI 207 W1ReadyToWeld
11 DO 208 W1Tipsdressed 11 DI 208 W1DressTipsReq
11 DO 209 GO[12] W1WldIDBit1 11 DI 209 W1RetractOut#1
11 DO 210 GO[12] W1WldIDBit2 11 DI 210 W1RetractOut#2
11 DO 211 GO[12] W1WldIDBit4 11 DI 211 W1FltMSGCode
11 DO 212 GO[12] W1WldIDBit8 11 DI 212 W1AlrtMSGCode
11 DO 213 GO[12] W1WldIDBit16 11 DI 213 Spare
11 DO 214 GO[12] W1WldIDBit32 11 DI 214 Spare
11 DO 215 GO[12] W1WldIDBit64 11 DI 215 Spare
11 DO 216 GO[12] W1WldIDBit128 11 DI 216 Spare
11 DO 217 GO[12] W1WldIDBit256 11 DI 217 Spare
11 DO 218 GO[12] W1WldIDBit512 11 DI 218 Spare
11 DO 219 GO[12] W1WldIDBit1024 11 DI 219 Spare
11 DO 220 GO[12] W1WldIDBit2048 11 DI 220 Spare
11 DO 221 GO[12] W1WldIDBit4096 11 DI 221 Spare
11 DO 222 GO[12] W1WldIDBit8192 11 DI 222 Spare
11 DO 223 Spare 11 DI 223 Spare
11 DO 224 Spare 11 DI 224 Spare
ROBOT OUTPUTS ROBOT INPUTS
SPOT WELD SCR#2 COMMUNICATIONS SPOT WELD SCR#2 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
12 DO 225 Y 0.0 W2EnableWld 12 DI 225 X 0.0 W2WeldEnabled
12 DO 226 W2FaultRst 12 DI 226 W2NoFault
12 DO 227 W2WldFltAck 12 DI 227 W2NoAlert
12 DO 228 GO[13] W2PrgBit1 12 DI 228 W2WeldFltAvail
12 DO 229 GO[13] W2PrgBit2 12 DI 229 GI[13] W2WeldFltBit1
12 DO 230 GO[13] W2PrgBit4 12 DI 230 GI[13] W2WeldFltBit2
12 DO 231 GO[13] W2PrgBit8 12 DI 231 GI[13] W2WeldFltBit4
12 DO 232 GO[13] W2PrgBit16 12 DI 232 GI[13] W2WeldFltBit8
12 DO 233 GO[13] W2PrgBit32 12 DI 233 GI[13] W2WeldFltBit16
12 DO 234 W2InitiateWld 12 DI 234 W2WeldComplete
12 DO 235 W2PressTest 12 DI 235 W2WeldInProgres
12 DO 236 W2InitRet 12 DI 236 W2SteppersReset
12 DO 237 W2RstStepper 12 DI 237 W2NearEndOfStep
12 DO 238 W2IsoContSvrEnb 12 DI 238 W2EndOfStepper
12 DO 239 W2ControlStop 12 DI 239 W2ReadyToWeld
12 DO 240 W2Tipsdressed 12 DI 240 W2DressTipsReq
12 DO 241 GO[14] W2WldIDBit1 12 DI 241 W2RetractOut#1
12 DO 242 GO[14] W2WldIDBit2 12 DI 242 W2RetractOut#2
12 DO 243 GO[14] W2WldIDBit4 12 DI 243 W2FltMSGCode
12 DO 244 GO[14] W2WldIDBit8 12 DI 244 W2AlrtMSGCode
12 DO 245 GO[14] W2WldIDBit16 12 DI 245 Spare
12 DO 246 GO[14] W2WldIDBit32 12 DI 246 Spare
12 DO 247 GO[14] W2WldIDBit64 12 DI 247 Spare
12 DO 248 GO[14] W2WldIDBit128 12 DI 248 Spare
12 DO 249 GO[14] W2WldIDBit256 12 DI 249 Spare
12 DO 250 GO[14] W2WldIDBit512 12 DI 250 Spare
12 DO 251 GO[14] W2WldIDBit1024 12 DI 251 Spare
12 DO 252 GO[14] W2WldIDBit2048 12 DI 252 Spare
12 DO 253 GO[14] W2WldIDBit4096 12 DI 253 Spare
12 DO 254 GO[14] W2WldIDBit8192 12 DI 254 Spare
12 DO 255 Spare 12 DI 255 Spare
12 DO 256 Spare 12 DI 256 Spare
AS OF 1/12/2012 26 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
SPOT WELD SCR#3 COMMUNICATIONS SPOT WELD SCR#3 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
13 DO 257 Y 0.0 W3EnableWld 13 DI 257 X 0.0 W3WeldEnabled
13 DO 258 W3FaultRst 13 DI 258 W3NoFault
13 DO 259 W3WldFltAck 13 DI 259 W3NoAlert
13 DO 260 GO[15] W3PrgBit1 13 DI 260 W3WeldFltAvail
13 DO 261 GO[15] W3PrgBit2 13 DI 261 GI[15] W3WeldFltBit1
13 DO 262 GO[15] W3PrgBit4 13 DI 262 GI[15] W3WeldFltBit2
13 DO 263 GO[15] W3PrgBit8 13 DI 263 GI[15] W3WeldFltBit4
13 DO 264 GO[15] W3PrgBit16 13 DI 264 GI[15] W3WeldFltBit8
13 DO 265 GO[15] W3PrgBit32 13 DI 265 GI[15] W3WeldFltBit16
13 DO 266 W3InitiateWld 13 DI 266 W3WeldComplete
13 DO 267 W3PressTest 13 DI 267 W3WeldInProgres
13 DO 268 W3InitRet 13 DI 268 W3SteppersReset
13 DO 269 W3RstStepper 13 DI 269 W3NearEndOfStep
13 DO 270 W3IsoContSvrEnb 13 DI 270 W3EndOfStepper
13 DO 271 W3ControlStop 13 DI 271 W3ReadyToWeld
13 DO 272 W3Tipsdressed 13 DI 272 W3DressTipsReq
13 DO 273 GO[16] W3WldIDBit1 13 DI 273 W3RetractOut#1
13 DO 274 GO[16] W3WldIDBit2 13 DI 274 W3RetractOut#2
13 DO 275 GO[16] W3WldIDBit4 13 DI 275 W3FltMSGCode
13 DO 276 GO[16] W3WldIDBit8 13 DI 276 W3AlrtMSGCode
13 DO 277 GO[16] W3WldIDBit16 13 DI 277 Spare
13 DO 278 GO[16] W3WldIDBit32 13 DI 278 Spare
13 DO 279 GO[16] W3WldIDBit64 13 DI 279 Spare
13 DO 280 GO[16] W3WldIDBit128 13 DI 280 Spare
13 DO 281 GO[16] W3WldIDBit256 13 DI 281 Spare
13 DO 282 GO[16] W3WldIDBit512 13 DI 282 Spare
13 DO 283 GO[16] W3WldIDBit1024 13 DI 283 Spare
13 DO 284 GO[16] W3WldIDBit2048 13 DI 284 Spare
13 DO 285 GO[16] W3WldIDBit4096 13 DI 285 Spare
13 DO 286 GO[16] W3WldIDBit8192 13 DI 286 Spare
13 DO 287 Spare 13 DI 287 Spare
13 DO 288 Spare 13 DI 288 Spare
ROBOT OUTPUTS ROBOT INPUTS
SPOT WELD SCR#4 COMMUNICATIONS SPOT WELD SCR#4 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
14 DO 289 Y 0.0 W4EnableWld 14 DI 289 X 0.0 W4WeldEnabled
14 DO 290 W4FaultRst 14 DI 290 W4NoFault
14 DO 291 W4WldFltAck 14 DI 291 W4NoAlert
14 DO 292 GO[17] W4PrgBit1 14 DI 292 W4WeldFltAvail
14 DO 293 GO[17] W4PrgBit2 14 DI 293 GI[17] W4WeldFltBit1
14 DO 294 GO[17] W4PrgBit4 14 DI 294 GI[17] W4WeldFltBit2
14 DO 295 GO[17] W4PrgBit8 14 DI 295 GI[17] W4WeldFltBit4
14 DO 296 GO[17] W4PrgBit16 14 DI 296 GI[17] W4WeldFltBit8
14 DO 297 GO[17] W4PrgBit32 14 DI 297 GI[17] W4WeldFltBit16
14 DO 298 W4InitiateWld 14 DI 298 W4WeldComplete
14 DO 299 W4PressTest 14 DI 299 W4WeldInProgres
14 DO 300 W4InitRet 14 DI 300 W4SteppersReset
14 DO 301 W4RstStepper 14 DI 301 W4NearEndOfStep
14 DO 302 W4IsoContSvrEnb 14 DI 302 W4EndOfStepper
14 DO 303 W4ControlStop 14 DI 303 W4ReadyToWeld
14 DO 304 W4Tipsdressed 14 DI 304 W4DressTipsReq
14 DO 305 GO[18] W4WldIDBit1 14 DI 305 W4RetractOut#1
14 DO 306 GO[18] W4WldIDBit2 14 DI 306 W4RetractOut#2
14 DO 307 GO[18] W4WldIDBit4 14 DI 307 W4FltMSGCode
14 DO 308 GO[18] W4WldIDBit8 14 DI 308 W4AlrtMSGCode
14 DO 309 GO[18] W4WldIDBit16 14 DI 309 Spare
14 DO 310 GO[18] W4WldIDBit32 14 DI 310 Spare
14 DO 311 GO[18] W4WldIDBit64 14 DI 311 Spare
14 DO 312 GO[18] W4WldIDBit128 14 DI 312 Spare
14 DO 313 GO[18] W4WldIDBit256 14 DI 313 Spare
14 DO 314 GO[18] W4WldIDBit512 14 DI 314 Spare
14 DO 315 GO[18] W4WldIDBit1024 14 DI 315 Spare
14 DO 316 GO[18] W4WldIDBit2048 14 DI 316 Spare
14 DO 317 GO[18] W4WldIDBit4096 14 DI 317 Spare
14 DO 318 GO[18] W4WldIDBit8192 14 DI 318 Spare
14 DO 319 Spare 14 DI 319 Spare
14 DO 320 Spare 14 DI 320 Spare
AS OF 1/12/2012 27 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
NELSON STUD WELDER COMMUNICATIONS NELSON STUD WELDER COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
16 DO 321 Y 0.0 StartWeld1 16 DI 321 X 0.0 NOError1
16 DO 322 StartWeld2 16 DI 322 WeldComp1
16 DO 323 StartWeld3 16 DI 323 WeldGunRetrctd1
16 DO 324 StartWeld4 16 DI 324 StudTouchingWrk1
16 DO 325 StartWeld5 16 DI 325 SuspectWeld1
16 DO 326 FeedStud1 16 DI 326 NOError2
16 DO 327 FeedStud2 16 DI 327 WeldComp2
16 DO 328 FeedStud3 16 DI 328 WeldGunRetrctd2
16 DO 329 FeedStud4 16 DI 329 StudTouchingWrk2
16 DO 330 FeedStud5 16 DI 330 SuspectWeld2
16 DO 331 GO[21] SelectProgBit1 16 DI 331 NOError3
16 DO 332 GO[21] SelectProgBit2 16 DI 332 WeldComp3
16 DO 333 GO[21] SelectProgBit4 16 DI 333 WeldGunRetrctd3
16 DO 334 GO[21] SelectProgBit8 16 DI 334 StudTouchingWrk3
16 DO 335 GO[21] SelectProgBit16 16 DI 335 SuspectWeld3
16 DO 336 GO[21] SelectProgBit32 16 DI 336 NOError4
16 DO 337 GO[21] SelectProgBit64 16 DI 337 WeldComp4
16 DO 338 GO[21] SelectProgBit128 16 DI 338 WeldGunRetrctd4
16 DO 339 Restart 16 DI 339 StudTouchingWrk4
16 DO 340 SetWeldComp 16 DI 340 SuspectWeld4
16 DO 341 GO[22] SelectOperMode0 16 DI 341 NOError5
16 DO 342 GO[22] SelectOperMode1 16 DI 342 WeldComp5
16 DO 343 ResetFault 16 DI 343 WeldGunRetrctd5
16 DO 344 Std1Output24 16 DI 344 StudTouchingWrk5
16 DO 345 Std1Output25 16 DI 345 SuspectWeld5
16 DO 346 Std1Output26 16 DI 346 MaintCountReachd
16 DO 347 Std1Output27 16 DI 347 FeederLow
16 DO 348 Std1Output28 16 DI 348 UnitOnline
16 DO 349 Std1Output29 16 DI 349 AllGunsReady
16 DO 350 Std1Output30 16 DI 350 SimModeActive
16 DO 351 Std1Output31 16 DI 351 Std1Input31
16 DO 352 Std1Output32 16 DI 352 Std1Input32
16 DO 353 Std1Output33 16 DI 353 GI[22] ErrorCodeBit1
16 DO 354 Std1Output34 16 DI 354 GI[22] ErrorCodeBit2
16 DO 355 Std1Output35 16 DI 355 GI[22] ErrorCodeBit4
16 DO 356 Std1Output36 16 DI 356 GI[22] ErrorCodeBit8
16 DO 357 Std1Output37 16 DI 357 GI[22] ErrorCodeBit16
16 DO 358 Std1Output38 16 DI 358 GI[22] ErrorCodeBit32
16 DO 359 Std1Output39 16 DI 359 GI[22] ErrorCodeBit64
16 DO 360 Std1Output40 16 DI 360 GI[22] ErrorCodeBit128
16 DO 361 Std1Output41 16 DI 361 Std1Input41
16 DO 362 Std1Output42 16 DI 362 Std1Input42
16 DO 363 Std1Output43 16 DI 363 Std1Input43
16 DO 364 Std1Output44 16 DI 364 Std1Input44
16 DO 365 Std1Output45 16 DI 365 Std1Input45
16 DO 366 Std1Output46 16 DI 366 Std1Input46
16 DO 367 Std1Output47 16 DI 367 Std1Input47
16 DO 368 Std1Output48 16 DI 368 Std1Input48
16 DO 369 AdvWeldGun1 16 DI 369 Std1Input49
16 DO 370 AdvWeldGun2 16 DI 370 Std1Input50
16 DO 371 AdvWeldGun3 16 DI 371 Std1Input51
16 DO 372 AdvWeldGun4 16 DI 372 Std1Input52
16 DO 373 AdvWeldGun5 16 DI 373 Std1Input53
16 DO 374 Std1Output54 16 DI 374 Std1Input54
16 DO 375 Std1Output55 16 DI 375 Std1Input55
16 DO 376 Std1Output56 16 DI 376 Std1Input56
16 DO 377 Std1Output57 16 DI 377 Std1Input57
16 DO 378 Std1Output58 16 DI 378 Std1Input58
16 DO 379 Std1Output59 16 DI 379 Std1Input59
16 DO 380 Std1Output60 16 DI 380 Std1Input60
16 DO 381 Std1Output61 16 DI 381 Std1Input61
16 DO 382 Std1Output62 16 DI 382 Std1Input62
16 DO 383 Std1Output63 16 DI 383 Std1Input63
16 DO 384 Std1Output64 16 DI 384 Std1Input64
AS OF 1/12/2012 28 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
NORDSON DISPENSE (PS2) #1 COMMUNICATIONS NORDSON DISPENSE (PS2) #1 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
25 DO 385 Y 0.0 GO[31] Disp1StyBit1 25 DI 385 X 0.0 Dsp1DispenRdy
25 DO 386 GO[31] Disp1StyBit2 25 DI 386 Dsp1DispenInPrc
25 DO 387 GO[31] Disp1StyBit3 25 DI 387 Dsp1VolumeOK
25 DO 388 GO[31] Disp1StyBit4 25 DI 388 Reserved
25 DO 389 GO[31] Disp1StyBit5 25 DI 389 Reserved
25 DO 390 GO[31] Disp1StyBit6 25 DI 390 Reserved
25 DO 391 GO[31] Disp1StyBit7 25 DI 391 Reserved
25 DO 392 GO[31] Disp1StyBit8 25 DI 392 Reserved
25 DO 393 Disp1RbtinPrc 25 DI 393 Dsp1LowVolFlt
25 DO 394 Disp1StyStrobe 25 DI 394 Dsp1HighVolFlt
25 DO 395 Disp1GunON 25 DI 395 Dsp1LowPressFlt
25 DO 396 Reserved 25 DI 396 Dsp1HighPressFlt
25 DO 397 Disp1ManPurgeEnbl 25 DI 397 Dsp1ColDetd
25 DO 398 Reserved 25 DI 398 Reserved
25 DO 399 Reserved 25 DI 399 Reserved
25 DO 400 Reserved 25 DI 400 Reserved
25 DO 401 Disp1Complete 25 DI 401 Reserved
25 DO 402 Reserved 25 DI 402 Reserved
25 DO 403 Reserved 25 DI 403 Reserved
25 DO 404 Reserved 25 DI 404 Reserved
25 DO 405 Reserved 25 DI 405 Reserved
25 DO 406 Reserved 25 DI 406 Reserved
25 DO 407 Reserved 25 DI 407 Reserved
25 DO 408 Reserved 25 DI 408 Reserved
25 DO 409 Reserved 25 DI 409 Reserved
25 DO 410 Reserved 25 DI 410 Reserved
25 DO 411 Reserved 25 DI 411 Reserved
25 DO 412 Reserved 25 DI 412 Reserved
25 DO 413 Reserved 25 DI 413 Reserved
25 DO 414 Reserved 25 DI 414 Reserved
25 DO 415 Reserved 25 DI 415 Reserved
25 DO 416 Reserved 25 DI 416 Reserved
25 DO 417 GO[32] Dsp1MatFlwCmdB1 25 DI 417 Reserved
25 DO 418 GO[32] Dsp1MatFlwCmdB2 25 DI 418 Reserved
25 DO 419 GO[32] Dsp1MatFlwCmdB3 25 DI 419 Reserved
25 DO 420 GO[32] Dsp1MatFlwCmdB4 25 DI 420 Reserved
25 DO 421 GO[32] Dsp1MatFlwCmdB5 25 DI 421 Reserved
25 DO 422 GO[32] Dsp1MatFlwCmdB6 25 DI 422 Reserved
25 DO 423 GO[32] Dsp1MatFlwCmdB7 25 DI 423 Reserved
25 DO 424 GO[32] Dsp1MatFlwCmdB8 25 DI 424 Reserved
25 DO 425 GO[32] Dsp1MatFlwCmdB9 25 DI 425 Reserved
25 DO 426 GO[32] Dsp1MatFlwCmdB10 25 DI 426 Reserved
25 DO 427 GO[32] Dsp1MatFlwCmdB11 25 DI 427 Reserved
25 DO 428 GO[32] Dsp1MatFlwCmdB12 25 DI 428 Reserved
25 DO 429 Reserved 25 DI 429 Reserved
25 DO 430 Reserved 25 DI 430 Reserved
25 DO 431 Reserved 25 DI 431 Reserved
25 DO 432 Reserved 25 DI 432 Reserved
25 DO 433 Reserved 25 DI 433 Reserved
25 DO 434 Reserved 25 DI 434 Reserved
25 DO 435 Reserved 25 DI 435 Reserved
25 DO 436 Reserved 25 DI 436 Reserved
25 DO 437 Reserved 25 DI 437 Reserved
25 DO 438 Reserved 25 DI 438 Reserved
25 DO 439 Reserved 25 DI 439 Reserved
25 DO 440 Reserved 25 DI 440 Reserved
25 DO 441 Reserved 25 DI 441 Reserved
25 DO 442 Reserved 25 DI 442 Reserved
25 DO 443 Reserved 25 DI 443 Reserved
25 DO 444 Reserved 25 DI 444 Reserved
25 DO 445 Reserved 25 DI 445 Reserved
25 DO 446 Reserved 25 DI 446 Reserved
25 DO 447 Reserved 25 DI 447 Reserved
25 DO 448 Disp1FaultRst 25 DI 448 Reserved
AS OF 1/12/2012 29 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
NORDSON DISPENSE (PS2) #2 COMMUNICATIONS NORDSON DISPENSE (PS2) #2 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
26 DO 449 Y 0.0 GO[36] Disp2StyBit1 26 DI 449 X 0.0 Dsp2DispenRdy
26 DO 450 GO[36] Disp2StyBit2 26 DI 450 Dsp2DispenInPrc
26 DO 451 GO[36] Disp2StyBit3 26 DI 451 Dsp2VolumeOK
26 DO 452 GO[36] Disp2StyBit4 26 DI 452 Reserved
26 DO 453 GO[36] Disp2StyBit5 26 DI 453 Reserved
26 DO 454 GO[36] Disp2StyBit6 26 DI 454 Reserved
26 DO 455 GO[36] Disp2StyBit7 26 DI 455 Reserved
26 DO 456 GO[36] Disp2StyBit8 26 DI 456 Reserved
26 DO 457 Disp2RbtinPrc 26 DI 457 Dsp2LowVolFlt
26 DO 458 Disp2StyStrobe 26 DI 458 Dsp2HighVolFlt
26 DO 459 Disp2GunON 26 DI 459 Dsp2LowPressFlt
26 DO 460 Reserved 26 DI 460 Dsp2HighPressFlt
26 DO 461 Disp2ManPurgeEnbl 26 DI 461 Dsp2ColDetd
26 DO 462 Reserved 26 DI 462 Reserved
26 DO 463 Reserved 26 DI 463 Reserved
26 DO 464 Reserved 26 DI 464 Reserved
26 DO 465 Disp2Complete 26 DI 465 Reserved
26 DO 466 Reserved 26 DI 466 Reserved
26 DO 467 Reserved 26 DI 467 Reserved
26 DO 468 Reserved 26 DI 468 Reserved
26 DO 469 Reserved 26 DI 469 Reserved
26 DO 470 Reserved 26 DI 470 Reserved
26 DO 471 Reserved 26 DI 471 Reserved
26 DO 472 Reserved 26 DI 472 Reserved
26 DO 473 Reserved 26 DI 473 Reserved
26 DO 474 Reserved 26 DI 474 Reserved
26 DO 475 Reserved 26 DI 475 Reserved
26 DO 476 Reserved 26 DI 476 Reserved
26 DO 477 Reserved 26 DI 477 Reserved
26 DO 478 Reserved 26 DI 478 Reserved
26 DO 479 Reserved 26 DI 479 Reserved
26 DO 480 Reserved 26 DI 480 Reserved
26 DO 481 GO[37] Dsp2MatFlwCmdB1 26 DI 481 Reserved
26 DO 482 GO[37] Dsp2MatFlwCmdB2 26 DI 482 Reserved
26 DO 483 GO[37] Dsp2MatFlwCmdB3 26 DI 483 Reserved
26 DO 484 GO[37] Dsp2MatFlwCmdB4 26 DI 484 Reserved
26 DO 485 GO[37] Dsp2MatFlwCmdB5 26 DI 485 Reserved
26 DO 486 GO[37] Dsp2MatFlwCmdB6 26 DI 486 Reserved
26 DO 487 GO[37] Dsp2MatFlwCmdB7 26 DI 487 Reserved
26 DO 488 GO[37] Dsp2MatFlwCmdB8 26 DI 488 Reserved
26 DO 489 GO[37] Dsp2MatFlwCmdB9 26 DI 489 Reserved
26 DO 490 GO[37] Dsp2MatFlwCmdB10 26 DI 490 Reserved
26 DO 491 GO[37] Dsp2MatFlwCmdB11 26 DI 491 Reserved
26 DO 492 GO[37] Dsp2MatFlwCmdB12 26 DI 492 Reserved
26 DO 493 Reserved 26 DI 493 Reserved
26 DO 494 Reserved 26 DI 494 Reserved
26 DO 495 Reserved 26 DI 495 Reserved
26 DO 496 Reserved 26 DI 496 Reserved
26 DO 497 Reserved 26 DI 497 Reserved
26 DO 498 Reserved 26 DI 498 Reserved
26 DO 499 Reserved 26 DI 499 Reserved
26 DO 500 Reserved 26 DI 500 Reserved
26 DO 501 Reserved 26 DI 501 Reserved
26 DO 502 Reserved 26 DI 502 Reserved
26 DO 503 Reserved 26 DI 503 Reserved
26 DO 504 Reserved 26 DI 504 Reserved
26 DO 505 Reserved 26 DI 505 Reserved
26 DO 506 Reserved 26 DI 506 Reserved
26 DO 507 Reserved 26 DI 507 Reserved
26 DO 508 Reserved 26 DI 508 Reserved
26 DO 509 Reserved 26 DI 509 Reserved
26 DO 510 Reserved 26 DI 510 Reserved
26 DO 511 Reserved 26 DI 511 Reserved
26 DO 512 Disp2FaultRst 26 DI 512 Reserved
AS OF 1/12/2012 30 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
MH EOAT MODULE #1 OUTPUT COMMUNICATIONS (SMC) MH EOAT MODULE #1 INPUT COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
ROBOT INTERNAL
ASSIGNMENT SIGNAL NAME NODE
ADDRESS ROBOT
ADDRESS PMC
ADDRESS GROUP
ASSIGNMENT SIGNAL NAME
39 DO 513 K0.0 DO 10001 VLV1Extend 31 DI 513 X 0.0 Part1Present
39 DO 514 K0.1 DO 10002 VLV1Retract 31 DI 514 Part2Present
39 DO 515 K0.2 DO 10003 VLV2Extend 31 DI 515 Part3Present
39 DO 516 K0.3 DO 10004 VLV2Retract 31 DI 516 Part4Present
39 DO 517 K0.4 DO 10005 VLV3Extend 31 DI 517 MHDev1Retracted
39 DO 518 K0.5 DO 10006 VLV3Retract 31 DI 518 MHDev1Extended
39 DO 519 K0.6 DO 10007 VLV4Extend 31 DI 519 MHDev2Retracted
39 DO 520 K0.7 DO 10008 VLV4Retract 31 DI 520 MHDev2Extended
39 DO 521 K1.0 DO 10009 VLV5Extend 31 DI 521 MHDev3Retracted
39 DO 522 K1.1 DO 10010 VLV5Retract 31 DI 522 MHDev3Extended
39 DO 523 K1.2 DO 10011 VLV6Extend 31 DI 523 MHDev4Retracted
39 DO 524 K1.3 DO 10012 VLV6Retract 31 DI 524 MHDev4Extended
39 DO 525 K1.4 DO 10013 VLV7Extend 31 DI 525 MHDev5Retracted
39 DO 526 K1.5 DO 10014 VLV7Retract 31 DI 526 MHDev5Extended
39 DO 527 K1.6 DO 10015 VLV8Extend 31 DI 527 MHDev6Retracted
39 DO 528 K1.7 DO 10016 VLV8Retract 31 DI 528 MHDev6Extended
39 DO 529 K2.0 DO 10017 VLV9Extend
39 DO 530 K2.1 DO 10018 VLV9Retract ROBOT INPUTS
39 DO 531 K2.2 DO 10019 VLV10Extend MH EOAT MODULE #2 INPUT COMMUNICATIONS
39 DO 532 K2.3 DO 10020 VLV10Retract NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
39 DO 533 K2.4 DO 10021 VLV11Extend 32 DI 529 X 0.0 Part5Present
39 DO 534 K2.5 DO 10022 VLV11Retract 32 DI 530 Part6Present
39 DO 535 K2.6 DO 10023 VLV12Extend 32 DI 531 Part7Present
39 DO 536 K2.7 DO 10024 VLV12Retract 32 DI 532 Part8Present
39 DO 537 K3.0 DO 10025 VLV13Extend 32 DI 533 MHDev7Retracted
39 DO 538 K3.1 DO 10026 VLV13Retract 32 DI 534 MHDev7Extended
39 DO 539 K3.2 DO 10027 VLV14Extend 32 DI 535 MHDev8Retracted
39 DO 540 K3.3 DO 10028 VLV14Retract 32 DI 536 MHDev8Extended
39 DO 541 K3.4 DO 10029 VLV15Extend 32 DI 537 MHDev9Retracted
39 DO 542 K3.5 DO 10030 VLV15Retract 32 DI 538 MHDev9Extended
39 DO 543 K3.6 DO 10031 VLV16Extend 32 DI 539 MHDev10Retracted
39 DO 544 K3.7 DO 10032 VLV16Retract 32 DI 540 MHDev10Extended
32 DI 541 MHDev11Retracted
32 DI 542 MHDev11Extended
32 DI 543 MHDev12Retracted
32 DI 544 MHDev12Extended
AS OF 1/12/2012 31 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS
MH EOAT MODULE MISC OUTPUT COMMUNICATIONS ROBOT INPUTS
(AB) COMBO EOAT VAC/CLAMPS/MISC MH EOAT MODULE #3 INPUT COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
36 DO 545 Y 0.0 User Define Output1 33 DI 545 X 0.0 Part9Present
36 DO 546 User Define Output2 33 DI 546 Part10Present
36 DO 547 User Define Output3 33 DI 547 Part11Present
36 DO 548 User Define Output4 33 DI 548 Part12Present
36 DO 549 User Define Output5 33 DI 549 MHDev13Retracted
36 DO 550 User Define Output6 33 DI 550 MHDev13Extended
36 DO 551 User Define Output7 33 DI 551 MHDev14Retracted
36 DO 552 User Define Output8 33 DI 552 MHDev14Extended
36 DO 553 User Define Output9 33 DI 553 MHDev15Retracted
36 DO 554 User Define Output10 33 DI 554 MHDev15Extended
36 DO 555 User Define Output11 33 DI 555 MHDev16Retracted
36 DO 556 User Define Output12 33 DI 556 MHDev16Extended
36 DO 557 User Define Output13 33 DI 557 MHDev17Retracted
36 DO 558 User Define Output14 33 DI 558 MHDev17Extended
36 DO 559 User Define Output15 33 DI 559 MHDev18Retracted
36 DO 560 User Define Output16 33 DI 560 MHDev18Extended
36 DO 561 User Define Output17
36 DO 562 User Define Output18 ROBOT INPUTS
36 DO 563 User Define Output19 MH EOAT MODULE #4 INPUT COMMUNICATIONS
36 DO 564 User Define Output20
NODE
ADDRESS ROBOT
ADDRESS PMC
ADDRESS GROUP
ASSIGNMENT SIGNAL NAME
36 DO 565 User Define Output21 34 DI 561 X 0.0 MHDev19Retracted
36 DO 566 User Define Output22 34 DI 562 MHDev19Extended
36 DO 567 User Define Output23 34 DI 563 MHDev20Retracted
36 DO 568 User Define Output24 34 DI 564 MHDev20Extended
36 DO 569 User Define Output25 34 DI 565 MHDev21Retracted
36 DO 570 User Define Output26 34 DI 566 MHDev21Extended
36 DO 571 User Define Output27 34 DI 567 MHDev22Retracted
36 DO 572 User Define Output28 34 DI 568 MHDev22Extended
36 DO 573 User Define Output29 34 DI 569 MHDev23Retracted
36 DO 574 User Define Output30 34 DI 570 MHDev23Extended
36 DO 575 User Define Output31 34 DI 571 MHDev24Retracted
36 DO 576 User Define Output32 34 DI 572 MHDev24Extended
34 DI 573 MHDev25Retracted
ROBOT OUTPUTS 34 DI 574 MHDev25Extended
OUTPUT COMMUNICATIONS 34 DI 575 MHDev26Retracted
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
34 DI 576 MHDev26Extended
DO 577 Spare
DO 578 Spare ROBOT INPUTS
DO 579 Spare MH EOAT MODULE #5 INPUT COMMUNICATIONS
DO 580 Spare NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
DO 581 Spare 35 DI 577 X 0.0 MHDev27Retracted
DO 582 Spare 35 DI 578 MHDev27Extended
DO 583 Spare 35 DI 579 MHDev28Retracted
DO 584 Spare 35 DI 580 MHDev28Extended
DO 585 Spare 35 DI 581 MHDev29Retracted
35 DI 582 MHDev29Extended
ROBOT OUTPUTS 35 DI 583 MHDev30Retracted
SPOT TP LOGIC COMMUNICATIONS 35 DI 584 MHDev30Extended
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
35 DI 585 MHDev31Retracted
RbtInternal DO 586 Y0073.1 W1RstWtrSvr 35 DI 586 MHDev31Extended
RbtInternal DO 587 Y0073.2 W1WtrOff 35 DI 587 MHDev32Retracted
RbtInternal DO 588 Y0073.3 W2RstWtrSvr 35 DI 588 MHDev32Extended
RbtInternal DO 589 Y0073.4 W2WtrOff 35 DI 589 MHDev33Retracted
RbtInternal DO 590 Y0073.5 W1RstStepper 35 DI 590 MHDev33Extended
RbtInternal DO 591 Y0073.6 W2RstStepper 35 DI 591 MHDev34Retracted
35 DI 592 MHDev34Extended
AS OF 1/12/2012 32 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS
MH EOAT COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
RbtInternal DO 592 MH_MAJORFLT
ROBOT OUTPUTS ROBOT INPUTS
MH EOAT VAC MODULE #1 OUTPUT COMMUNICATIONS MH EOAT VAC MODULE #1 INPUT COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
37 DO 593 Y 0.0 doVacCH1On 37 DI 593 X 0.0 VacuumCH1PP
37 DO 594 doBlwOffCh1On 37 DI 594 VacuumCH2PP
37 DO 595 doVacCH2On 37 DI 595 VacuumCH3PP
37 DO 596 doBlwOffCh2On 37 DI 596 VacuumCH4PP
37 DO 597 doVacCH3On 37 DI 597
37 DO 598 doBlwOffCh3On 37 DI 598
37 DO 599 doVacCH4On 37 DI 599
37 DO 600 doBlwOffCh4On 37 DI 600
ROBOT OUTPUTS ROBOT INPUTS
MH EOAT VAC MODULE #2 OUTPUT COMMUNICATIONS MH EOAT VAC MODULE #2 INPUT COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
38 DO 601 Y 0.0 doVacCH5On 38 DI 601 X 0.0 VacuumCH5PP
38 DO 602 doBlwOffCh5On 38 DI 602 VacuumCH6PP
38 DO 603 doVacCH6On 38 DI 603 VacuumCH7PP
38 DO 604 doBlwOffCh6On 38 DI 604 VacuumCH8PP
38 DO 605 doVacCH7On 38 DI 605
38 DO 606 doBlwOffCh7On 38 DI 606
38 DO 607 doVacCH8On 38 DI 607
38 DO 608 doBlwOffCh8On 38 DI 608
ROBOT OUTPUTS ROBOT INPUTS
USER DEFINABLE IO #1 COMMUNICATIONS (AB) USER DEFINABLE IO #1 COMMUNICATIONS (AB)
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
43 DO 609 Y 0.0 UserDefineddo609 43 DI 609 X 0.0 UserDefineddi609
43 DO 610 UserDefineddo610 43 DI 610 UserDefineddi610
43 DO 611 UserDefineddo611 43 DI 611 UserDefineddi611
43 DO 612 UserDefineddo612 43 DI 612 UserDefineddi612
43 DO 613 UserDefineddo613 43 DI 613 UserDefineddi613
43 DO 614 UserDefineddo614 43 DI 614 UserDefineddi614
43 DO 615 UserDefineddo615 43 DI 615 UserDefineddi615
43 DO 616 UserDefineddo616 43 DI 616 UserDefineddi616
ROBOT OUTPUTS ROBOT INPUTS
USER DEFINABLE IO #2 COMMUNICATIONS (AB) USER DEFINABLE IO #2 COMMUNICATIONS (AB)
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
44 DO 617 Y 0.0 UserDefineddo617 44 DI 617 X 0.0 UserDefineddi617
44 DO 618 UserDefineddo618 44 DI 618 UserDefineddi618
44 DO 619 UserDefineddo619 44 DI 619 UserDefineddi619
44 DO 620 UserDefineddo620 44 DI 620 UserDefineddi620
44 DO 621 UserDefineddo621 44 DI 621 UserDefineddi621
44 DO 622 UserDefineddo622 44 DI 622 UserDefineddi622
44 DO 623 UserDefineddo623 44 DI 623 UserDefineddi623
44 DO 624 UserDefineddo624 44 DI 624 UserDefineddi624
AS OF 1/12/2012 33 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
COMMUNICATIONS SMC PRESURE SWITCH COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
DO 625 Y 0.0 Spare 39 DI 625 X 0.0 Air OK
DO 626 Spare 39 DI 626 Air Acceptable range
DO 627 Spare 39 DI 627 Spare
DO 628 Spare 39 DI 628 Spare
DO 629 Spare 39 DI 629 Spare
DO 630 Spare DI 630 Spare
DO 631 Spare DI 631 Spare
ROBOT OUTPUTS ROBOT INPUTS
ATI TOOLCHANGER COMMUNICATIONS ATI TOOLCHANGER COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
54 DO 632 Y 0.0 LatchOrLock 54 DI 632 X 0.0 ToolLocked
54 DO 633 UnlatchOrUnlock 54 DI 633 ToolUnLocked
54 DO 634 Spare 54 DI 634 DNetPowerOK
54 DO 635 ClearErrs 54 DI 635 AuxPowerOK
54 DO 636 ManualModeActd 54 DI 636 ReadyToLock1
54 DO 637 OutOfNest 54 DI 637 ReadyToLock2
54 DO 638 Spare 54 DI 638 ReadyToLockV1
54 DO 639 Spare 54 DI 639 ReadyToLockV2
54 DI 640 ToolStndIntlkV1
ROBOT OUTPUTS 54 DI 641 ToolStndIntlkV2
ATI TOOLCHANGER (ROBOT USER DEFINED) COMM. 54 DI 642 ToolStndRelayV1
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
54 DI 643 ToolStndRelayV2
N/A DO 640 ToolNotPresent 54 DI 644 ToolPresent
N/A DO 641 InvalidToolRqst 54 DI 645 ReservedTooldi13
N/A DO 642 UnexpctdTlPrsnt 54 DI 646 ReservedTooldi14
N/A DO 643 NestNotEmpty 54 DI 647 ReservedTooldi15
N/A DO 644 NestIsEmpty 54 DI 648 RTLMismatch
N/A DO 645 GeneralFaults 54 DI 649 TSIVMismatch
N/A DO 646 Reference Position 11 UnCoupleToolPos1 54 DI 650 LatchOverLoad
N/A DO 647 Reference Position 12 UnCoupleToolPos2 54 DI 651 UnlatchOverLoad
N/A DO 648 Reference Position 13 UnCoupleToolPos3 54 DI 652 SpareOverload
N/A DO 649 Reference Position 14 UnCoupleToolPos4 54 DI 653 RTLrtlvMismatch
N/A DO 650 Reference Position 15 UnCoupleToolPos5 54 DI 654 TSIVtsrvMismatch
N/A DO 651 Reference Position 16 UnCoupleToolPos6 54 DI 655 UnsafeUnlatch
N/A DO 652 Reference Position 17 UnCoupleToolPos7 54 DI 656 LckUnlckSensFlt
N/A DO 653 Reference Position 18 UnCoupleToolPos8 54 DI 657 LatchNotComplt
N/A DO 654 RbtOKtoUnCouple 54 DI 658 UnlatchNotComplt
54 DI 659 TSIVFault
54 DI 660 RTLFault
ROBOT OUTPUTS 54 DI 661 CommError
ROBOT INTERNAL COMMUNICATIONS 54 DI 662 ReservedTooldi30
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
54 DI 663 ReservedTooldi31
DO 655 Spare 54 DI 664 GI[41] ToolIDswtch1bit1
DO 656 Spare 54 DI 665 GI[41] ToolIDswtch1bit2
DO 657 Spare 54 DI 666 GI[41] ToolIDswtch1bit4
DO 658 Spare 54 DI 667 GI[41] ToolIDswtch1bit8
DO 659 Spare 54 DI 668 GI[42] ToolIDswtch2bit1
DO 660 Spare 54 DI 669 GI[42] ToolIDswtch2bit2
DO 661 Spare 54 DI 670 GI[42] ToolIDswtch2bit4
DO 662 Spare 54 DI 671 GI[42] ToolIDswtch2bit8
DO 663 Spare 54 DI 672 GI[43] ToolIDswtch3bit1
DO 664 Spare 54 DI 673 GI[43] ToolIDswtch3bit2
DO 665 Spare 54 DI 674 GI[43] ToolIDswtch3bit4
DO 666 Spare 54 DI 675 GI[43] ToolIDswtch3bit8
DO 667 Spare 54 DI 676 GI[44] ToolIDSwtch4bit1
DO 668 Spare 54 DI 677 GI[44] ToolIDSwtch4bit2
DO 669 Spare 54 DI 678 GI[44] ToolIDSwtch4bit4
DO 670 Spare 54 DI 679 GI[44] ToolIDSwtch4bit8
DO 671 Spare 54 DI 680 GI[45] ToolIDSwtch5bit1
DO 672 Spare 54 DI 681 GI[45] ToolIDSwtch5bit2
DO 673 Spare 54 DI 682 GI[45] ToolIDSwtch5bit4
DO 674 Spare 54 DI 683 GI[45] ToolIDSwtch5bit8
DO 675 Spare 54 DI 684 UnlatchEnabled
AS OF 1/12/2012 34 CUSW REL1.3
Printed copies are not source controlled
DO 676 Spare 54 DI 685 ReservedTooldi53
DO 677 Spare 54 DI 686 ReservedTooldi54
DO 678 Spare 54 DI 687 ReservedTooldi55
DO 679 Spare 54 DI 688 ReservedTooldi56
DO 680 Spare 54 DI 689 ReservedTooldi57
DO 681 Spare 54 DI 690 ReservedTooldi58
DO 682 Spare 54 DI 691 ReservedTooldi59
DO 683 Spare 54 DI 692 ReservedTooldi60
DO 684 Spare 54 DI 693 ReservedTooldi61
DO 685 Spare 54 DI 694 ReservedTooldi62
DO 686 Spare 54 DI 695 ReservedTooldi63
DO 687 Spare
DO 688 Spare
DO 689 Spare
DO 690 Spare
DO 691 Spare
DO 692 Spare
DO 693 Spare
DO 694 Spare
DO 695 Spare
ROBOT OUTPUTS ROBOT INPUTS
FORM & PIERCE MOOG COMMUNICATIONS FORM & PIERCE MOOG COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
48 DO 696 Y 0.0 doDrvAReset 48 DI 696 X 0.0 diDrvA_Ok
48 DO 697 48 DI 697 diDrvA_On
48 DO 698 doDrvAMode1Sel 48 DI 698
48 DO 699 doDrvAMode2Sel 48 DI 699 diDrvAHomeComp
48 DO 700 doStyleDrvALub 48 DI 700 diDrvAForce_Lub
48 DO 701 doDrvAAutomode 48 DI 701 diDrvAReturned
48 DO 702 48 DI 702 diDrvAAtPos
48 DO 703 doDrvBReset 48 DI 703
48 DO 704 48 DI 704 diDrvAMode1Ackn
48 DO 705 doDrvBMode1Sel 48 DI 705 diDrvAMode2Ackn
48 DO 706 doDrvBMode2Sel 48 DI 706
48 DO 707 doStyleDrvBLub 48 DI 707 diSr400On
48 DO 708 doDrvBAutomode 48 DI 708 diSrFuseOk
48 DO 709 48 DI 709
48 DO 710 48 DI 710
48 DO 711 48 DI 711
48 DO 712 doDrvATorqEnble 48 DI 712 diDrvB_Ok
48 DO 713 48 DI 713 diDrvB_On
48 DO 714 doDrvAExtPos1 48 DI 714
48 DO 715 doDrvARetPos2 48 DI 715 diDrvBHomeComp
48 DO 716 doDrvAPosSel 48 DI 716 diDrvBForce_Lub
48 DO 717 48 DI 717 diDrvBReturned
48 DO 718 48 DI 718 diDrvBAtPos
48 DO 719 48 DI 719
48 DO 720 doDrvBTorqEnble 48 DI 720 diDrvBMode1Ackn
48 DO 721 48 DI 721 diDrvBMode2Ackn
48 DO 722 doDrvBExtPos1 48 DI 722
48 DO 723 doDrvBRetPos2 48 DI 723
48 DO 724 doDrvBPosSel 48 DI 724
48 DO 725 48 DI 725
48 DO 726 48 DI 726
48 DO 727 48 DI 727
ROBOT OUTPUTS ROBOT INPUTS
FORM & PIERCE CLINCH NUT-FEEDER COMMUNICATIONS FORM & PIERCE CLINCH NUT-FEEDER COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
49 DO 728 doExtendPusher 49 DI 728 diPusherExtended
49 DO 729 doReturnPusher 49 DI 729 diPusherReturned
49 DO 730 doExtendPlunger 49 DI 730 diPlungerRetrned
49 DO 731 doReturnPlunger 49 DI 731 diPlungerExtnded
49 DO 732 49 DI 732 diClinchAirOk
49 DO 733 49 DI 733
49 DO 734 49 DI 734 diFdNutPresent
49 DO 735 49 DI 735
49 DO 736 49 DI 736
49 DO 737 49 DI 737
49 DO 738 49 DI 738
49 DO 739 49 DI 739
49 DO 740 49 DI 740
49 DO 741 49 DI 741
49 DO 742 49 DI 742
49 DO 743 49 DI 743
AS OF 1/12/2012 35 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
FORM & PIERCE CLINCH NUT-TOOL COMMUNICATIONS FORM & PIERCE CLINCH NUT-TOOL COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
50 DO 744 doWkSupRetract 50 DI 744 diRbtNutPresent
50 DO 745 50 DI 745 diWorkSptRet
50 DO 746 50 DI 746
50 DO 747 50 DI 747
50 DO 748 50 DI 748
50 DO 749 50 DI 749
50 DO 750 50 DI 750
50 DO 751 50 DI 751
50 DO 752 50 DI 752
50 DO 753 50 DI 753
50 DO 754 50 DI 754
50 DO 755 50 DI 755
50 DO 756 50 DI 756
50 DO 757 50 DI 757
50 DO 758 50 DI 758
50 DO 759 50 DI 759
ROBOT OUTPUTS ROBOT INPUTS
FORM & PIERCE PUMP COMMUNICATIONS FORM & PIERCE PUMP COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
51 DO 760 doChrgAccumultor 51 DI 760 diRobotAirOk
51 DO 761 51 DI 761
51 DO 762 doExtIntensCyl 51 DI 762 diWkAtPressure
51 DO 763 doRetIntensCyl 51 DI 763
51 DO 764 51 DI 764 diIntensCylRetd
51 DO 765 51 DI 765
51 DO 766 51 DI 766
51 DO 767 51 DI 767
ROBOT OUTPUTS ROBOT INPUTS
Mig weld Reamers Mig weld Reamers
46 DO 768 Start 46 DI 768 Complete
46 DO 769 Spray 46 DI 769 Error
46 DO 770 Spare 46 DI 770 Spare
46 DO 771 Spare 46 DI 771 Spare
46 DO 772 Spare 46 DI 772 Spare
46 DO 773 Spare 46 DI 773 Spare
46 DO 774 Spare 46 DI 774 Spare
46 DO 775 Spare 46 DI 775 Spare
ROBOT OUTPUTS ROBOT INPUTS
Laser Cut Field I/O
Laser Cut Field I/O
24 DO 776
Release Assist Gas
24
DI 776 Collision Sens OK
24 DO 777 Spare 24 DI 777 Collision Sens OK
24 DO 778 Spare 24 DI 778 Purge Air On
24 DO 779 Spare 24 DI 779 Purge Air Acpt Range
24 DO 780 Spare 24 DI 780 Pre Pounce Assist Gas
24 DO 781 Spare 24 DI 781 Pre-Pounce Assist gas Acpt
24 DO 782 Spare 24 DI 782 Pre-Cut Assist Gas on
24 DO 783 Spare 24 DI 783 Pre-Cut Assist Gas Acpt
DO 784 Spare DI 784 Spare
AS OF 1/12/2012 36 CUSW REL1.3
Printed copies are not source controlled
NOT USED
ROBOT OUTPUTS ROBOT INPUTS
TOOLCHANGER COVER / NEST #1 COMMUNICATIONS TOOLCHANGER COVER / NEST #1 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
55 DO Y 0.0 Close Cover #1 55 DI X 0.0 Cover #1 Closed
55 DO Open Cover #1 55 DI Cover #1 Open
55 DO 55 DI Tool in nest #1 switch 1
55 DO 55 DI Tool in nest #1 switch 2
55 DO 55 DI
55 DO 55 DI
55 DO 55 DI
55 DO 55 DI
ROBOT OUTPUTS ROBOT INPUTS
TOOLCHANGER COVER / NEST #2 COMMUNICATIONS TOOLCHANGER COVER / NEST #2 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
56 DO Y 0.0 Close Cover #2 56 DI X 0.0 Cover #2 Closed
56 DO Open Cover #2 56 DI Cover #2 Open
56 DO 56 DI Tool in nest #2 switch 1
56 DO 56 DI Tool in nest #2 switch 2
56 DO 56 DI
56 DO 56 DI
56 DO 56 DI
56 DO 56 DI
ROBOT OUTPUTS ROBOT INPUTS
TOOLCHANGER COVER / NEST #3 COMMUNICATIONS TOOLCHANGER COVER / NEST #3 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
57 DO Y 0.0 Close Cover #3 57 DI X 0.0 Cover #3 Closed
57 DO Open Cover #3 57 DI Cover #3 Open
57 DO 57 DI Tool in nest #3 switch 1
57 DO 57 DI Tool in nest #3 switch 2
57 DO 57 DI
57 DO 57 DI
57 DO 57 DI
57 DO 57 DI
ROBOT OUTPUTS ROBOT INPUTS
TOOLCHANGER COVER / NEST #4 COMMUNICATIONS TOOLCHANGER COVER / NEST #4 COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
58 DO Y 0.0 Close Cover #4 58 DI X 0.0 Cover #4 Closed
58 DO Open Cover #4 58 DI Cover #4 Open
58 DO 58 DI Tool in nest #4 switch 1
58 DO 58 DI Tool in nest #4 switch 2
58 DO 58 DI
58 DO 58 DI
58 DO 58 DI
58 DO 58 DI
AS OF 1/12/2012 37 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
IPG_Laserweld_Generator IPG_Laserweld_Generator
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
17 DO 785 doLasrRequest 17 DI 785 X 0.0 diLasrReady
17 DO 786 doLasrProgStart 17 DI 786 diLasrEmissionOn
17 DO 787 doLasrEnbPCCtrl 17 DI 787 diLasrIntrCtrlOn
17 DO 788 doLasrReset 17 DI 788 diLasrError
17 DO 789 doGuideLaserCtrl 17 DI 789 diGuideLaserOn
17 DO 790 doLasrAnalogCtrl 17 DI 790 diLasrAnalogCtrl
17 DO 791 doLasrProgStop 17 DI 791 diLasrAssigned
17 DO 792 doLasrProgLSB 17 DI 792 diLasrOn
17 DO 793 doLasrProg1 17 DI 793 diLasrProgActive
17 DO 794 doLasrProg2 17 DI 794 diLasrProgEnd
17 DO 795 doLasrProg3 17 DI 795 diLasrProgIntrpt
17 DO 796 doLasrProg4 17 DI 796 diLasrSyncOutput
17 DO 797 doLasrProg5 17 DI 797 diLasrWarning
17 DO 798 doLasrProgMSB 17 DI 798 diLasrChillWarn
17 DO 799 doLasrSyncInput 17 DI 799 diLasrChillError
17 DO 800 doLasrReserve 17 DI 800 diLasrChillReady
DO 801 Spare DI 801 Spare
DO 802 Spare DI 802 Spare
DO 803 Spare DI 803 Spare
DO 804 Spare DI 804 Spare
DO 805 Spare DI 805 Spare
DO 806 Spare DI 806 Spare
DO 807 Spare DI 807 Spare
DO 808 Spare DI 808 Spare
DO 809 Spare DI 809 Spare
DO 810 Spare DI 810 Spare
DO 811 Spare DI 811 Spare
DO 812 Spare DI 812 Spare
DO 813 Spare DI 813 Spare
DO 814 Spare DI 814 Spare
DO 815 Spare DI 815 Spare
DO 816 Spare DI 816 Spare
ROBOT OUTPUTS ROBOT INPUTS
HighYag HighYag
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
18 DO 817 doHYagTriggerA 18 DI 817 diHYagScanAvail
18 DO 818 doHYagProcError 18 DI 818 diHYagScanRdy
18 DO 819 doHYagLaserError 18 DI 819 diHYagScanMonitr
18 DO 820 doHYagRestScannr 18 DI 820 diHYagGenError
18 DO 821 doHYagPSelPart 18 DI 821 diHYagStructErr
18 DO 822 doHYagPSelRbtTrx 18 DI 822 diHYagScanAtWork
18 DO 823 doHYagPSelTrxPt 18 DI 823 diHYagSlideHoldr
18 DO 824 doHYagPSelSeam 18 DI 824 diHYagSlideWarn
18 DO 825 doHYagPSelRbtVel 18 DI 825 diHYagSlideError
18 DO 826 doHYagModeBit0 18 DI 826 diHYagPosError
18 DO 827 doHYagModeBit1 18 DI 827 diHYagTempError
18 DO 828 doHYagModeBit2 18 DI 828 diHYagC-JetError
18 DO 829 doHYagC-JetOnOff 18 DI 829 diHYagEnetActive
18 DO 830 doHYagReserve 18 DI 830 Spare
18 DO 831 doHYagNumBit0 18 DI 831 Spare
18 DO 832 doHYagNumBit1 18 DI 832 Spare
18 DO 833 doHYagNumBit2 18 DI 833 Spare
18 DO 834 doHYagNumBit3 18 DI 834 Spare
18 DO 835 doHYagNumBit4 18 DI 835 Spare
18 DO 836 doHYagNumBit5 18 DI 836 Spare
18 DO 837 doHYagNumBit6 18 DI 837 Spare
18 DO 838 doHYagNumBit7 18 DI 838 Spare
18 DO 839 Spare 18 DI 839 Spare
18 DO 840 Spare 18 DI 840 Spare
18 DO 841 Spare 18 DI 841 Spare
18 DO 842 Spare 18 DI 842 Spare
18 DO 843 Spare 18 DI 843 Spare
18 DO 844 Spare 18 DI 844 Spare
18 DO 845 Spare 18 DI 845 Spare
18 DO 846 Spare 18 DI 846 Spare
18 DO 847 Spare 18 DI 847 Spare
18 DO 848 Spare 18 DI 848 Spare
AS OF 1/12/2012 38 CUSW REL1.3
Printed copies are not source controlled
ROBOT OUTPUTS ROBOT INPUTS
LaserCut Head LaserCut Head
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
19 DO 849 GO(46] HeightSelBit1 19 DI 849 InPosition
19 DO 850 GO[46] HeightSelBit2 19 DI 850 RetdPos
19 DO 851 GO[46] HeightSelBit3 19 DI 851 TipTouch
19 DO 852 Tch/CtrOfTrvl 19 DI 852 Crsh/FltActive
19 DO 853 MotInhbt/Hold 19 DI 853 GI[46] StatCode1
19 DO 854 TipSelBit 19 DI 854 GI[46] StatCode2
19 DO 855 AnalogInEnbl 19 DI 855 GI[46] StatCode3
19 DO 856 Reset 19 DI 856 GI[46] StatCode4
ROBOT OUTPUTS ROBOT INPUTS
GrinderMod1 GrinderMod1
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
20 DO 857 ACT/RET SetActiveRetract 20 DI 857 GI[47] ForceFedbackBit0
20 DO 858 GO[47] ComdFourceLevBit0 20 DI 858 GI[47] ForceFedbackBit1
20 DO 859 GO[47] ComdFourceLevBit1 20 DI 859 GI[47] ForceFedbackBit2
20 DO 860 GO[47] ComdFourceLevBit2 20 DI 860 GI[47] ForceFedbackBit3
20 DO 861 GO[47] ComdFourceLevBit3 20 DI 861 PlusLimit
20 DO 862 GO[48] ToolNumBit0 20 DI 862 MinusLimit
20 DO 863 GO[48] ToolNumBit1 20 DI 863 Spare
20 DO 864 GO(48] ToolNumBit2 20 DI 864 Spare
ROBOT OUTPUTS ROBOT INPUTS
GrinderMod2 GrinderMod2
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE
ADDRESS ROBOT
ADDRESS PMC
ADDRESS GROUP
ASSIGNMENT SIGNAL NAME
21 DO 865 Spare 21 DI 865 Spare
21 DO 866 GO[49] UserInputBit0 21 DI 866 Spare
21 DO 867 GO[49] UserInputBit1 21 DI 867 Spare
21 DO 868 GO[49] UserInputBit2 21 DI 868 Spare
21 DO 869 GO[49] UserInputBit3 21 DI 869 Spare
21 DO 870 Spare 21 DI 870 Spare
21 DO 871 SpindleEnable 21 DI 871 CRF Fault
21 DO 872 Spare 21 DI 872 Spare
ROBOT OUTPUTS ROBOT INPUTS
GRINDING ANALOG MODULE #1 GRINDING ANALOG MODULE #1
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE
ADDRESS ROBOT
ADDRESS PMC
ADDRESS GROUP
ASSIGNMENT SIGNAL NAME
22 AO 1, 1-16 CommandForce 22 AI 1, 1-16 ActualForce
22 AO 2, 1-16 Spare 22 AI 2, 1-16 CarriagePos
22 AO 3, 1-16 Spare 22 AI 3, 1-16 Spare
22 AO 4, 1-16 AMPThermister 22 AI 4, 1-16 Spare
Spare Spare
Spare Spare
Spare Spare
Spare Spare
ROBOT OUTPUTS ROBOT INPUTS GRINDING ANALOG MODULE #2 GRINDING ANALOG MODULE #2
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
23 AO 5, 1-16 VelCommand 23 AI 5, 1-16 VelMon
23 AO 6, 1-16 Spare 23 AI 6, 1-16 CurrentRef
23 AO 7, 1-16 Spare 23 AI 7, 1-16 Spare
23 AO 8, 1-16 Spare 23 AI 8, 1-16 CurrentMon
Spare Spare
Spare Spare
Spare Spare
Spare Spare
DO 889 Spare DI 889 Spare
DO 890 Spare DI 890 Spare
DO 891 Spare DI 891 Spare
DO 892 Spare DI 892 Spare
DO 893 Spare DI 893 Spare
DO 894 Spare DI 894 Spare
DO 895 Spare DI 895 Spare
DO 896 Spare DI 896 Spare
DO 897 Spare DI 897 Spare
AS OF 1/12/2012 39 CUSW REL1.3
Printed copies are not source controlled
DO 898 Spare DI 898 Spare
DO 899 Spare DI 899 Spare
DO 900 Spare DI 900 Spare
DO 901 Spare DI 901 Spare
DO 902 Spare DI 902 Spare
DO 903 Spare DI 903 Spare
DO 904
Spare DI 904 Spare
DO 905 Spare DI 905 Spare
DO 906 Spare DI 906 Spare
DO 907 Spare DI 907 Spare
DO 908 Spare DI 908 Spare
DO 909 Spare DI 909 Spare
DO 910 Spare DI 910 Spare
DO 911 Spare DI 911 Spare
DO 912 Spare DI 912 Spare
ROBOT OUTPUTS ROBOT INPUTS ISRA VISION COMMUNICATIONS ISRA VISION COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
60 DO 913 Y 0.0 GO[38] doISRA_CmdB1 60 DI 913 X 0.0 GI[31] diISRA_StatBit1
60 DO 914 GO[38] doISRA_CmdB2 60 DI 914 GI[31] diISRA_StatBit2
60 DO 915 GO[38] doISRA_CmdB4 60 DI 915 GI[31] diISRA_StatBit4
60 DO 916 GO[38] doISRA_CmdB8 60 DI 916 GI[31] diISRA_StatBit8
60 DO 917 doISRA_Strt_M 60 DI 917 diISRA_Ready
60 DO 918 doISRA_reservd 60 DI 918 diISRA_Snap_ip
60 DO 919 GO[40] doISRA_Rst_E 60 DI 919 diISRA_Data_ip
60 DO 920 doISRA_ID_Valid 60 DI 920 diISRA_ID_OK
60 DO 921 GO[39] doISRA_TpIDB1 60 DI 921 GI[38] diISRA_reservd
60 DO 922 GO[39] doISRA_TpIDB2 60 DI 922 GI[38] diISRA_ErrPLC
60 DO 923 GO[39] doISRA_TpIDB4 60 DI 923 GI[38] diISRA_ErrRbt
60 DO 924 GO[39] doISRA_TpIDB8 60 DI 924 GI[38] diISRA_OutTol
60 DO 925 GO[39] doISRA_TpIDB16 60 DI 925 GI[38] diISRA_Disabl
60 DO 926 GO[39] doISRA_TpIDB32 60 DI 926 GI[38] diISRA_ErrImage
60 DO 927 GO[39] doISRA_TpIDB64 60 DI 927 GI[38] diISRA_reservd1
60 DO 928 GO[39] doISRA_TpIDB128 60 DI 928 GI[38] diISRA_ErrDet
60 DO 929 GO[41] doISRA_SubStyle 60 DI 929 GI[32] diISRA_XB1
60 DO 930 GO[41] doISRA_SubStyle 60 DI 930 GI[32] diISRA_XB2
60 DO 931 GO[41] doISRA_SubStyle 60 DI 931 GI[32] diISRA_XB4
60 DO 932 GO[41] doISRA_SubStyle 60 DI 932 GI[32] diISRA_XB8
60 DO 933 GO[41] doISRA_SubStyle 60 DI 933 GI[32] diISRA_XB16
60 DO 934 GO[41] doISRA_SubStyle 60 DI 934 GI[32] diISRA_XB32
60 DO 935 GO[41] doISRA_SubStyle 60 DI 935 GI[32] diISRA_XB64
60 DO 936 GO[41] doISRA_SubStyle 60 DI 936 GI[32] diISRA_XB128
60 DO 937 GO[42] doISRA_Color 60 DI 937 GI[32] diISRA_XB256
60 DO 938 GO[42] doISRA_Color 60 DI 938 GI[32] diISRA_XB512
60 DO 939 GO[42] doISRA_Color 60 DI 939 GI[32] diISRA_XB1024
60 DO 940 GO[42] doISRA_Color 60 DI 940 GI[32] diISRA_XB2048
60 DO 941 GO[42] doISRA_Color 60 DI 941 GI[32] diISRA_XB4096
60 DO 942 GO[42] doISRA_Color 60 DI 942 GI[32] diISRA_XB8192
60 DO 943 GO[42] doISRA_Color 60 DI 943 GI[32] diISRA_XB16384
60 DO 944 GO[42] doISRA_Color 60 DI 944 GI[32] diISRA_XB32768
60 DI 945 GI[33] diISRA_YB1
ROBOT OUTPUTS 60 DI 946 GI[33] diISRA_YB2
APP. ERROR CODE (ROBOT USER DEFINED) COMM. 60 DI 947 GI[33] diISRA_YB4
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
60 DI 948 GI[33] diISRA_YB8
N/A DO 945 N/A AppErrSpare01 60 DI 949 GI[33] diISRA_YB16
N/A DO 946 N/A AppErrSpare02 60 DI 950 GI[33] diISRA_YB32
N/A DO 947 N/A AppErrSpare03 60 DI 951 GI[33] diISRA_YB64
N/A DO 948 N/A AppErrSpare04 60 DI 952 GI[33] diISRA_YB128
N/A DO 949 N/A AppErrSpare05 60 DI 953 GI[33] diISRA_YB256
N/A DO 950 N/A AppErrSpare06 60 DI 954 GI[33] diISRA_YB512
N/A DO 951 N/A AppErrSpare07 60 DI 955 GI[33] diISRA_YB1024
N/A DO 952 N/A AppErrSpare08 60 DI 956 GI[33] diISRA_YB2048
N/A DO 953 N/A AppErrSpare09 60 DI 957 GI[33] diISRA_YB4096
N/A DO 954 N/A AppErrSpare10 60 DI 958 GI[33] diISRA_YB8192
N/A DO 955 N/A AppErrSpare11 60 DI 959 GI[33] diISRA_YB16384
N/A DO 956 N/A AppErrSpare12 60 DI 960 GI[33] diISRA_YB32768
N/A DO 957 N/A AppErrSpare13 60 DI 961 GI[34] diISRA_ZB1
N/A DO 958 N/A AppErrSpare14 60 DI 962 GI[34] diISRA_ZB2
N/A DO 959 N/A AppErrSpare15 60 DI 963 GI[34] diISRA_ZB4
N/A DO 960 N/A AppErrSpare16 60 DI 964 GI[34] diISRA_ZB8
N/A DO 961 N/A AppErrSpare17 60 DI 965 GI[34] diISRA_ZB16
N/A DO 962 N/A AppErrSpare18 60 DI 966 GI[34] diISRA_ZB32
N/A DO 963 N/A AppErrSpare19 60 DI 967 GI[34] diISRA_ZB64
AS OF 1/12/2012 40 CUSW REL1.3
Printed copies are not source controlled
N/A DO 964 N/A AppErrSpare20 60 DI 968 GI[34] diISRA_ZB128
N/A DO 965 N/A AppErrSpare21 60 DI 969 GI[34] diISRA_ZB256
N/A DO 966 N/A AppErrSpare22 60 DI 970 GI[34] diISRA_ZB512
N/A DO 967 N/A AppErrSpare23 60 DI 971 GI[34] diISRA_ZB1024
N/A DO 968 N/A AppErrSpare24 60 DI 972 GI[34] diISRA_ZB2048
N/A DO 969 N/A AppErrSpare25 60 DI 973 GI[34] diISRA_ZB4096
N/A DO 970 N/A AppErrSpare26 60 DI 974 GI[34] diISRA_ZB8192
N/A DO 971 N/A AppErrSpare27 60 DI 975 GI[34] diISRA_ZB16384
N/A DO 972 N/A AppErrSpare28 60 DI 976 GI[34] diISRA_ZB32768
N/A DO 973 N/A AppErrSpare29 60 DI 977 GI[35] diISRA_RXB1
N/A DO 974 N/A AppErrSpare30 60 DI 978 GI[35] diISRA_RXB2
N/A DO 975 N/A AppErrSpare31 60 DI 979 GI[35] diISRA_RXB4
N/A DO 976 N/A AppErrSpare32 60 DI 980 GI[35] diISRA_RXB8
N/A DO 977 N/A AppErrSpare33 60 DI 981 GI[35] diISRA_RXB16
N/A DO 978 N/A AppErrSpare34 60 DI 982 GI[35] diISRA_RXB32
N/A DO 979 N/A AppErrSpare35 60 DI 983 GI[35] diISRA_RXB64
N/A DO 980 N/A AppErrSpare36 60 DI 984 GI[35] diISRA_RXB128
N/A DO 981 N/A AppErrSpare37 60 DI 985 GI[35] diISRA_RXB256
N/A DO 982 N/A AppErrSpare38 60 DI 986 GI[35] diISRA_RXB512
N/A DO 983 N/A AppErrSpare39 60 DI 987 GI[35] diISRA_RXB1024
N/A DO 984 N/A AppErrSpare40 60 DI 988 GI[35] diISRA_RXB2048
N/A DO 985 N/A AppErrSpare41 60 DI 989 GI[35] diISRA_RXB4096
N/A DO 986 N/A AppErrSpare42 60 DI 990 GI[35] diISRA_RXB8192
N/A DO 987 N/A AppErrSpare43 60 DI 991 GI[35] diISRA_RXB16384
N/A DO 988 N/A AppErrSpare44 60 DI 992 GI[35] diISRA_RXB32768
N/A DO 989 N/A AppErrSpare45 60 DI 993 GI[36] diISRA_RYB1
N/A DO 990 N/A AppErrSpare46 60 DI 994 GI[36] diISRA_RYB2
N/A DO 991 N/A AppErrSpare47 60 DI 995 GI[36] diISRA_RYB4
N/A DO 992 N/A AppErrSpare48 60 DI 996 GI[36] diISRA_RYB8
N/A DO 993 N/A AppErrSpare49 60 DI 997 GI[36] diISRA_RYB16
N/A DO 994 N/A AppErrSpare50 60 DI 998 GI[36] diISRA_RYB32
N/A DO 995 N/A AppErrSpare51 60 DI 999 GI[36] diISRA_RYB64
N/A DO 996 N/A AppErrSpare52 60 DI 1000 GI[36] diISRA_RYB128
N/A DO 997 N/A AppErrSpare53 60 DI 1001 GI[36] diISRA_RYB256
N/A DO 998 N/A AppErrSpare54 60 DI 1002 GI[36] diISRA_RYB512
N/A DO 999 N/A AppErrSpare55 60 DI 1003 GI[36] diISRA_RYB1024
N/A DO 1000 N/A AppErrSpare56 60 DI 1004 GI[36] diISRA_RYB2048
N/A DO 1001 N/A AppErrSpare57 60 DI 1005 GI[36] diISRA_RYB4096
N/A DO 1002 N/A AppErrSpare58 60 DI 1006 GI[36] diISRA_RYB8192
N/A DO 1003 N/A AppErrSpare59 60 DI 1007 GI[36] diISRA_RYB16384
N/A DO 1004 N/A AppErrSpare60 60 DI 1008 GI[36] diISRA_RYB32768
N/A DO 1005 N/A AppErrSpare61 60 DI 1009 GI[37] diISRA_RZB1
N/A DO 1006 N/A AppErrSpare62 60 DI 1010 GI[37] diISRA_RZB2
N/A DO 1007 N/A AppErrSpare63 60 DI 1011 GI[37] diISRA_RZB4
N/A DO 1008 N/A AppErrSpare64 60 DI 1012 GI[37] diISRA_RZB8
N/A DO 1009 N/A AppErrSpare65 60 DI 1013 GI[37] diISRA_RZB16
N/A DO 1010 N/A AppErrSpare66 60 DI 1014 GI[37] diISRA_RZB32
N/A DO 1011 N/A AppErrSpare67 60 DI 1015 GI[37] diISRA_RZB64
N/A DO 1012 N/A AppErrSpare68 60 DI 1016 GI[37] diISRA_RZB128
N/A DO 1013 N/A AppErrSpare69 60 DI 1017 GI[37] diISRA_RZB256
N/A DO 1014 N/A AppErrSpare70 60 DI 1018 GI[37] diISRA_RZB512
N/A DO 1015 N/A AppErrSpare71 60 DI 1019 GI[37] diISRA_RZB1024
N/A DO 1016 N/A AppErrSpare72 60 DI 1020 GI[37] diISRA_RZB2048
N/A DO 1017 N/A AppErrSpare73 60 DI 1021 GI[37] diISRA_RZB4096
N/A DO 1018 N/A AppErrSpare74 60 DI 1022 GI[37] diISRA_RZB8192
N/A DO 1019 N/A AppErrSpare75 60 DI 1023 GI[37] diISRA_RZB16384
N/A DO 1020 N/A AppErrSpare76 60 DI 1024 GI[37] diISRA_RZB32768
N/A DO 1021 N/A AppErrSpare77
N/A DO 1022 N/A AppErrSpare78
N/A DO 1023 N/A AppErrSpare79
N/A DO 1024 N/A AppErrSpare80
ROBOT OUTPUTS ROBOT INPUTS ROBOT INTERNAL COMMUNICATIONS ROBOT INTERNAL COMMUNICATIONS
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
NODE ADDRESS
ROBOT ADDRESS
PMC ADDRESS
GROUP ASSIGNMENT SIGNAL NAME
RbtInternal DO 901 WaterValve1ON RbtInternal DI 901 WaterFlowOK1
RbtInternal DO 902 WaterValve1OFF RbtInternal DI 902
RbtInternal DO 903 RbtInternal DI 903 WaterFlowOK2
RbtInternal DO 904 WaterValve2ON RbtInternal DI 904
RbtInternal DO 905 WaterValve2OFF RbtInternal DI 905
RbtInternal DO 906 RbtInternal DI 906
RbtInternal DO 907 VacuumCH_ON RbtInternal DI 907 VacuumCH_ON
RbtInternal DO 908 PulseBatteryLow RbtInternal DI 908
RbtInternal DO 909 XFORMTEMPOk1 RbtInternal DI 909 XFORMTEMPOk1
RbtInternal DO 910 XFORMTEMPOk2 RbtInternal DI 910 XFORMTEMPOk2
RbtInternal DO 911 XFORMTEMPOk3 RbtInternal DI 911 XFORMTEMPOk3
RbtInternal DO 912 XFORMTEMPOk4 RbtInternal DI 912 XFORMTEMPOk4
AS OF 1/12/2012 41 CUSW REL1.3
Printed copies are not source controlled
ROBOT APPLICATION ERROR TIMING
LO
OP
Un
til
AL
L A
ppli
cati
on E
rro
rs (
if a
ppli
cab
le)
is m
on
ito
red
L
OO
P U
nti
l A
LL
Ap
pli
cati
on E
rro
rs (
if a
ppli
cab
le)
is m
on
ito
red
Application Error Bits (Group Output)
a
a = 500 msec
ROBOT INPUTS FROM PLC ROBOT OUTPUTS TO PLC Not Robot I/O
GO[4] = FIS ID
DO[121 – 128]
b b
Application Error Active
DO[120]
Application Error Acknowledge (PLC Signal)
Error Ack goes LOW when Error Active goes LOW
Error Active goes LOW when Error Ack goes HIGH
ADDING APPLICATION ERROR BITS TO PLC
REMOVING APPLICATION ERROR BITS FROM PLC
Application Error Bits (Group Output)
a
Application Error Active
Application Error Acknowledge (PLC Signal)
Error Ack goes LOW when Error Active goes LOW
Error Active goes LOW when Error Ack goes HIGH
Application Error Remove
Error Active goes LOW when Error Ack goes HIGH
DI[8]
GO[4] = FIS ID
DO[121 – 128]
DO[120]
DI[8]
DO[76]
DO[120]
Error Active goes LOW when Error Ack goes HIGH
Application Error Acknowledge (PLC Signal)
Error Ack goes LOW when Error Active goes LOW DI[8]
Application Error Bits (Group Output)
Application Error
Active
GO[4] = FIS ID
DO[121 – 128]
SYNCHRONIZE PLC / IDENTIFY TOP OF PMC LOGIC
LOW State
AS OF 1/12/2012 42 CUSW REL1.3
Printed copies are not source controlled
ROBOT APPLICATION ERRORS
INPUT/S GROUP INPUT
DESCRIPTION ERROR
SEVERITY PLC
CODE IO STATE
INTERNAL ROBOT HANDSHAKE TO PLC N/A N/A Clear all faults command ID N/A 0 N/A
SPARE 1
General Communication DeviceNet Master Major 2
3
Low Battery Indicator Minor 4
CLINCH NUT No Nut In Anvil 5
Feeder Air Not On 6
Clinch Nut Still in Anvil 7
Clinch Nut Not Present at Feeder 8
Nut Feeder Plunger Not In Position 9
Clinch Nut Part Present Fault 10
Nut Feeder Pusher Not In Position 11
NET-FORM-PIERCE Work Support Pressure Fault 12
Moog Mode Fault 13
Moog Drive A OK Fault 14
Moog Drive B OK Fault 15
Moog Drive A ON Fault 16
Moog Drive B ON Fault 17
Moog Drive A Position Fault 18
Moog Drive B Position Fault 19
Moog Drive A Force Fault 20
Moog Drive B Force Fault 21
QMC/FMS AAC Error Major 22
AAC Required Major 23
ATC Error Major 24
ATC Required Major 25
ATC Expired Major 26
Vision Comm Heartbeat Lost Major 27
Vision System App Fault Major 28
29
30
31
32
AS OF 1/12/2012 43 CUSW REL1.3
Printed copies are not source controlled
INPUT/S GROUP INPUT
DESCRIPTION ERROR
SEVERITY PLC
CODE IO STATE
SPOTWELDING DI 197 -201 DI 229 -233
GI[11] GI[13]
I/O Error Major/Minor 33 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
I/O Alarm Major/Minor 34 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Incomplete Weld Major/Minor 35 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Stepper Approaching Max Major/Minor 36 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
End Of Stepper Major/Minor 37 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Sure Weld Trend Limit Major/Minor 38 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
High/Low Current Limit Major/Minor 39 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Firing Error Major/Minor 40 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Cylinder Fault Major/Minor 41 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Cylinder Alarm Major/Minor 42 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Power Factor Error Major/Minor 43 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Compensation Error Major/Minor 44 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Insufficient Line Voltage Major/Minor 45 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Extend Weld Major/Minor 46 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Isolation Contactor Error Major/Minor 47 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Welding Buss Voltage Major/Minor 48 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Weld Data Not Programmed Major/Minor 49 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Analog Pressure Error Major/Minor 50 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
C-Factor Limit Major/Minor 51 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Secondary Current Major/Minor 52 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Welding Transformer Major/Minor 53 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Over Temperature Major/Minor 54 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Shorted SCR Major/Minor 55 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Internal Timer Error Major/Minor 56 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Inverter Fault Major/Minor 57 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Timer Not Ready Major/Minor 58 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Reserved Major/Minor 59 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Reserved Major/Minor 60 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Reserved Major/Minor 61 N/A
AS OF 1/12/2012 44 CUSW REL1.3
Printed copies are not source controlled
INPUT/S GROUP INPUT
DESCRIPTION ERROR
SEVERITY PLC
CODE IO STATE
DI 197 -201 DI 229 -233
GI[11] GI[13]
Reserved Major/Minor 62 N/A
DI 197 -201 DI 229 -233
GI[11] GI[13]
Reserved Major/Minor 63 N/A
WATER SAVER DI 785 N/A W1OKtoWeld Major 64 N/C
DI 787 N/A 65 N/O
DI 817 N/A 66 N/C
DI 819 N/A 67 N/O
WELD SERVOGUN / ARC SPOT-068 N/A ServoGun Faulted 68
ARC-006 N/A Wire Fault 69
ARC-008 N/A Power Supply Fault 70
ARC-010 N/A Wire stick detected 71
ARC-013 N/A Arc Start failed 72
ARC-017 N/A Arc Start was Disabled 73
ARC-018 N/A Lost arc detect 74
ARC-030 N/A Wire stick is still detected 75
ARC-033 N/A Override must be 100% to weld 76
INTERNAL ROBOT N/A Transformer over temperature Major 77
TOOL CHANGER DO 640 N/A ToolNotPresent 78 N/O
DO 641 N/A Invalid Tool Requested 79 N/O
DI 648 N/A RTLMismatch 80 N/O
DI 649 N/A TSIVMismatch 81 N/O
DI 650 N/A LatchOverLoad 82 N/O
DI 651 N/A UnlatchOverLoad 83 N/O
DI 652 N/A SpareOverload 84 N/O
DI 653 N/A RTLrtlvMismatch 85 N/O
DI 654 N/A TSIVtsrvMismatch 86 N/O
DI 655 N/A UnsafeUnlatch 87 N/O
DI 656 N/A LckUnlckSensFlt 88 N/O
DI 657 N/A LatchNotComplt 89 N/O
DI 658 N/A UnlatchNotComplt 90 N/O
DI 659 N/A TSIVFault 91 N/O
DI 660 N/A RTLFault 92 N/O
DI 661 N/A Comm Error 93 N/O
DI 684 N/A Unlatch Enabled 94 N/C
DI 634 N/A DNetPowerNotPresent 95 N/O
DI 635 N/A AuxPowerNotPresent 96 N/O
DO 642 N/A Unexpected Tool Present 97 N/O
DO 643 N/A Nest not empty 98 N/O
DO 644 N/A Nest is empty 99 N/O
STUD WELDING DI 321 N/A NOError1 Major 100 N/C
DI 326 N/A NOError2 Major 101 N/C
DI 331 N/A NOError3 Major 102 N/C
DI 336 N/A NOError4 Major 103 N/C
DI 341 N/A NOError5 Major 104 N/C
DI 347 N/A Std1StudsLow Minor 105 N/O
DI 348 N/A Std1ReadyForAuto Major 106 N/O
DI 349 N/A Std1ReadyToWeld Major 107 N/C
AS OF 1/12/2012 45 CUSW REL1.3
Printed copies are not source controlled
SPARE 108
109
110
111
112
113
114
115
116
117
118
119
NORDSON DISPENSING #1 120
121
DI 393 N/A Nozzle 1 Low Volume Fault Major 122 N/O
DI 394 N/A Nozzle 1 High Volume Fault Major 123 N/O
DI397 N/A Nozzle 1 Collision Detected Major 124 N/O
Di395 N/A Dispense 1 Low Pressure Fault Major 125 N/O
DI396 N/A Dispense 1 High Pressure Fault Major 126 N/O
127
128
129
NORDSON DISPENSING #2 130
131
DI 457 N/A Nozzle 2 Low Volume Fault Major 132 N/O
DI 458 N/A Nozzle 2 High Volume Fault Major 133 N/O
DI461 N/A Nozzle 2 Collision Detected Major 134 N/O
DI459 N/A Dispense 2 Low Pressure Fault Major 135 N/O
DI460 N/A Dispense 2 High Pressure Fault Major 136 N/O
137
138
139
140
PERCEPTRON VISION Perceptron Communication Fault Major 141 N/O
Perceptron Status Fault Major 142 N/O
Perceptron Bad Measurement Major 143 N/O
General Search Error Major 144 N/O
145
DYNALOG MEASUREMENT Dynalog Major Fault Major 146 N/O
Dynalog Minor Fault Major 147 N/O
SPARE 148
149
150
AS OF 1/12/2012 46 CUSW REL1.3
Printed copies are not source controlled
ISRA VISION DI 917 N/A diISRA_Ready Major 150
DI 918 N/A diISRA_Meas_ip Major 151
DI 919 N/A diISRA_Data_ip Major 152
DI 920 N/A diISRA_ID_OK Major 153
DI 922 N/A diISRA_ErrPLC Major 154
DI 923 N/A diISRA_ErrRbt Major 155
DI 924 N/A diISRA_OutTol Major 156
DI 925 N/A diISRA_Disabl Major 157
DI 926 N/A diISRA_ErrImage Major 158
DI 928 N/A diISRA_ErrDet Major 159
MATERIAL HANDLING/VISION Rack not open fault Major 160 N/O
Part search fault Major 161 N/O
TRACK LUBE Track Bearing Lube Fault Minor 162
Track Pinion Lube Fault Minor 163
MATERIAL HANDLING N/A N/A VacuumCH1PP Fault Major/Minor 164 EVENT DRIVEN
N/A N/A VacuumCH2PP Fault Major/Minor 165 EVENT DRIVEN
N/A N/A VacuumCH3PP Fault Major/Minor 166 EVENT DRIVEN
N/A N/A VacuumCH4PP Fault Major/Minor 167 EVENT DRIVEN
N/A N/A VacuumCH5PP Fault Major/Minor 168 EVENT DRIVEN
N/A N/A VacuumCH6PP Fault Major/Minor 169 EVENT DRIVEN
N/A N/A VacuumCH7PP Fault Major/Minor 170 EVENT DRIVEN
N/A N/A VacuumCH8PP Fault Major/Minor 171 EVENT DRIVEN
N/A N/A VacuumCH9PP Fault Major/Minor 172 EVENT DRIVEN
N/A N/A VacuumCH10PP Fault Major/Minor 173 EVENT DRIVEN
N/A N/A VacuumCH11PP Fault Major/Minor 174 EVENT DRIVEN
N/A N/A VacuumCH12PP Fault Major/Minor 175 EVENT DRIVEN
N/A N/A Part Present 1 Fault Major/Minor 176 EVENT DRIVEN
N/A N/A Part Present 2 Fault Major/Minor 177 EVENT DRIVEN
N/A N/A Part Present 3 Fault Major/Minor 178 EVENT DRIVEN
N/A N/A Part Present 4 Fault Major/Minor 179 EVENT DRIVEN
N/A N/A Part Present 5 Fault Major/Minor 180 EVENT DRIVEN
N/A N/A Part Present 6 Fault Major/Minor 181 EVENT DRIVEN
N/A N/A Part Present 7 Fault Major/Minor 182 EVENT DRIVEN
N/A N/A Part Present 8 Fault Major/Minor 183 EVENT DRIVEN
N/A N/A Part Present 9 Fault Major/Minor 184 EVENT DRIVEN
N/A N/A Part Present 10 Fault Major/Minor 185 EVENT DRIVEN
N/A N/A Part Present 11 Fault Major/Minor 186 EVENT DRIVEN
N/A N/A Part Present 12 Fault Major/Minor 187 EVENT DRIVEN
N/A N/A MH Device 1 Retract Fault Major/Minor 188 EVENT DRIVEN
N/A N/A MH Device 2 Retract Fault Major/Minor 189 EVENT DRIVEN
N/A N/A MH Device 3 Retract Fault Major/Minor 190 EVENT DRIVEN
N/A N/A MH Device 4 Retract Fault Major/Minor 191 EVENT DRIVEN
N/A N/A MH Device 5 Retract Fault Major/Minor 192 EVENT DRIVEN
N/A N/A MH Device 6 Retract Fault Major/Minor 193 EVENT DRIVEN
N/A N/A MH Device 7 Retract Fault Major/Minor 194 EVENT DRIVEN
N/A N/A MH Device 8 Retract Fault Major/Minor 195 EVENT DRIVEN
N/A N/A MH Device 9 Retract Fault Major/Minor 196 EVENT DRIVEN
N/A N/A MH Device 10 Retract Fault Major/Minor 197 EVENT DRIVEN
N/A N/A MH Device 11 Retract Fault Major/Minor 198 EVENT DRIVEN
N/A N/A MH Device 12 Retract Fault Major/Minor 199 EVENT DRIVEN
N/A N/A MH Device 13 Retract Fault Major/Minor 200 EVENT DRIVEN
N/A N/A MH Device 14 Retract Fault Major/Minor 201 EVENT DRIVEN
N/A N/A MH Device 15 Retract Fault Major/Minor 202 EVENT DRIVEN
AS OF 1/12/2012 47 CUSW REL1.3
Printed copies are not source controlled
N/A N/A MH Device 16 Retract Fault Major/Minor 203 EVENT DRIVEN
N/A N/A MH Device 17 Retract Fault Major/Minor 204 EVENT DRIVEN
N/A N/A MH Device 18 Retract Fault Major/Minor 205 EVENT DRIVEN
N/A N/A MH Device 19 Retract Fault Major/Minor 206 EVENT DRIVEN
N/A N/A MH Device 20 Retract Fault Major/Minor 207 EVENT DRIVEN
N/A N/A MH Device 21 Retract Fault Major/Minor 208 EVENT DRIVEN
N/A N/A MH Device 22 Retract Fault Major/Minor 209 EVENT DRIVEN
N/A N/A MH Device 23 Retract Fault Major/Minor 210 EVENT DRIVEN
N/A N/A MH Device 24 Retract Fault Major/Minor 211 EVENT DRIVEN
N/A N/A MH Device 25 Retract Fault Major/Minor 212 EVENT DRIVEN
N/A N/A MH Device 26 Retract Fault Major/Minor 213 EVENT DRIVEN
N/A N/A MH Device 27 Retract Fault Major/Minor 214 EVENT DRIVEN
N/A N/A MH Device 28 Retract Fault Major/Minor 215 EVENT DRIVEN
N/A N/A MH Device 29 Retract Fault Major/Minor 216 EVENT DRIVEN
N/A N/A MH Device 30 Retract Fault Major/Minor 217 EVENT DRIVEN
N/A N/A MH Device 31 Retract Fault Major/Minor 218 EVENT DRIVEN
N/A N/A MH Device 32 Retract Fault Major/Minor 219 EVENT DRIVEN
N/A N/A MH Device 33 Retract Fault Major/Minor 220 EVENT DRIVEN
N/A N/A MH Device 34 Retract Fault Major/Minor 221 EVENT DRIVEN
N/A N/A MH Device 1 Extend Fault Major/Minor 222 EVENT DRIVEN
N/A N/A MH Device 2 Extend Fault Major/Minor 223 EVENT DRIVEN
N/A N/A MH Device 3 Extend Fault Major/Minor 224 EVENT DRIVEN
N/A N/A MH Device 4 Extend Fault Major/Minor 225 EVENT DRIVEN
N/A N/A MH Device 5 Extend Fault Major/Minor 226 EVENT DRIVEN
N/A N/A MH Device 6 Extend Fault Major/Minor 227 EVENT DRIVEN
N/A N/A MH Device 7 Extend Fault Major/Minor 228 EVENT DRIVEN
N/A N/A MH Device 8 Extend Fault Major/Minor 229 EVENT DRIVEN
N/A N/A MH Device 9 Extend Fault Major/Minor 230 EVENT DRIVEN
N/A N/A MH Device 10 Extend Fault Major/Minor 231 EVENT DRIVEN
N/A N/A MH Device 11 Extend Fault Major/Minor 232 EVENT DRIVEN
N/A N/A MH Device 12 Extend Fault Major/Minor 233 EVENT DRIVEN
N/A N/A MH Device 13 Extend Fault Major/Minor 234 EVENT DRIVEN
N/A N/A MH Device 14 Extend Fault Major/Minor 235 EVENT DRIVEN
N/A N/A MH Device 15 Extend Fault Major/Minor 236 EVENT DRIVEN
N/A N/A MH Device 16 Extend Fault Major/Minor 237 EVENT DRIVEN
N/A N/A MH Device 17 Extend Fault Major/Minor 238 EVENT DRIVEN
N/A N/A MH Device 18 Extend Fault Major/Minor 239 EVENT DRIVEN
N/A N/A MH Device 19 Extend Fault Major/Minor 240 EVENT DRIVEN
N/A N/A MH Device 20 Extend Fault Major/Minor 241 EVENT DRIVEN
N/A N/A MH Device 21 Extend Fault Major/Minor 242 EVENT DRIVEN
N/A N/A MH Device 22 Extend Fault Major/Minor 243 EVENT DRIVEN
N/A N/A MH Device 23 Extend Fault Major/Minor 244 EVENT DRIVEN
N/A N/A MH Device 24 Extend Fault Major/Minor 245 EVENT DRIVEN
N/A N/A MH Device 25 Extend Fault Major/Minor 246 EVENT DRIVEN
N/A N/A MH Device 26 Extend Fault Major/Minor 247 EVENT DRIVEN
N/A N/A MH Device 27 Extend Fault Major/Minor 248 EVENT DRIVEN
N/A N/A MH Device 28 Extend Fault Major/Minor 249 EVENT DRIVEN
N/A N/A MH Device 29 Extend Fault Major/Minor 250 EVENT DRIVEN
N/A N/A MH Device 30 Extend Fault Major/Minor 251 EVENT DRIVEN
N/A N/A MH Device 31 Extend Fault Major/Minor 252 EVENT DRIVEN
N/A N/A MH Device 32 Extend Fault Major/Minor 253 EVENT DRIVEN
N/A N/A MH Device 33 Extend Fault Major/Minor 254 EVENT DRIVEN
N/A N/A MH Device 34 Extend Fault Major/Minor 255 EVENT DRIVEN
Note: If a Material Handling Fault is disabled using the DF&C function, the appropriate application error bit will be posted as a MINOR fault indicating that the MAJOR fault is disabled. The Process Fault bit will remain low.
AS OF 1/12/2012 48 CUSW REL1.3
Printed copies are not source controlled
PLC LOGIC REFERENCE The 12PF program will utilize Allen-Bradley GuardLogix Processors with DeviceNet for PLC to Robot and Robot to PLC communications. Please reference the latest 12PF Library, distributed by DCX Controls Coordinators, for the robot related modules.
AS OF 1/12/2012 49 CUSW REL1.3
Printed copies are not source controlled
ROBOT PROGRAM NAMING
Robot program names shall follow the convention described by the table below:
Table 1. Program Names
Style # Program Name (8
char. max) Comment
(16 char. max) Program Description
Programs
1 STYLE001 Maint Style 1 (Maintenance Program) - User Specified
2 STYLE002 WeldGunForceChck User Specified - Weld Gun Force Check
3 STYLE003 Tip Change (Maintenance Program) - Executes motion and/or macro calls required to change the tips on the weld gun
4 STYLE004 Purge (Maintenance Program) - Executes motion and/or macro calls required to purge the dispense gun
5 STYLE005 Tip Burn In (Maintenance Program) - Executes motion and/or macro calls required to burn in the tips on the weld gun
6 STYLE006 Service Program (Maintenance Program) - Executes motion and/or macro calls required to move the robot to the service position
7 STYLE007 TipDress 1st Gun / Tip1BurnIN
(Maintenance Program) - Executes motion and/or macro calls required to dress the tips on the 1st gun
8 STYLE008 TipDress 2nd Gun / Tip2BurnIN
(Maintenance Program) - Executes motion and/or macro calls required to dress the tips on the 2nd gun
9 STYLE009 Tool Change (Maintenance Program) - Executes motion and/or macro calls required to change the tool on the robot
10 - 19 STYLE010 - STYLE019
User Specified User Specified
20 - 29 STYLE020 - STYLE029
User Specified User Specified
30 - 39 STYLE030 - STYLE039
User Specified User Specified
40 - 49 STYLE040 - STYLE049
User Specified User Specified
50 - 63 STYLE050 - STYLE063
User Specified User Specified - Future expansion
AS OF 1/12/2012 50 CUSW REL1.3
Printed copies are not source controlled
ROBOT INTERFERENCE ZONES
Zone Identification Summary/Definitions: Station / Work Area based zones. Zones 1, 2& 3: Station Zones are defined as the area where two or more robots are executing work on or exchanging (transferring) a work piece at a physical station. Examples of stations are turntables, work fixtures, holding bucks and transfers or shuttles. Work Area Zones are defined as the area where two or more robots are executing work on or exchanging (transferring) a work piece without the use of a physical station. Examples of this would be robot to robot hand off by the use of Geo-fector EOAT (End Of Arm Tooling). Station and Work Area Zones are applied using an non-alternating pattern. For example a robot would pick-up a part in Zone 1 then transfer it to Zone 2. The next robot would pick-up the part from Zone 1 then transfers it to Zone 2. This non-alternating pattern would continue with Zone 3 only being required for a robot that needs three Station or Work Area zones.
Transition Zones/Hand-off zones Zones 4 & 5: Transition Zones are when two or more robots, working side by side, are needed to move (transition) from one process area to another process area when a physical interference between the robots is present during the transition. For example welding robots moving from a geo weld position to a re-spot weld position would require some Transition zone protection. Hand-off Zones are used for robot to robot hand-off. Hand-off is when one robot loads the work piece from it EOAT directly onto the other robot‟s EOAT without the use of a station. Hand-off Zones are applied using an non-alternating pattern. For example a robot would pick-up a part in Zone 4 then transfers it to Zone 5. The next robot would pick-up the part from Zone 4 then transfers it to Zone 5 etc.
Process Interference Zones / Duty Zones Zones 6 thru 8: Process Interference Zones are defined as the zones around the work piece that the robots application is working around. For example two or more robots might need to cross each others path in order to complete its process on the work piece. In this case these Process Zones would be used to allow the robots to safely “chase” each other around the work piece. Duty Zones are defined as other Duties that the process or application requires but are in excess of the previous zone definitions. For example, gantry robots having a part transfer at a higher elevation then Zones 1-3 could use these zones like a Work Area Zone. Examples: Interference Zone Example 1: This example shows Zone 1 and 2 as Station Zones. Zones 4 & 5 are Transition Zones and Zones 6 – 8 as Process Interference Zones. Interference Zone Example 2: This example shows Zone 1 and 2 as Work Area Zones. Zone 4 is a hand-off Zone and Zones 6 & 7 are Process Interference Zones
AS OF 1/12/2012 51 CUSW REL1.3
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Interference Zone Example 1
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Interference Zone Example 2
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Interference Zone Example 3
The definitions described and show above, are to be followed as described and are not subject to interpretation. If the above definitions can not be applied to a specific application then approval from a Chrysler Robotics Engineer or Launch Technician will be required to redefine how Interference Zones are to be used. Reference Pictures Only See Standard Robot Logic Reference for Details.
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PLC / ROBOT TIMING DIAGRAMS
Robot Inputs
*Hold
Resume
Fault Reset (2)
Style1-Style64
Option1-Option4
Prod Start (3) (3)
Robot Outputs
RobotInAuto
RobotFaulted-ProcessFault
Robot Ready
ActiveStyle1-ActiveStyle64
Prg Paused
Prg Running
In Cycle
Option1Active-Option4Active
RobotAtHome
1) Robot is in a starting mode of faulted inbetween cycle 2) Fault Reset can be dropped after seeing Robot Ready go high 3) Style and option bits need to be set before Prod Start is set, Prod Start can be dropped when Prg Running goes high
New Cycle Start
Production Cycle
Production Cycle
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Robot Inputs
*Hold
Resume (5)
Fault Reset
Style1-Style64
Option1-Option4
Prod Start
Robot Outputs
RobotInAuto
RobotFaulted-ProcessFault
(4)
Robot Ready
ActiveStyle1-ActiveStyle64
Prg Paused
Prg Running
In Cycle
Option1Active-Option4Active
RobotAtHome
4) Fault occurs and robot sets RobotFaulted and/or Process Fault
5) Resume signal does not require Style Number or Option Bits
Pro
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Pro
du
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ycle
Pro
du
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ycle
Pro
du
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ycle
Stop and Resume from Fault
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Robot Inputs
*Hold (6)
Resume
Fault Reset
Style1-Style64
Option1-Option4
Prod Start
Robot Outputs
RobotInAuto
RobotFaulted-ProcessFault
Robot Ready
ActiveStyle1-ActiveStyle64
Prg Paused
Prg Running
In Cycle
Option1Active-Option4Active
RobotAtHome
6) When *Hold signal is lost, robot pauses program without faults
Stop and Resume from Hold
Pro
du
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Pro
du
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ycle
Pro
du
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ycle
Pro
du
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ycle
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REGISTER USAGE Register names shall be a maximum of 16 characters in length and the name shall reflect the purpose of the register or counter.
NUMERICAL REGISTER USAGE Numerical Registers are used for storage of Real or Integer values. The table below shows the registers that are reserved.
Table 2. Numerical Registers
Register Number Register Comment Register Description Preset Value
1 Current Tool ID Current Tool ID
2 Desired Tool ID Desired Tool ID
3 Devnet Status DeviceNet Device Status Check Result
4 DevnetConnRetry DeviceNet Connection Retries 3
5 Current Home Pos Home Position to Return to During Service Macro
6 CurrentFixtureID Current Fixture ID
7 DesiredFixtureID Desired Fixture ID
8 Line Number Line Number
9 Spare
10 SrvGunReserved
Reserved for ServoGun Tip Wear and Autotuning
11 SrvGunReserved
12 SrvGunReserved
13 SrvGunReserved
14 CompletedBurnIns Completed Number Burn Ins
15 RequiredBurnIns Required Number Burn Ins - set by user 3
16 ATISequenceStep Current Step of ATI Sequence
17 ATIRecovery ATI Recovery Method
18 Spare
19 Gun1BurnInSched Gun 1 Weld Schedule for Burn In
20 Gun2BurnInSched Gun 2 Weld Schedule for Burn In
21 Gun1 Spot Count Gun 1 Spot Weld Count
22 Gun1 Tip Dress Gun 1 Tip Dress
23 Gun2 Spot Count Gun 2 Spot Weld Count
24 Gun2 Tip Dress Gun 2 Tip Dress
25 TipWR Cycle CNT Tip Wear Cycle Count
26 TipWR Cycle MAX Tip Wear Max Cycles
27-39 Spare
40 NumWeldRetries Number of Weld Retries 1
41 ColGuardDefault Sensitivity Default Register for Collision Guard 100
42 ColGuardSensitiv Increased Sensitivity Register for Collision Guard 150
43-100 Spare
101 ToolModelNum Temporary Storage of Tool Model Number
102 1sRobot/StatNum Temporary Storage of 1's Digit of Robot/Station Number
103 10sRobot/StatNum Temporary Storage of 10's Digit of Robot/Station Number
104-129 Spare
130 ISRA Mode Vision Mode
131 ISRA Type Vision Vehicle Type
132 ISRA Subtype Vision Vehicle Sub
133 ISRA Color Vision Vehicle Color
134 ISRA PR Vision Ofset Index
135 ISRA Error Vision Error
136 ISRA Temp Vision Temp
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Register Number Register Comment Register Description Preset Value
137 ISRA Set Nominal ISRA Set Nominal
138 ISRA Vis Pos X ISRA Vis Pos X
139 ISRA Vis Pos Ext ISRA Vis Pos Ext
140 Rack Position Rack Position
141
142 ISRA Menu ANS ISRA Menu ANS
143
144
145 Scratch1 Scratch1
146 Scratch2 Scratch2
147 Scratch3 Scratch3
148
149 Part Rapid X Part Rapid X
150 Part Delta X(mm) Part Delta X(mm)
151 0th Part X 0th Part X
152 Calc'd Part X Calc'd Part X
153 Calc'd Part No Calc'd Part No
154 Search 1 Part X POS Search 1 Part X POS
155 Search 2 Part X POS Search 2 Part X POS
156 Search X POS DIF Search X POS DIF
157 Found Part X Found Part X
158 Found Part No Found Part No
159 Part No DIF Part No DIF
160 ForcChkBadMeas
161 ForcChkFailed
162 ForcChk1ShakFail
163 ForcChk2ShakFail
164 ForcChkFShakFail
165 ForcChkPartsRack
There are a total of 200 numerical registers. The user is free to use any other numerical register. The following is an example of using a numerical register in a teach pendant program. 10: R[1] = 34 ; 11: GO[3] = R[1] ; => Meaning Robot Group Output GO[3] = 34 value
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POSITION REGISTER USAGE The table below shows the position register list to be used on the WD project. Moving to these positions is handled using the appropriate macro listed in the macro section of this document.
Table 3. Position Registers
Position Register Number Position Register Comment Position Register Description
1 Home1 Home1
2 Home2 Home2
3 PouncePosition Pounce Position
4 M/HWaitPosition M/H Wait for Dropoff Position
5 ServicePosition Service Position
6 PurgePositionG1 Purge PositionG1
7 PurgePositionG2 Purge PositionG2
8 Spare
9 Spare
10 Spare
11 Spare
12 Spare
13 Spare
14 Spare
15 Spare
16 Spare
17 Spare
18 Spare
19 Spare
20
ReservedServoGun Reserved for Servo Gun Autotuning and Tip Wear Operations
21
22
23
24
25
26
27 ReservedSpotTeach Reserved for Servo Gun
28 Spare
29 Spare
30 Spare
31 Pick 1 Position PickUp Position #1
32 Drop 1 Position DropOff Position #1
33 Pick 2 Position PickUp Position #2
34 Drop 2 Position DropOff Position #2
35 Pick 3 Position PickUp Position #3
36 Drop 3 Position DropOff Position #3
37 Pick 4 Position PickUp Position #4
38 Drop 4 Position DropOff Position #4
39 Spare
40 Base Frame Base Frame
41 PF Low Lt Frame PF Low Lt Frame
42 PF Low Rt Frame PF Low Rt Frame
43 PF Up Lt Frame PF Up Lt Frame
44 PF Up Rt Frame PF Up Rt Frame
45 ?? Low Lt Frame ?? Low Lt Frame
46 ?? Low Rt Frame ?? Low Rt Frame
47 ?? Up Lt Frame ?? Up Lt Frame
48 ?? Up Rt Frame ?? Up Rt Frame
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Position Register Number Position Register Comment Position Register Description
49 Current Position Current Position
50 Offs Base Frame Offs Base Frame
51 Above Pick Above Pick
52 Spare
53 Spare
54 ISRA Vis Pos ISRA Vis Pos
55 PF Nom Vis Pos PF Nom Vis Pos
56 ?? Nom Vis Pos ?? Nom Vis Pos
57 Rack Nom Vis Pos Rack Nom Vis Pos
58 ISRA CAM1 CALPOS ISRA CAM1 CALPOS
59 ISRA CAM2 CALPOS ISRA CAM2 CALPOS
60 - 89 Spares
90 TCP Target Position
98 Payload ID Position Starting Position to Start Payload ID
99 ZERO Position Robot Zero Mastering Position
100 Spare
101 Nest 1 Drop Position where the tool changer decouples tool 1.
102 Nest 2 Drop Position where the tool changer decouples tool 2.
103 Nest 3 Drop Position where the tool changer decouples tool 3.
104 Nest 4 Drop Position where the tool changer decouples tool 4.
105 Spare
106 Nest 1 Pick Position where the tool changer couples tool 1.
107 Nest 2 Pick Position where the tool changer couples tool 2.
108 Nest 3 Pick Position where the tool changer couples tool 3.
109 Nest 4 Pick Position where the tool changer couples tool 4.
110 Spare
111 Tool Offset 1 Offset used for approach and retreat positions of the robot during the drop sequence.
112 Tool Offset 2 Offset used for approach and retreat positions of the robot during the drop sequence.
113 Tool Offset 3 Offset used for approach and retreat positions of the robot during the drop sequence.
114 Tool Offset 4 Offset used for approach and retreat positions of the robot during the drop sequence.
115 Tool Offset 5 Offset used for approach and retreat positions of the robot during the drop sequence.
116 Tool Offset 6 Offset used for approach and retreat positions of the robot during the drop sequence.
117 Tool Offset 7 Offset used for approach and retreat positions of the robot during the drop sequence.
118 Tool Offset 8 Offset used for approach and retreat positions of the robot during the drop sequence.
119-200 Spares
Note 1: The robot must be able to move between the different Home positions in a single move without causing damage to the robot, dressout, or tooling. Note 2: Only use multiple home positions when performing a Change-out robot program (tool changer application). If no tool change application, the preferred method is only one home position, unless if a cycle time issue comes up.
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USER ALARMS User Alarms are used to post an alarm and fault the robot from within a teach pendant program or macro. The table below shows the user alarms that are used for the PF project.
Table 4. User Alarms
User Alarm Number User Alarm Comment User Alarm Description
1 ToolNotPresent No tool present
2 Invalid Tool Requested Invalid tool requested for pick
3 Unexpected Tool Present Unexpected tool present for drop
4 Tool Nest not Empty Tool nest is not empty, can not drop tool
5 Tool Nest is Empty No tool in nest, can not pick tool
6 DNetPower Not On Apply DNet power
7 Aux Power Not On Apply aux power
8 ReadyToLock1 Not On Tool not positioned properly
9 ReadyToLock2 Not On Tool not positioned properly
10 ToolStndIntlk1 Not On TSI limit switch fault
11 ToolStndIntlk2 Not On TSI limit switch fault
12 RTL Sensor State Mismatch RTL sensor states don't match
13 TSIV Sensor State Mismatch TSIV sensor states don't match
14 Latch Overload/Short Circuit Short circuit or overload on latch solenoid output
15 Unlatch Overload/ShortCircuit Short circuit or overload on unlatch solenoid output
16 Spare Overload/Short Circuit Short circuit or overload on spare solenoid output
17 RTLV / RTL Mismatch Mismatch condition between RTLV and RTL inputs
18 TSRV / TSIV Mismatch Mismatch condition between TSIV and TSRV inputs
19 UnsafeUnlatch Unlatch command received resulting in an unsafe tool release and therefore was not processed.
20 LckUnlckSensFlt-Both High Locked and Unlock inputs high at same time
21 LatchNotComplt-Latch Timeout Timeout on locked input after latch command
22 UnltchNtComplt-UnlatchTimeout Timeout on unlocked input after unlatch command
23 TSIVFault-Switch Failed High Failure of TSIV limit switch(es) in high position
24 RTLFault-Switch Failed High Failure of RTL sensor(s) in high position
25 CommError-Master to Tool Communication error between master and tool modules
26 LckOrUnlckSensIncorrectState Lock or Unlock Sensor in Incorrect State - Possible Failed Sensor
27 - 79 Spare
80 ISRA: Reset Errors Timeout ISRA: Reset Errors Timeout
81 ISRA: Change Auto/Ready Prep ISRA: Change Auto/Ready Prep
82 ISRA: Change Auto Handshake ISRA: Change Auto Handshake
83 ISRA: Ready Prep Timeout ISRA: Ready Prep Timeout
84 ISRA: Meas Data OK Timeout ISRA: Meas Data OK Timeout
85 ISRA: Result Transfer ON ISRA: Result Transfer ON
86 ISRA: Result Transfer OFF ISRA: Result Transfer OFF
87 ISRA: Meas Still Running ISRA: Meas Still Running
88 ISRA: Wrong Op Mode Entered ISRA: Wrong Op Mode Entered
89
90 ISRA: Err Setting Meas Data ISRA: Err Setting Meas Data
91 ISRA: Err Starting Meas ISRA: Err Starting Meas
92 ISRA: Features/Tol Error ISRA: Features/Tol Error
93 ISRA: Measurement Error ISRA: Measurement Error
94
95 ISRA: Rack NOT OK ISRA: Rack NOT OK
There are a total of 50 user alarms. The user is free to use any other user alarm. The following is an example of using a user alarm in a teach pendant program. 10: UALM[1] ; 11: UALM[4] ;
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REFERENCE POSITION USAGE
Reference Positions are global positions that can set an output automatically when the robot encoder values indicate that the robot is at the position. This automatic checking is done where the robot is jogged to a position or moved via a macro or program. The table below shows the reference positions to be used on the PF project.
Table 5. Reference Positions
Reference Position Number Position Name At Position Digital Output
1 Home1 27
2 Home2 User Specified
3 - 10 Spare User Specified
11 RobotAtUserPos1 66
12 RobotAtUserPos2 67
13 RobotAtUserPos3 68
14 RobotAtUserPos4 69
15 RobotAtUserPos5 70
23 UnCouple Tool Position 1 646
24 UnCouple Tool Position 2 647
25 UnCouple Tool Position 3 648
26 UnCouple Tool Position 4 649
27 UnCouple Tool Position 5 650
28 UnCouple Tool Position 6 651
29 UnCouple Tool Position 7 652
30 UnCouple Tool Position 8 653
Note 1: The robot must be able to move between the different Home positions in a single move without causing damage to the robot, dressout, or tooling. Note 2: Only use multiple home positions when performing a Change-out robot program (tool changer application). If no tool change application, the preferred method is only one home position, unless if a cycle time issue comes up. Note 3: Housekeeping macros (HOME_IO) are run when the robot is in range of a reference position set as a valid home position. Reference Position #1 must be set as a valid home position to execute HOME_IO after normal program execution. HOME_IO execution follows normal program execution when a robot is moved from a non home position to a valid home position.
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INTERCONNECTS The I/O Interconnect feature allows the robot to output the states of digital inputs to notify external devices of the state of those inputs. The interconnect tables displays the inputs that are mapped to outputs. For example, per the configuration in the table below if DI[95] was to turn on, the robot would then turn on DO[416]. If DI[95] then turns off, DO[416] also turns off. I/O is interconnected based on the configuration of the robot. For example, a material handling robot would have Input 513 interconnected to Output 77. It would not have Input 204 interconnected to Output 102 because these I/O points are used for spot welding robots. The table below shows the interconnects that are used for the PF project.
Table 6. Interconnects
INTERCONNECTS
Table # Application Type Input Description Output Description 3 Reserved DI-DO DI
DO
7 Reserved DI-DO DI
DO 39 MH DI-DO DI625 Air OK DO91 AirOK
40 MH DI-DO DI626 Air Aceptable Range DO92 AirPressAcptRng
41 MH DI-DO DI513 Part1Present DO77 RobotPartPres1
42 MH DI-DO DI514 Part2Present DO78 RobotPartPres2
43 MH DI-DO DI515 Part3Present DO79 RobotPartPres3
44 MH DI-DO DI516 Part4Present DO80 RobotPartPres4
45 MH DI-DO DI529 Part5Present DO81 RobotPartPres5
46 MH DI-DO DI530 Part6Present DO82 RobotPartPres6
47 MH DI-DO DI531 Part7Present DO83 RobotPartPres7
48 MH DI-DO DI532 Part8Present DO84 RobotPartPres8
49 MH DI-DO DI545 Part9Present DO85 RobotPartPres9
50 MH DI-DO DI546 Part10Present DO86 RobotPartPres10
55 Tool Changing DI-DO DI664 ToolIDSwtch1Bit1 DO116 ToolIDOnWrist1
56 Tool Changing DI-DO DI665 ToolIDSwtch1Bit2 DO117 ToolIDOnWrist2
57 Tool Changing DI-DO DI666 ToolIDSwtch1Bit4 DO118 ToolIDOnWrist4
INTERCONNECTS
Table # Type Input Description Output Description 13 Spot Welding SI-DO SI12 OVERTEMP_SWG1 DO909 XFORMTEMPOk1
14 Spot Welding SI-DO SI13 OVERTEMP_SWG2 DO910 XFORMTEMPOk2
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MACROS Macro programs can be run standalone, but are intended to be used as subroutines which are called from the main style program. Defining a program as a macro program is done by setting the program type to “Macro” in the program header. When these programs are called from a main style program, the program pointer jumps to the subroutine. Similarly, when the subroutine is complete, the program pointer jumps back to the next line in the main style program. Macro programs can be set to either prohibit or allow robot motion statements. When motion statements are prohibited, the macro program can be manually executed while a robot fault is active. Therefore, it is recommended that macro programs that only execute I/O signals be set to prohibit motion statements (i.e. open/close gripper macro programs). Prohibiting motion statements in a macro program is done by setting all available motion groups to “*” in the program header. Allowing motion statements in a macro program is done by setting the appropriate motion groups to “1”. The user is free to place additional macros into the macro table provided they do not take up a position reserved by the macro table listed below. FANUC Spottool+ standard macros such as tip wear compensation are not called out in the macro table. These macros are automatically loaded on the robot at time of software load.
Table 7. Macros
Macro Table Position
Macro Name (8 Char. Max)
Macro Comment (16 Char. Max) Macro Description
Macros
1 HOME_IO Setup Outputs Handles I/O for start of next cycle (housekeeping)
MF 1
APP_IO SetApplicationIO Setup all application specific inputs and outputs
ATI_CHCK Check ATI Errors Handles ATI errors experienced during the tool pick and tool drop processes
CHK_TOOL Check Tool Checks for the correct tool on the wrist
ENTRZON1 Enter Zone 1 Handles IO for zone entering
ENTRZON2 Enter Zone 2 Handles IO for zone entering
ENTRZON3 Enter Zone 3 Handles IO for zone entering
ENTRZON4 Enter Zone 4 Handles IO for zone entering
ENTRZON5 Enter Zone 5 Handles IO for zone entering
ENTRZON6 Enter Zone 6 Handles IO for zone entering
ENTRZON7 Enter Zone 7 Handles IO for zone entering
ENTRZON8 Enter Zone 8 Handles IO for zone entering
ENTRZON9 Enter Zone 9 Handles IO for zone entering
MOV_HOME Move to Home Executes motion to move the robot home from the current position
MVHMPNCE MoveHomeFromPnce Executes motion to move the robot home from the pounce position
NST1DROP Drop Tool Nest 1 Executes motion and/or macro calls required to drop tool 1 in nest 1
NST2DROP Drop Tool Nest 2 Executes motion and/or macro calls required to drop tool 2 in nest 2
NST3DROP Drop Tool Nest 3 Executes motion and/or macro calls required to drop tool 3 in nest 3
NST4DROP Drop Tool Nest 4 Executes motion and/or macro calls required to drop tool 4 in nest 4
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Macro Table Position
Macro Name (8 Char. Max)
Macro Comment (16 Char. Max) Macro Description
NST1PICK Pick Tool Nest 1 Executes motion and/or macro calls required to pick tool 1 from nest 1
NST2PICK Pick Tool Nest 2 Executes motion and/or macro calls required to pick tool 2 from nest 2
NST3PICK Pick Tool Nest 3 Executes motion and/or macro calls required to pick tool 3 from nest 3
NST4PICK Pick Tool Nest 4 Executes motion and/or macro calls required to pick tool 4 from nest 4
PED_DISP Ped Dispense Executes motion and/or macro calls required to perform dispensing with a pedestal mounted gun
PED_SPOT Ped Spot Weld Executes motion and/or macro calls required to perform spot welding with a pedestal mounted weld gun
PED_STUD Ped Stud Weld Executes motion and/or macro calls required to perform stud welding with a pedestal mounted gun
PREPDROP Tool Drop Prep Executes motion and/or macro calls required to prepare to drop the tool on the wrist in its nest
PREPPICK Tool Pick Prep Executes motion and/or macro calls required to prepare to pick a tool from its nest
PRGPDGN1 Purge Ped Gun 1 Executes motion and/or macro calls required to perform a purge on pedestal mounted dispense gun 1
RST_STPR Reset Stepper Handles IO for resetting the spot weld stepper motor
TPBURNIN Tip Burn In Executes motion and/or macro calls required to perform a tip burn in on a servo weld gun
TPCHNGPD TipChangePedGun Executes motion and/or macro calls required to perform a tip change on a pedestal mounted weld gun
TPDRSPD TipDressPedGun Executes motion and/or macro calls required to perform a tip dress with a pedestal mount weld gun
TPDRSGN1 DressCarriedGun1 Executes motion and/or macro calls required to perform a tip dress on carried weld gun 1
TPDRSGN2 DressCarriedGun2 Executes motion and/or macro calls required to perform a tip dress on carried weld gun 2
10 - 11 Reserved for SpotTool+
18 Reserved for SpotTool+
109 - 120 Reserved for SpotTool+
130 - 140 Reserved for SpotTool+
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FLOW CHART EXAMPLES Contained in the following pages are flow charts of the processes required for the PF program. The information contained in each section is for REFERENCE ONLY.
Flow Chart Legend
Connector: Off Page
Connector: On Page
Move: Servo movement called
in logic
Decision: Logic decision
Process: Logic statement
Data: Data/Input from an
external device is required to
process this step‟s logic
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Material Handling
Start
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Verify Part not
Present (Macro)
A
Move to Pounce
Set at Pounce DO[25]
Set Desired Tool ID R[2]
Tool Changer Applications Only
Open the Gripper
and Verify Open
(Macro)
Check Tool (Macro)
Set additional
gripper states (if
necessary) (Macro)
No Tool
Changer
Go to Work or
Return Home
From
Pounce?
Move Home from
Pounce
(call Macro)
Return Home
DI[25]
Go To Work DI[31]
Wait for go to
Pickup 1 DI[49]
Reset Clear of Pickup 1
DO[49]
Reset Clear to Transfer
DO[31]
Zone Check (if
necessary) (Macro)
Set Robot at Work DO[18]
Reset Robot at Pounce
DO[25]
Move Over
Pickup 1
A
B
Verify Tool is
Correct (Macro)
Set MH Gripper (if
necessary) (Macro)
Verify Part not
Present (Macro)
End
Reset Collision Guard
Sensitivity to Default R[41]
Reset DO[89]
Reset DO[94]
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Material Handling (cont’d)
B
Move to Pickup 1
Check for Part
Present (Macro)
Open the Gripper
and Verify Open
(Macro)
Set Reposition Tooling GO[2]
Wait for Tooling
Repositioned
GI[5]
Set At Pickup 1 DO[50]
Close the gripper and verify
closed (Macro)
Select Robot Payload with
Part
Reset Reposition Tooling
GO[2]
Wait for Tooling
Repositioned
GI[5]
Move Clear of
Fixture Part
Presence
C
Note: This robot
movement must be
of “FINE” type
Note: Reposition Tooling
bits only required when
Robot to Robot/Fixture
handshaking is needed
Note: Receiving robot or
fixture will always set the
Reposition Tooling bit to
the delivering robot or
fixture
Note: Validate open
before moving
Note: Set reposition
tooling handshake may
be required either before
or after gripper is closed
Set Collision Guard
Sensitivity R[42]
Note: Collision Guard
sensitivity increased prior
to moving into tooling to
help prevent damage if a
collision occurs
Wait for Exit
Pickup 1 DI[50]
Check for Part
Present (if
necessary) (Macro)
Note: Lessons learned,
PLC is looking for a part
in the robot gripper and
has not been droppedReset Collision Guard
Sensitivity to Default R[41]
Note: Material Handling
functions may require
process recovery. Refer
to the MH process
recovery section.
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Material Handling (cont’d)
Reset at Pickup 1 DO[50]
D
C
Zone Check (if
necessary) (Macro)
Wait for go to
Dropoff 1 DI[51]
Move
Move Over
Dropoff 1
Verify Tool is
Correct (Macro)
Set Clear of Interference
Zone (if necessary) DO[33]
Set Clear of Pickup 1 DO[49]
Set Clear to Transfer DO[31]
Reset Clear of Dropoff 1
DO[51]
Reset Clear to Transfer
DO[31]
Process Applications(as required)
Dispense
Inspection
Spot Weld
Stud Weld
Move Clear of
Pickup 1
Set at Dropoff 1 DO[52]
Move to Dropoff
1
Set Collision Guard
Sensitivity R[42]
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Material Handling (cont’d)
D
Wait for
Reposition
Tooling GI[5]
Set Tooling Repositioned
GO[2]
Open the Gripper (Macro)
Select Payload without
Part(s), Tool Frame and User
Frame
Move Clear of
Robot Part
Present
Wait for Exit
Dropoff 1 DI[52]
(if necessary)
Reset Tooling Repositioned
GO[2]
Reset at Dropoff 1 DO[52]
Verify Parts Not
Present
(Macro)
Move Clear of
Dropoff 1
E
Set Work Complete DO[19]
Wait for Work
Complete Ack.
DI[32]
Reset Work Complete DO[19]
End
E
Note: Assumes robot
drops part to fixture
Note: This robot
movement must be
of “FINE” type.
Note: Receiving robot or
fixture will always set the
Reposition Tooling bit to
the delivering robot or
fixture
Note: Reposition Tooling
bits only required when
Robot to Robot/Fixture
handshaking is needed
Set Clear of Dropoff 1
DO[51]
Set Clear of Interference
Zone (if necessary) DO[33]
Reset Collision Guard
Sensitivity to Default R[41]
Move Home
(Macro)
Set Clear to Transfer DO[31]
Reset Robot at Work DO[18]
Move Clear of
Transfer
Note: Material Handling
functions may require
process recovery. Refer
to the MH process
recovery section.
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Material Handling (cont’d)
Abort Pick/Abort Override Example
(if required)
Note: Abort outputs are
automatically set when
the user selects a
designated recovery
option during standard
material handling fault
recovery (DO[89,94]).
The user must manually
reset these outputs when
the recovery process is
complete.
Abort Pick or
Abort Over Ride
Requested?
DO[89,94]
No
Yes
MH Function Macro
(Ex: Check Part
Present)
Continue Standard Material
Handling Process
User Specified Macro
(Ex: Abort Pick)
Jump to Program Label
(Ex: End Program)
From Standard Material
Handling Process
AS OF 1/12/2012 72 CUSW REL1.3
Printed copies are not source controlled
Dispense
Start
A
Move to Pounce
Set at Pounce DO[25]
Go to Work or
Return Home
From
Pounce?Move Home from
Pounce (Macro)
Return Home
DI[25]
Go To Work DI[31]
Zone Check (if
necessary) (Macro)
Set Robot at Work DO[18]
Reset Robot at Pounce DO[25]
Move To Seal
Start and Turn
on Gun
Reset Clear to Transfer
DO[31]
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Move Along Path
Move To Seal
End and Turn off
Gun
A
Wait for Work
Complete Ack.
DI[32]
Reset Work Complete DO[19]End
Move Home
(Macro)
Set Work Complete DO[19]
Set Clear to Transfer DO[31]
Set Clear of Zone DO[33]
End
Reset Collision Guard
Sensitivity R[41]
Set Collision Guard
Sensitivity R[42]
Note: Collision Guard
sensitivity increased prior
to moving into tooling to
help prevent damage if a
collision occurs
Reset Collision Guard
Sensitivity to Default R[41]
Move Clear of
Part
Wait for
Dispenser Ready
DI[385]
Set Dispense Robot in
Process DO[393]
Set Dispense Style GO[31]
Set Dispense Style Strobe
DO[394]
Wait for
Dispense In
Process DI[386]
Reset Dispense Style
GO[31]
Reset Dispense Style Strobe
DO[394]
Set Dispense Complete
DO[401]
Reset Dispense Complete
DO[401]
Reset Dispense Robot in
Process DO[393]
Wait for Dispense
Vol. OK
Note: The Nordson
controller requires approx
500ms between the final
gun off command and
setting dispense
complete. Therefore a
move clear of part is
performed between these
commands to allow this
time to elapse.
Pre-processing for Dispense
Equipment
Post-processing for
Dispense Equipment
Note: The Nordson
controller requires 100ms
delay time between
setting robot in process,
dispense style, and
dispense style strobe.
Wait statements are used
here to allow the Nordson
to see the delay.
Wait 100ms
Wait 100ms
AS OF 1/12/2012 73 CUSW REL1.3
Printed copies are not source controlled
Spot Welding
Start
A
Move to Pounce
Set at Pounce DO[25]
Go to Work or
Return Home
From
Pounce?
Move Home from
Pounce (Macro)
Return Home
DI[25]
Go To Work DI[31]
Zone Check (if
necessary) (Macro)
Set Robot at Work DO[18]
Reset Robot at Pounce DO[25]
Move To Weld 1
Select Schedule, Weld 1
Move To Weld 2
Select Schedule, Weld 2
Move Clear of
Clamps
Reset Clear to Transfer
DO[31]
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
End
AS OF 1/12/2012 74 CUSW REL1.3
Printed copies are not source controlled
Spot Welding (cont’d)
AS OF 1/12/2012 75 CUSW REL1.3
Printed copies are not source controlled
Stud Welding
Start
A
Move to Pounce
Set at Pounce DO[25]
Go to Work or
Return Home
From
Pounce?
Move Home from
Pounce (Macro)
Return Home
DI[25]
Go To Work DI[31]
Zone Check (if
necessary) (Macro)
Set Robot at Work DO[18]
Reset Robot at Pounce DO[25]
Move To Weld 1
Select Schedule, Weld 1
Move To Weld 2
Select Schedule, Weld 2
Move Clear of
Clamps
Reset Clear to Transfer
DO[31]
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
End
A
Wait for Work
Complete Ack.
DI[32]
Reset Work Complete DO[19]
End
Move Home
(Macro)
Set Work Complete DO[19]
Set Clear to Transfer DO[31]
Set Clear of Zone DO[33]
Set Clear to Unclamp Early
DO[65]
AS OF 1/12/2012 76 CUSW REL1.3
Printed copies are not source controlled
Tip Change (Style #3)
Start
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Move to Tip
Change Position
Set Robot at Service DO[26]
Set Ready for Tip Change
DO[30]
Wait for Service
Complete DI[26]
Move Dress
Approach (if
necessary)
Note: Tip dress macros
perform burn in and wear
compensation after dress.
Refer to macros for
details.
Note: Tip wear compensation
to be performed without
measurement error checking.
Reset Robot at Service DO[26]
Reset Ready for Tip Change
DO[30]
Seat Caps Gun 1 (Macro)
Do Tip Wear Compensation
Gun 1 (Macro)
Reset Stepper (Macro)
Move Dress
Approach (if
necessary)
Do Tip Dress Gun 1 –
Schedule 0 (Macro)Note: A tip dress is
performed prior to cap
change to allow operator
to verify tip dresser is
properly dressing caps.Reset Tip Dress Complete
DO[29]
Pulse W1 Water Off DO[587]
Move Home
(Macro)End
Do Tip Dress Gun 1 –
(Macro)
Pulse W1 Reset Water Saver
DO[586]
Note: Tip Dress Macros
use an argument call for
the burn in schedule.
Schedule 0 skips the burn
in.
DELAY for TipDress
Complete (wait 1.0 sec)
Wait W1OKToWeld DI[785]=OFF
AND W1ValveClosed DI[786]=ON
Note: 4.0 sec puls
required to allow the
watersaver to turn OFF
and Blead down.
Wait W1OKtoWeld
DI[785]=ON
AS OF 1/12/2012 77 CUSW REL1.3
Printed copies are not source controlled
Purge (Style #4)
Start
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Pre-processing for Dispense
Equipment
Set Ext Purge 1 in Progress
DO[97]
End
Reset Ext Purge 1 in
Progress DO[97]
Set Dispense 1 Purge
DO[416]
Wait „X‟ Seconds
Reset Dispense 1 Purge
DO[416]
Post-processing for
Dispense Equipment
Home IO (if necessary)
(Macro)
Note: Home IO may
need to be manually
initiated if the style
program does not have
any robot motion.
AS OF 1/12/2012 78 CUSW REL1.3
Printed copies are not source controlled
Tip Burn In (Style #5)
Start
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Move to Service
Position (if
necessary)
Move Home
(Macro) (if
necessary)
End
Tip Burn In (Macro)
Home IO
(Macro) (if
necessary)
AS OF 1/12/2012 79 CUSW REL1.3
Printed copies are not source controlled
Service (Style #6)
Start
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Move to Service
Position
Set Robot at Service DO[26]
Wait for Service
Complete Req.
DI[26]
Reset Robot at Service DO[26]
Move Home
(Macro)
End
AS OF 1/12/2012 80 CUSW REL1.3
Printed copies are not source controlled
Tip Dress Gun 1 (Style #7)
Start
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Move Home
(Macro)
Tip Dress Gun 1 – (Macro)
End
Approach Move
(if necessary)
Note: Tip dress macros
perform burn in and wear
compensation after dress.
Refer to macros for
details.
Note: Tip Dress Macros
use an argument call for
the burn in schedule.
Schedule 0 skips the burn
in.
AS OF 1/12/2012 81 CUSW REL1.3
Printed copies are not source controlled
Tip Dress Gun 2 (Style #8)
Start
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Move Home
(Macro)
Tip Dress Gun 2 – (Macro)
End
Approach Move
(if necessary)
Note: Tip dress macros
perform burn in and wear
compensation after dress.
Refer to macros for
details.
Note: Tip Dress Macros
use an argument call for
the burn in schedule.
Schedule 0 skips the burn
in.
AS OF 1/12/2012 82 CUSW REL1.3
Printed copies are not source controlled
Tool Change (Style #9)
Start
Set Robot Payload, Tool
Frame, and User Frame
Acknowledge Style GO[1]
Setup Application Specific
I/O (Macro)
Set Desired Tool ID GI[41]
End
Move Home
(Macro)
Check Tool (Macro)
AS OF 1/12/2012 83 CUSW REL1.3
Printed copies are not source controlled
Set Application IO (Macro)
Start
Set Application Specific IO
End
AS OF 1/12/2012 84 CUSW REL1.3
Printed copies are not source controlled
Check ATI Errors (Macro)
Start
Select Current Sequence
AR[1]
Reset Clear Errors DO[635]
Reset Latch Tool DO[632] Set Clear Errors DO[635]
Set ATI Recovery Method
R[17]
Reset Unlatch Tool DO[633] Wait „x‟ seconds for ATI to
reset
ATI Error
Present?
End
Post User Alarm for ATI Error
and Pause Program
Select
Recovery
Method R[17]
A
Reset Clear Errors DO[635]
Set Clear Errors DO[635]
Wait „x‟ seconds for ATI to
reset
A
End
No
Yes
Sequence List AR[1]:
A. Ready to Pick/Latch/Unlatch
B. Ready to Latch
C. Exit Pick/Ready to Drop/Exit Drop
D. Ready to Unlatch
R[17]=1 R[17]=0
Note: This recovery method
will retry the latch or unlatch
operation in the pick or drop
macro upon exiting.
AS OF 1/12/2012 85 CUSW REL1.3
Printed copies are not source controlled
Check Tool (Macro)
Start
Pick Preparation and Pick
Tool (Macro)
Set Tool ID R[1], Line
Number R[8], and Tool ID for
PLC GO[3]
Is Tool on
Wrist? DI[644]
R[1]
Yes
No
Drop Preparation and Drop
Tool (Macro)
Does Current
Tool ID Match
Desired Tool
ID?
NoEnd
Yes
AS OF 1/12/2012 86 CUSW REL1.3
Printed copies are not source controlled
Drop Tool Nest 1 (Macro)
Start
Move to Tool
Nest Perch
Wait for Clear to
Enter Tool Nest
DI[81]
Set Request to Enter Tool
Nest DO[71]
Reset Request to Enter Tool
Nest DO[71]
Reset Clear of Tool Nest
DO[72]
Reset Out of Nest DO[637]
Note: Turn Out of Nest off
before TSIV switches are
made.
When the Out of Nest Output is
set high, the tool changer
globally disables the unlatch
command. This output must
be turned off to unlatch the tool
changer.
Move to Tool
Nest
Wait for Tool in
Nest 1 DI[73]
A
ATI State Check – Sequence
5 (Macro)
ATI State Check – Sequence
6 (Macro)
ATI General
Error DO[645]
High?
Yes
No
Note: (if applicable) Tool nest
1 approach and retreat
positions are to use the same
position as the couple position,
PR[6]. This position is then
offset by a distance using a
tool offset via position register,
PR[14].
Set Robot UTOOL and
UFRAME
Clear ATI Errors
DO[635]
Set Tool Device Offline
(Macro)
AS OF 1/12/2012 87 CUSW REL1.3
Printed copies are not source controlled
Drop Tool Nest 1 (cont’d)
EndMove Clear of
Tool Nest
Move Clear of
Tool in Nest
Inputs
Wait for Tool in
Nest 1 DI[73]
Reset Unlatch Tool DO[633]
A
ATI State Check – Sequence
8 (Macro)
Set Unlatch Tool DO[633]
Reset Latch Tool DO[632]
ATI State Check – Sequence
7 (Macro)
General Error DO[645]
Tool Unlocked DI[633]
Not Tool Locked DI[632]
ATI Unlatched
or General
Error?
ATI General
Error DO[645]
High?
Yes
No
Set Out of Nest DO[637]
Move 4 Inches
Above Clear of
Tool in Nest
Wait for Tool in
Nest 1 DI[73]
Note: Check for
disengagement of
tool changer
Set Robot Payload without
Tool
Note: (if applicable) Tool nest
1 approach and retreat
positions are to use the same
position as the couple position,
PR[6]. This position is then
offset by a distance using a
tool offset via position register,
PR[14].
This move must be 1 inch
further than complete
separation of the tool and be
of “FINE” type
RbtOKtoUnCouple DO[654]
Note:
In the robot ladder logic, PMC the following logic is
added: (Even if you ONLY have one tool, you must
define a Reference Position (below) in order to
UnCouple a tool.)
IF DO[646:UnCoupleToolPos1]=ON ReferncePos[11]
or DO[647:UnCoupleToolPos2]=ON ReferncePos[12]
or DO[648:UnCoupleToolPos3]=ON ReferncePos[13]
or DO[649:UnCoupleToolPos4]=ON ReferncePos[14]
or DO[650:UnCoupleToolPos5]=ON ReferncePos[15]
or DO[651:UnCoupleToolPos6]=ON ReferncePos[16]
or DO[652:UnCoupleToolPos7]=ON ReferncePos[17]
or DO[653:UnCoupleToolPos8]=ON ReferncePos[18]
THEN
turn DO[RbtOKtoUnCouple]=ON
Code in KAREL to Unlock:
IF (DO[637] = OFF) AND (DO[633]+) AND
(DO[654]=ON)
THEN DO[633]=ON
Note: You do NOT need to set
this DO[654] output in robot
TP, this will be handled in
robot code. It is FYI for you.
Unlatch
DI[633] High?
Yes No - Timeout
Set Robot UTOOL and
UFRAME
Clear ATI Errors
DO[635]
Set Robot UTOOL and
UFRAME
AS OF 1/12/2012 88 CUSW REL1.3
Printed copies are not source controlled
Enter Zone 1 (Macro)
Start
Reset Clear of Zone 1
DO[33]
End
Wait for OK to
Enter Zone 1
DI[33]
Home IO (Macro)
Start
Set Housekeeping Outputs
End
Move Home (Macro)
Start
Move Home
End
NOTE: Fine Move Required
Call Get_HOME (Karel Program)
NOTE: Get_Home Karel
program will copy the position
taught in Reference position to
PR[Home]
Move Home From Pounce (Macro)
Start
Move Home
From Pounce
End
AS OF 1/12/2012 89 CUSW REL1.3
Printed copies are not source controlled
Pick Tool Nest 1 (Macro)
Start
Move to Tool
Nest Perch
Wait for Clear to
Enter Tool Nest
DI[81]
Set Request to Enter Tool
Nest DO[71]
Reset Request to Enter Tool
Nest DO[71]
Reset Clear of Tool Nest
DO[72]
Move to Tool
Nest Approach
Reset Out of Nest DO[637]
Set Unlatch Tool DO[633]
Reset Latch Tool DO[632]
Move to Tool
Nest
A
ATI State Check – Sequence
1 (Macro)
ATI State Check – Sequence
2 (Macro)
ATI Unlatched
or Error
Posted?
General Error DO[645]
Tool Unlocked
DI[633]
Tool Locked
and Tool
Unlocked
Low?
Yes
No
User Alarm – Lock or Unlock
Sensor Incorrect State
Note: (if applicable) Tool nest
1 approach and retreat
positions are to use the same
position as the couple position,
PR[6]. This position is then
offset by a distance using a
tool offset via position register,
PR[10].
Note: Turn Out of Nest off
before TSI switches are made.
When the Out of Nest Output is
set high, the tool changer
globally disables the unlatch
command. This output must
be turned off to unlatch the tool
changer.
Set Robot UTOOL and
UFRAME
Clear ATI Errors
DO[635]
Unlatch
DI[633] High?
Yes No - Timeout
AS OF 1/12/2012 90 CUSW REL1.3
Printed copies are not source controlled
Pick Tool Nest 1 (cont’d)
A
Reset Unlatch Tool DO[633]
Set Latch Tool DO[632]
Move Clear of
Tool in Nest
Inputs
Set Out Of Nest DO[637]Move Clear of
Tool Nest
End
Is Tool ID
correct?
Yes
No
User Alarm – Unexpected
Tool Present
End
ATI State Check – Sequence
3 (Macro)
ATI State Check – Sequence
4 (Macro)
General Error DO[645]
Tool Locked DI[632]
Not Tool Unlocked DI[633]
ATI Latched
or Error
Posted?
ATI General
Error DO[645]
High?
Yes
No
Set Robot Payload with Tool
Note: (if applicable) Tool nest
1 approach and retreat
positions are to use the same
position as the couple position,
PR[6]. This position is then
offset by a distance using a
tool offset via position register,
PR[10].
Set Tool Device Online
(Macro)
Latch DI[632]
High?
Yes No - Timeout
Set Robot UTOOL and
UFRAME
Set Robot UTOOL and
UFRAME
Move Clear of
Tool NestCheck Device
Online
Set Tool Device Online
(Macro)
Yes
No
AS OF 1/12/2012 91 CUSW REL1.3
Printed copies are not source controlled
Process Application Macros (Spot, Dispense, Stud)
MH Ped Spot Weld
Tip Dress, Tip
Change, Burn
In, Service or
Go To
Dropoff?
Tip Dress Ped Gun –
Schedule 62 (Macro)
Tip Dress
DI[28]Tip Change Ped Gun
(Macro)
Tip Change
DI[105]
Note: Refer to flow charts
for tip change and tip
dress macro details
Move To Weld 1
Select Schedule, Weld 1
Move To Weld 2
Select Schedule, Weld 2
Move Clear of
Ped Welder
Start
End
Dropoff 1
DI[51]Tip Dress Ped Gun –
Schedule 0 (Macro)
Note: A tip dress is
performed prior to tip
change to allow operator
to verify tip dresser is
properly dressing caps.
Reset Tip Dress Complete
DO[29]
Tip Burn In (Macro)
Tip Burn In
DI[104]
Tip Dress Ped Gun –
Schedule 58 (Macro)
Note: Tip Dress Macros
use an argument call for
the burn in schedule.
Schedule 0 skips the burn
in.
MH Service with Part –
(Macro)
Service Request DI[27]
AS OF 1/12/2012 92 CUSW REL1.3
Printed copies are not source controlled
Process Application Macros (cont’d)
Move To Seal
Start and Turn
on Gun
Move Clear of
Nozzle
Move Along Path
Move To Seal
End and Turn off
Gun
MH Ped Dispense
Start
Purge or Go
To Dropoff?Purge Gun 1
DI[95]
End
Dropoff 1
DI[51]Purge Ped Gun 1 (Macro)
Wait for
Dispenser Ready
DI[385]
Set Dispense Robot in
Process DO[393]
Set Dispense Style GO[31]
Set Dispense Style Strobe
DO[394]
Wait for
Dispense In
Process DI[386]
Reset Dispense Style
GO[31]
Reset Dispense Style Strobe
DO[394]
Set Dispense Complete
DO[401]
Wait for
Dispense Vol.
OK
Reset Dispense Complete
DO[401]
A
A
Reset Dispense Robot in
Process DO[393]
Note: The Nordson
controller requires approx
500ms between the final
gun off command and
setting dispense complete.
Therefore a move clear of
part is performed between
these commands to allow
this time to elapse.
Pre-processing for Dispense
Equipment
Post-processing for
Dispense Equipment
Reset Collision Guard
Sensitivity R[41]
Set Collision Guard
Sensitivity R[42]
Note: The Nordson
controller requires 100ms
delay time between
setting robot in process,
dispense style, and
dispense style strobe.
Wait statements are used
here to allow the Nordson
to see the delay.
Wait 100ms
Wait 100ms
AS OF 1/12/2012 93 CUSW REL1.3
Printed copies are not source controlled
Process Application Macros (cont’d)
MH Ped Stud Weld
Move To Weld 1
Select Schedule, Weld 1
Move To Weld 2
Select Schedule, Weld 2
Move Clear of
Ped Welder
Start
End
AS OF 1/12/2012 94 CUSW REL1.3
Printed copies are not source controlled
Purge Ped Gun (Macro)
Start
Pre-processing for Dispense
Equipment
Set Ext Purge 1 in Progress
DO[97]
End
Reset Ext Purge 1 in
Progress DO[97]
Set Dispense 1 Purge
DO[416]
Wait „X‟ Seconds
Reset Dispense 1 Purge
DO[416]
Post-processing for
Dispense Equipment
Reset Stepper (Macro)
Start
Set W1 Reset Stepper DO[590]
Wait for Stepper
Reset DI[204]
End
Reset W1 Reset Stepper
DO[590]
AS OF 1/12/2012 95 CUSW REL1.3
Printed copies are not source controlled
Tip Burn In (Macro)
Start
End
Reset Register for Burn Ins
Complete R[14]
Do Tip Burn In
Weld Schedule
62
Completed #
of Burn In‟s
Required?
Yes
No
Set Tip Burn In Complete
DO[104]
Do Tip Wear Compensation
Gun 1 (Macro)
Note: Number of required
burn in‟s to be set by user
via register value 15.
Note: Tip wear compensation
to be performed without
measurement error checking.
AS OF 1/12/2012 96 CUSW REL1.3
Printed copies are not source controlled
Tip Change Ped Gun (Macro)
Set Robot at Service DO[26]
Set Ready for Tip Change
DO[30]
Wait for Service
Complete DI[26]
Reset Robot at Service DO[26]
Reset Ready for Tip Change
DO[30]
Seat Caps Gun 1 (Macro)
Do Tip Wear Compensation
Gun 1 (Macro)
Start
End
Reset Stepper (Macro)
Pulse W1 Water Off DO[587]
Pulse W1 Reset Water Saver
DO[586]
AS OF 1/12/2012 97 CUSW REL1.3
Printed copies are not source controlled
Tip Dress Gun 1 (Macro)
Start
Move To
Dresser
Set Turn on Tip Dresser
DO[101]
Do Tip Dress
Weld Schedule
60
Set Robot in Tip Dress DO[28]
Wait for Tip
Dress Motor On
DI[101]
Move Common
Dress
Approach
Move Away
from Dress
Reset Turn On Tip Dresser
DO[101]
End
Do Tip Burn In
Weld Schedule
R[19]
Do Tip Wear Compensation
Gun 1 (Macro)
Reset Tip Dress Request 1
DO[100]
Set Tip Dress Complete DO[29]
Reset Robot in Tip Dress
DO[28]
Note: Tip wear compensation
to be performed without
measurement error checking.
Setup Gun 1 Burn in
Schedule R[19]
Tip Burn In
Required
R[19]
No
Yes
Note: Tip burn in and wear
compensation can be
skipped. This is to be used
only prior to tip change when
burn in and wear
compensation is not required
after a tip dress.
[PR Home – Fine Move]
Tip dress
Bypassed
R[127]
No
Yes
AS OF 1/12/2012 98 CUSW REL1.3
Printed copies are not source controlled
Tip Dress Gun 2 (Macro)
Start
Move To
Dresser
Set Turn on Tip Dresser
DO[101]
Do Tip Dress
Weld Schedule
61
Set Robot in Tip Dress DO[28]
Wait for Tip
Dress Motor On
DI[101]
Move Common
Dress
Approach
Move Away
from Dress
Reset Turn On Tip Dresser
DO[101]
End
Do Tip Burn In
Weld Schedule
R[20]
Do Tip Wear Compensation
Gun 2 (Macro)
Reset Tip Dress Request 1
DO[100]
Set Tip Dress Complete DO[29]
Reset Robot in Tip Dress
DO[28]
Note: Tip wear compensation
to be performed without
measurement error checking.
Setup Gun 2 Burn in
Schedule R[20]
Tip Burn In
Required
R[20]
No
Yes
Note: Tip burn in and wear
compensation can be
skipped. This is to be used
only prior to tip change when
burn in and wear
compensation is not required
after a tip dress.
[PR Home – Fine Move]
Tip dress
Bypassed
R[127]
No
Yes
AS OF 1/12/2012 99 CUSW REL1.3
Printed copies are not source controlled
Tip Dress Ped Gun (Macro)
Wait for Tip
Dress Dump Ext
DI[99]
Turn on Tip Dresser DO[101]
Wait for Tip
Dress Motor On
DI[101]
Do Tip Dress
Weld Schedule
60
Reset Turn on Tip Dresser
DO[101]
Set Robot in Tip Dress
DO[28]
Do Tip Burn In
Weld Schedule
R[19]
Do Tip Wear Compensation
Gun 1 (Macro)
Reset Tip Dress Request 1
DO[100]
Set Tip Dress Complete DO[29]
Reset Robot in Tip Dress
DO[28]
Wait for Tip Dress
Dump Retracted
DI[100]
Start
End
Setup Gun 1 Burn in
Schedule R[19]
Tip Burn In
Required
R[19]
No
Yes
AS OF 1/12/2012 100 CUSW REL1.3
Printed copies are not source controlled
Tool Drop Preparation (Macro)
Start
User Alarm – Unexpected
Tool Present
Select Tool from Tool
Number R[16]
End
Drop Tool Nest 1 (Macro)
Drop Tool Nest 2 (Macro)
Drop Tool Nest 3 (Macro)
Drop Tool Nest 4 (Macro)
Tool Nest 1
Empty?
Yes
No
Tool Nest 2
Empty?
Yes
No
Tool Nest 3
Empty?
Yes
No
Tool Nest 4
Empty?
Yes
No
Set Active MH Tool and
Gripper State for Drop
(Macro)
Set Active MH Tool and
Gripper State for Drop
(Macro)
Set Active MH Tool and
Gripper State for Drop
(Macro)
Set Active MH Tool and
Gripper State for Drop
(Macro)
Verify Part Not Present
(Macro)
Verify Part Not Present
(Macro)
Verify Part Not Present
(Macro)
Verify Part Not Present
(Macro)
A
User Alarm – Tool Nest Not
Empty
A
A
A
A
Set Application Error Output
Reset App Error Output
Set Application Error Output
Reset App Error Output
Tool 1
Tool 2
Tool 3
Tool 4
Unknown
Tool
AS OF 1/12/2012 101 CUSW REL1.3
Printed copies are not source controlled
Tool Pick Preparation (Macro)
Start
User Alarm – Invalid Tool
Requested
Select Tool Nest from Pick
Tool GI[4] or Style Program
End
Pick Tool Nest 1 (Macro)Tool Nest 1
Empty?
Yes
No
Pick Tool Nest 2 (Macro)Tool Nest 2
Empty?
Yes
No
Pick Tool Nest 3 (Macro)Tool Nest 3
Empty?
Yes
No
Pick Tool Nest 4 (Macro)Tool Nest 4
Empty?
Yes
No
User Alarm – Tool Nest
Empty
A
Set Application Error Output Set Application Error Output
A
A
A
A
Reset App Error Output Reset App Error Output
Tool 1
Tool 2
Tool 3
Tool 4
Unknown
Tool
AS OF 1/12/2012 102 CUSW REL1.3
Printed copies are not source controlled
TEACH PENDANT LOGIC EXAMPLES Contained in the following pages are examples of TP logic of the processes required for the PF program. The information contained in each section is for REFERENCE ONLY.
AS OF 1/12/2012 103 CUSW REL1.3
Printed copies are not source controlled
Material Handling 1: !Material Handling Template ;
2: !****************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !****************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=10 ;
31: ;
32: !Reset Coll Guard Sensitivity ;
33: COL GUARD ADJUST ;
34: ;
35: !****************************** ;
36: !TOOL CHANGE APPLICATION ONLY ;
37: ;
38: !Set Desired Tool ID Register ;
39: R[2:Desired Tool ID]=2 ;
40: ;
41: !MACRO-Check Tool ;
42: CALL CHK_TOOL ;
43: ;
44: !MACRO-Set MH Tool ;
45: Set MH Tool(1) ;
46: !****************************** ;
47: ;
48: !MACRO-Set Additional Gripper ;
49: !States (if necessary) ;
50: !Grip Part(2) ;
51: ;
52: !Move to Pounce ;
53:J P[1] 100% CNT100 ;
54: ;
55: !Set At Pounce Position Bit ;
56: DO[25:RbtAtPounce]=ON ;
57: ;
58: !MACRO-Verify Part Not Present ;
59: Check No Part(1) ;
60: ;
61: !MACRO-Open the Gripper ;
62: Release Part(1) ;
63: ;
64: DO[89:PickOverride]=OFF ;
65: DO[94:AbortPickReq]=OFF ;
66: ;
67: !Wait For Go To Work ;
68: !or Return Home From Pounce ;
69: WAIT DI[31:GoToWork]=ON OR
DI[25:RetFromPounce]=ON ;
70: ;
71: !Check For Go To Work ;
72: IF DI[31:GoToWork]=ON,JMP LBL[20] ;
73: ;
74: !Return Home From Pounce ;
75: CALL MVHMPNCE ;
76: ;
77: !Jump To Program End ;
78: JMP LBL[1000] ;
79: ;
80: LBL[20:Go To Work] ;
81: ;
82: !Set Robot At Work ;
83: DO[18:RbtAtWork]=ON ;
84: ;
85: !Reset Robot At Pounce ;
86: DO[25:RbtAtPounce]=OFF ;
87: ;
88: !Wait For Go To Pickup 1 ;
89: WAIT DI[49:GoToPickup1]=ON ;
90: ;
91: !Reset Clear Of Pickup 1 ;
92: DO[49:ClrOfPickup1]=OFF ;
93: ;
94: !Reset Clear To Transfer ;
95: DO[31:CleartoTransfer]=OFF ;
96: ;
97: !MACRO-Zone Check ;
98: !(if necessary) ;
99: CALL ENTRZON1 ;
100: ;
101: !Move Over Pickup 1 ;
102:L P[2] 1000mm/sec CNT100 ;
103: ;
104: !MACRO-Verify Correct Tool ;
105: !Call TOOL_VER ;
106: ;
107: !MACRO-Verify Part Not Present ;
108: Check No Part(1) ;
109: ;
110: !MACRO-Open the Gripper ;
111: Release Part(1) ;
112: ;
113: !Set Coll Guard Sensitivity ;
114: COL GUARD ADJUST R[42];
115: ;
116: !Move To Pickup 1 ;
117:L P[3] 500mm/sec FINE ;
118: ;
119: !MACRO-Check For Part Present ;
120: Part Present(1) ;
121: ;
122: !Set Reposition Tooling ;
123: !GO[2:ReposTooling]=1 ;
124: ;
125: !Wait for Tooling Repositioned ;
126: !WAIT GI[5:ToolingRepod1]=1 ;
127: ;
128: !MACRO-Close The Gripper ;
129: Grip Part(1) ;
130: ;
131: !Set At Pickup 1 ;
132: DO[50:AtPickup1]=ON ;
133: ;
134: !Select Payload With Parts ;
135: PAYLOAD[3] ;
136: ;
137: !Wait for Tooling Repositioned ;
138: !WAIT GI[5:ToolingRepod1]=1 ;
139: ;
140: !Reset Reposition Tooling ;
141: !GO[2:ReposTooling]=0 ;
142: ;
143: !Move Clear Fixt Part Presence ;
144:L P[4] 1000mm/sec FINE ;
145: ;
146: !Wait For Exit Pickup 1 ;
147: WAIT DI[50:ExitPickup1]=ON ;
148: ;
149: !Reset Coll Guard Sensitivity ;
150: COL GUARD ADJUST ;
151: ;
AS OF 1/12/2012 104 CUSW REL1.3
Printed copies are not source controlled
152: !MACRO-Check For Part Present ;
153: Part Present(1) ;
154: ;
155: !Reset At Pickup 1 ;
156: DO[50:AtPickup1]=OFF ;
157: ;
158: !Move Clear Of Pickup 1 ;
159:L P[5] 1000mm/sec FINE ;
160: ;
161: !Set Clear Of Pickup 1 ;
162: DO[49:ClrOfPickup1]=ON ;
163: ;
164: !Set Clear To Transfer ;
165: DO[31:CleartoTransfer]=ON ;
166: ;
167: !Set Clear Of Interference ;
168: !Zone (If Necessary) ;
169: DO[33:RbtClrZone1]=ON ;
170: ;
171: !Move ;
172:L P[6] 1000mm/sec FINE ;
173: ;
174: !Insert Process Application ;
175: !as Required ;
176: !CALL (MACRO) ;
177: ;
178: !Wait For Go To Dropoff 1 ;
179: WAIT DI[51:GoToDropoff1]=ON ;
180: ;
181: !MACRO-Zone Check ;
182: !(If Necessary) ;
183: CALL ENTRZON1 ;
184: ;
185: !Reset Clear Of Dropoff 1 ;
186: DO[51:ClrOfDropoff1]=OFF ;
187: ;
188: !Reset Clear To Transfer ;
189: DO[31:CleartoTransfer]=OFF ;
190: ;
191: !Move Over Dropoff 1 ;
192:L P[7] 1000mm/sec CNT100 ;
193: ;
194: !MACRO-Verify Correct Tool ;
195: !Call CHK_TOOL ;
196: ;
197: !Set Coll Guard Sensitivity ;
198: COL GUARD ADJUST R[42] ;
199: ;
200: !Move To Dropoff 1 ;
201:L P[8] 1000mm/sec FINE ;
202: ;
203: !Set At Dropoff 1 ;
204: DO[52:AtDropoff1]=ON ;
205: ;
206: !Wait for Reposition Tooling ;
207: !WAIT GI[5:ToolingRepod1]=2 ;
208: ;
209: !MACRO-Open the Gripper ;
210: Release Part(1) ;
211: ;
212: !Select Payload Without Parts ;
213: PAYLOAD[2] ;
214: ;
215: !Set Robot UTOOL Number ;
216: UTOOL_NUM=1 ;
217: ;
218: !Set Robot UFRAME Number ;
219: !If Necessary ;
220: UFRAME_NUM=1 ;
221: ;
222: !Set Tooling Repositioned ;
223: !GO[2:ReposTooling]=2 ;
224: ;
225: !Move Clr Robot Part Present ;
226:L P[9] 1000mm/sec FINE ;
227: ;
228: !MACRO-Verify No Part Present ;
229: Check No Part(1) ;
230: ;
231: !Wait For Exit Dropoff 1 ;
232: !(if necessary) ;
233: WAIT DI[52:ExitDropoff1]=ON ;
234: ;
235: !Reset Coll Guard Sensitivity ;
236: COL GUARD ADJUST ;
237: ;
238: !Reset At Dropoff 1 ;
239: DO[52:AtDropoff1]=OFF ;
240: ;
241: !Reset Tooling Repositioned ;
242: !GO[2:ReposTooling]=0 ;
243: ;
244: !Move Clear Of Dropoff 1 ;
245:J P[10] 100% CNT100 ;
246: ;
247: !Set Clear Of Dropoff 1 ;
248: DO[51:ClrOfDropoff1]=ON ;
249: ;
250: !Set Clear Of Interference Zone ;
251: DO[33:RbtClrZone1]=ON ;
252: ;
253: !Move Clear of Transfer ;
254:J P[11] 100% FINE ;
255: ;
256: !Set Clear To Transfer ;
257: DO[31:CleartoTransfer]=ON ;
258: ;
259: !Reset Robot At Work ;
260: DO[18:RbtAtWork]=OFF ;
261: ;
262: !MACRO-Return To Home ;
263: CALL MOV_HOME ;
264: ;
265: !Set Work Complete ;
266: DO[19:WorkComplete]=ON ;
267: ;
268: !Wait For Work Complete Ack ;
269: WAIT DI[32:WorkCompleteAck]=ON ;
270: ;
271: !Reset Work complete ;
272: DO[19:WorkComplete]=OFF ;
273: ;
274: LBL[1000:End] ;
275: ;
AS OF 1/12/2012 105 CUSW REL1.3
Printed copies are not source controlled
Dispense 1: !Carried Dispense Template ;
2: !******************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !******************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=10 ;
31: ;
32: !Reset Coll Guard Sensitivity ;
33: COL GUARD ADJUST ;
34: ;
35: !Reset Clear To Transfer ;
36: DO[31:CleartoTransfer]=OFF ;
37: ;
38: !Move to Pounce ;
39:J P[1] 100% FINE ;
40: ;
41: !Set At Pounce Position Bit ;
42: DO[25:RbtAtPounce]=ON ;
43: ;
44: !Wait For Go To Work ;
45: !or Return Home From Pounce ;
46: WAIT DI[31:GoToWork]=ON OR
DI[25:RetFromPounce]=ON ;
47: ;
48: !Check For Go To Work ;
49: IF DI[31:GoToWork]=ON,JMP LBL[20] ;
50: ;
51: !Return Home From Pounce ;
52: CALL MVHMPNCE ;
53: ;
54: !Jump To Program End ;
55: JMP LBL[1000] ;
56: ;
57: LBL[20:Go To Work] ;
58: ;
59: !Set Robot At Work ;
60: DO[18:RbtAtWork]=ON ;
61: ;
62: !Reset Robot At Pounce ;
63: DO[25:RbtAtPounce]=OFF ;
64: ;
65: !MACRO-Zone Check ;
66: !(if necessary) ;
67: !CALL ENTRZON1 ;
68: ;
69: !Pre-process Dispense Equipment ;
70: !(insert statements) ;
71: ;
72: !Wait for Dispenser Ready ;
73: WAIT (DI[385:Dsp1DispenRdy]=ON) ;
74: ;
75: !Set Disp Robot in Process ;
76: DO[393:Disp1RbtinPrc]=ON ;
77: ;
78: WAIT .10(sec) ;
79: ;
80: !Set Dispense Style ;
81: GO[31:Disp1StyBits]=1 ;
82: ;
83: WAIT .10(sec) ;
84: ;
85: !Set Disp Style Strobe ;
86: DO[394:Disp1StyStrobe]=ON ;
87: ;
88: !Wait for Disp in Process ;
89: WAIT DI[386:Dsp1DispenInPrc]=ON ;
90: ;
91: !Reset Dispense Style ;
92: GO[31:Disp1StyBits]=0 ;
93: ;
94: !Reset Disp Style Strobe ;
95: DO[394:Disp1StyStrobe]=OFF ;
96: ;
97: !Set Coll Guard Sensitivity ;
98: COL GUARD ADJUST R[42] ;
99: ;
100: !Move Seal Start, Turn On Gun ;
101:L P[2] 1000mm/sec CNT100 SS[1] ;
102: ;
103: !Move along Path ;
104:L P[3] 1000mm/sec CNT100 ;
105: ;
106: !Move To Seal End, Turn Off Gun ;
107:L P[4] 1000mm/sec CNT100 SE ;
108: ;
109: !Move Clear of Part ;
110:L P[5] 1000mm/sec FINE ;
111: ;
112: !Reset Coll Guard Sensitivity ;
113: COL GUARD ADJUST ;
114: ;
115: !Set Dispense Complete ;
116: DO[401:Disp1Complete]=ON ;
117: ;
118: !Wait for Dispense Vol. OK ;
119: WAIT DI[387:Dsp1VolumeOK]=ON ;
120: ;
121: !Reset Dispense Complete ;
122: DO[401:Disp1Complete]=OFF ;
123: ;
124: !Reset Disp Robot in Process ;
125: DO[393:Disp1RbtinPrc]=OFF ;
126: ;
127: !Post-process Dispense Equip ;
128: !(insert statements) ;
129: ;
130: !MACRO-Return To Home ;
131: CALL MOV_HOME ;
132: ;
133: !Set Work Complete ;
134: DO[19:WorkComplete]=ON ;
135: ;
136: !Set Clear To Transfer ;
137: DO[31:CleartoTransfer]=ON ;
138: ;
139: !Set Clear Of Interference Zone ;
140: DO[33:RbtClrZone1]=ON ;
141: ;
142: !Wait For Work Complete Ack ;
143: WAIT DI[32:WorkCompleteAck]=ON ;
144: ;
145: !Reset Work complete ;
146: DO[19:WorkComplete]=OFF ;
147: ;
148: LBL[1000:End] ;
149: ;
AS OF 1/12/2012 106 CUSW REL1.3
Printed copies are not source controlled
Spot Welding 1: !Carried Spot Welding Template ;
2: !******************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !******************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=1 ;
31: ;
32: !Reset Clear To Transfer ;
33: DO[31:CleartoTransfer]=OFF ;
34: ;
35: !Move to Pounce ;
36:J P[1] 100% FINE ;
37: ;
38: !Set At Pounce Position Bit ;
39: DO[25:RbtAtPounce]=ON ;
40: ;
41: !Wait For Go To Work ;
42: !or Return Home From Pounce ;
43: WAIT DI[31:GoToWork]=ON OR
DI[25:RetFromPounce]=ON ;
44: ;
45: !Check For Go To Work ;
46: IF DI[31:GoToWork]=ON,JMP LBL[20] ;
47: ;
48: !Return Home From Pounce ;
49: CALL MVHMPNCE ;
50: ;
51: !Jump To Program End ;
52: JMP LBL[1000] ;
53: ;
54: LBL[20:Go To Work] ;
55: ;
56: !Set Robot At Work ;
57: DO[18:RbtAtWork]=ON ;
58: ;
59: !Reset Robot At Pounce ;
60: DO[25:RbtAtPounce]=OFF ;
61: ;
62: !MACRO-Zone Check ;
63: !(if necessary) ;
64: CALL ENTRZON1 ;
65: ;
66: !Move to Weld 1 ;
67: !insert motion if necessary ;
68:L P[2] 1000mm/sec FINE ;
69: ;
70: !Select Schedule Weld 1 ;
71:L P[3] 100mm/sec FINE
: SPOT[SD=1,P=1,S=1,ED=1] ;
72: ;
73: !Move to Weld 2 ;
74: !insert motion if necessary ;
75:L P[4] 1000mm/sec FINE ;
76: ;
77: !Select Schedule Weld 2 ;
78:L P[5] 100mm/sec FINE
: SPOT[SD=1,P=1,S=1,ED=1] ;
79: ;
80: !Move Clear of Clamps ;
81:L P[6] 1000mm/sec FINE ;
82: ;
83: !Set Clear to Unclamp Early ;
84: DO[65:Clr2UnclampEarly]=ON ;
85: ;
86: !Check for Tip Dress Req ;
87: IF DI[28:TipDressGunReq]=ON,JMP LBL[30] ;
88: ;
89: !MACRO-Return To Home ;
90: CALL MOV_HOME ;
91: ;
92: !Set Work Complete ;
93: DO[19:WorkComplete]=ON ;
94: ;
95: !Set Clear To Transfer ;
96: DO[31:CleartoTransfer]=ON ;
97: ;
98: !Set Clear Of Interference Zone ;
99: DO[33:RbtClrZone1]=ON ;
100: ;
101: !Wait For Work Complete Ack ;
102: WAIT DI[32:WorkCompleteAck]=ON ;
103: ;
104: !Reset Work complete ;
105: DO[19:WorkComplete]=OFF ;
106: ;
107: JMP LBL[1000] ;
108: ;
109: LBL[30] ;
110: ;
111: !Move Clear of Transfer ;
112: !To Tip Dress ;
113:J P[7] 50% FINE ;
114: ;
115: !Set Work Complete ;
116: DO[19:WorkComplete]=ON ;
117: ;
118: !Set Clear To Transfer ;
119: DO[31:CleartoTransfer]=ON ;
120: ;
121: !Set Clear Of Interference Zone ;
122: DO[33:RbtClrZone1]=ON ;
123: ;
124: !Wait For Work Complete Ack ;
125: WAIT DI[32:WorkCompleteAck]=ON ;
126: ;
127: !Reset Work complete ;
128: DO[19:WorkComplete]=OFF ;
129: ;
130: !MACRO-Tip Dress Gun 1 ;
131: CALL TPDRSGN1(62) ;
132: ;
133: !MACRO-Return To Home ;
134: CALL MOV_HOME ;
135: ;
136: CALL WR_UPDAT(1,0) ;
139: ;
140: LBL[1000:End] ;
;
AS OF 1/12/2012 107 CUSW REL1.3
Printed copies are not source controlled
Stud Welding 1: !Carried Stud Welding Template ;
2: !******************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !******************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=1 ;
31: ;
32: !Reset Clear To Transfer ;
33: DO[31:CleartoTransfer]=OFF ;
34: ;
35: !Move to Pounce ;
36:J P[1] 100% FINE ;
37: ;
38: !Set At Pounce Position Bit ;
39: DO[25:RbtAtPounce]=ON ;
40: ;
41: !Wait For Go To Work ;
42: !or Return Home From Pounce ;
43: WAIT DI[31:GoToWork]=ON OR
DI[25:RetFromPounce]=ON ;
44: ;
45: !Check For Go To Work ;
46: IF DI[31:GoToWork]=ON,JMP LBL[20] ;
47: ;
48: !Return Home From Pounce ;
49: CALL MVHMPNCE ;
50: ;
51: !Jump To Program End ;
52: JMP LBL[1000] ;
53: ;
54: LBL[20:Go To Work] ;
55: ;
56: !Set Robot At Work ;
57: DO[18:RbtAtWork]=ON ;
58: ;
59: !Reset Robot At Pounce ;
60: DO[25:RbtAtPounce]=OFF ;
61: ;
62: !MACRO-Zone Check ;
63: !(if necessary) ;
64: CALL ENTRZON1 ;
65: ;
66: !Move to Weld 1 ;
67: !insert motion if necessary ;
68:L P[2] 1000mm/sec FINE ;
69: ;
70: !Select Schedule Weld 1 ;
71:L P[3] 100mm/sec FINE
: SPOT[S=1] ;
72: ;
73: !Move to Weld 2 ;
74: !insert motion if necessary ;
75:L P[4] 1000mm/sec FINE ;
76: ;
77: !Select Schedule Weld 2 ;
78:L P[5] 100mm/sec FINE
: SPOT[S=1] ;
79: ;
80: !Move Clear of Clamps ;
81:L P[6] 1000mm/sec FINE ;
82: ;
83: !Set Clear to Unclamp Early ;
84: DO[65:Clr2UnclampEarly]=ON ;
85: ;
86: !MACRO-Return To Home ;
87: CALL MOV_HOME ;
88: ;
89: !Set Work Complete ;
90: DO[19:WorkComplete]=ON ;
91: ;
92: !Set Clear To Transfer ;
93: DO[31:CleartoTransfer]=ON ;
94: ;
95: !Set Clear Of Interference Zone ;
96: DO[33:RbtClrZone1]=ON ;
97: ;
98: !Wait For Work Complete Ack ;
99: WAIT DI[32:WorkCompleteAck]=ON ;
100: ;
101: !Reset Work complete ;
102: DO[19:WorkComplete]=OFF ;
103: ;
AS OF 1/12/2012 108 CUSW REL1.3
Printed copies are not source controlled
Tip Change (Style #3) 1: !Tip Change Template ;
2: !****************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !****************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=3 ;
31: ;
32: !Insert Dress Approach Movement ;
33: !(if necessary) ;
34: ;
35: !MACRO-Tip Dress Gun 1 ;
36: CALL TPDRSGN1(0) ;
37: ;
37: !Wait for TipDressComplete ;
37: WAIT (1) sec. ;
37: ;
38: !Reset Tip Dress Complete ;
39: DO[29:TipDressComplt]=OFF ;
40: ;
41: !Move to Tip Change Position ;
42:J P[1] 100% FINE ;
43: ;
44: !Set Robot at Service ;
45: DO[26:RbtAtService]=ON ;
46: ;
47: !Set Ready for Tip Change ;
48: DO[30:RdyForTipChg]=ON ;
49: ;
50: !Wait for Service Complete ;
51: WAIT (DI[26:ServiceCompltReq]=ON) ;
52: ;
53: !Reset Robot at Service ;
54: DO[26:RbtAtService]=OFF ;
55: ;
56: !Reset Ready for Tip Change ;
57: DO[30:RdyForTipChg]=OFF ;
58: ;
59: !MACRO-Reset Stepper ;
60: CALL RST_STPR ;
61: ;
62: !MACRO-Seat Caps Gun 1 ;
63: CALL TW_PRSRT(1,500,2,4,1,10,5,15) ;
64: ;
65: !Tip Wear Compensation Gun 1 ;
66: CALL WR_UPDAT(1,0) ;
67: ;
68: !Insert Dress Approach Movement ;
69: !(if necessary) ;
70: ;
71: !Pulse W1 Reset Water Saver ;
72: DO[586:W1RstWtrSvr]=PULSE,1.0sec ;
73: ;
74: !Wait for WaterOK ;
75: WAIT (DI[785:W1OKtoWeld]=ON) ;
76: ;
77: !MACRO-Tip Dress Gun 1 ;
78: CALL TPDRSGN1(62) ;
79: ;
80: !MACRO-Return To Home ;
81: CALL MOV_HOME ;
82: ;
Purge (Style #4)
1: !Purge Template ;
2: !****************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !****************************** ;
16: ;
17: !MACRO-Setup App Specific IO ;
18: CALL APP_IO ;
19: ;
20: !Set Acknowledge Style ;
21: GO[1:ActiveStyleBits]=3 ;
22: ;
23: !Set Ext Purge 1 in Progress ;
24: DO[97:ExtPurg1InProgrs]=ON ;
25: ;
26: !Pre-process Dispense Equipment ;
27: !(insert statements) ;
28: ;
29: !Turn On Gun-Purge Schedule ;
30: DO[416:Disp1Purge]=ON ;
31: ;
32: !Wait 'X' Seconds ;
33: WAIT 7.00(sec) ;
34: ;
35: !Turn Off Gun ;
36: DO[416:Disp1Purge]=OFF ;
37: ;
38: !Post-process Disp Equipment ;
39: !(insert statements) ;
40: ;
41: !Reset Ext Purge 1 in Progress ;
42: DO[97:ExtPurg1InProgrs]=OFF ;
43: ;
44: !MACRO-Home IO (if necessary) ;
45: CALL HOME_IO ;
46: ;
AS OF 1/12/2012 109 CUSW REL1.3
Printed copies are not source controlled
Tip Burn In (Style #5) 1: !Tip Burn In Template ;
2: !****************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !****************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=5 ;
31: ;
32: !Move to Service Position ;
33: !if necessary ;
34:J PR[5] 100% FINE ;
35: ;
36: !MACRO-Tip Burn In ;
37: CALL TPBURNIN ;
38: ;
39: !MACRO-Return To Home ;
40: CALL MOV_HOME ;
41: ;
42: !MACRO-Home IO ;
43: CALL MOVE_IO ;
Service Program (Style #6)
1: !Service Program Template ;
2: !****************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !****************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=6 ;
31: ;
32: !Move to Service Position ;
33:J PR[5] 100% FINE ;
34: ;
35: !Set Robot at Service ;
36: DO[26:RbtAtService]=ON ;
37: ;
38: !Wait for Service Complt Req ;
39: WAIT (DI[26:ServiceCompltReq]=ON) ;
40: ;
41: !Reset Robot at Service ;
42: DO[26:RbtAtService]=OFF ;
43: ;
44: !MACRO-Return To Home ;
45: CALL MOV_HOME ;
46: ;
Tip Dress Gun 1 (Style #7) 1: !Tip Dress 1st Gun Template ;
2: !****************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !****************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=7 ;
31: ;
32: !Insert Approach Movement ;
33: !(if necessary) ;
34: ;
35: !MACRO-Tip Dress Gun 1 ;
36: CALL TPDRSGN1(60) ;
37: ;
38: !MACRO-Return To Home ;
39: CALL MOV_HOME ;
40: ;
AS OF 1/12/2012 110 CUSW REL1.3
Printed copies are not source controlled
Tip Dress Gun 2 (Style #8) 1: !Tip Dress 2nd Gun Template ;
2: !****************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !****************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=8 ;
31: ;
32: !Insert Approach Movement ;
33: !(if necessary) ;
34: ;
35: !MACRO-Tip Dress Gun 2 ;
36: CALL TPDRSGN2(61) ;
37: ;
38: !MACRO-Return To Home ;
39: CALL MOV_HOME ;
40: ;
Tool Change (Style #9)
1: !Tool Change Template ;
2: !****************************** ;
3: !Remove these comments ;
4: !Before Build!!! ;
5: !Rename Program as Necessary ;
6: !Edit Program to Match Part Type ;
7: ;
8: !Modify Zone Numbers and ;
9: !Locations as Required ;
10: ;
11: !Uncomment the MACROs before ;
12: ! finalizing the OLPs ;
13: ;
14: !EXAMPLE PROGRAM ONLY ;
15: !****************************** ;
16: ;
17: !Set Robot Payload ;
18: PAYLOAD[2] ;
19: ;
20: !Set Robot UTOOL Number ;
21: UTOOL_NUM=1 ;
22: ;
23: !Set Robot UFRAME Number ;
24: UFRAME_NUM=1 ;
25: ;
26: !MACRO-Setup App Specific IO ;
27: CALL APP_IO ;
28: ;
29: !Set Acknowledge Style ;
30: GO[1:ActiveStyleBits]=9 ;
31: ;
32: !Set Desired Tool ID ;
33: R[2]=GI[4:PickToolBits] ;
34: ;
35: !MACRO-Check Tool on Wrist ;
36: CALL CHK_TOOL ;
37: ;
38: !MACRO-Return To Home ;
39: CALL MOV_HOME ;
40: ;
AS OF 1/12/2012 111 CUSW REL1.3
Printed copies are not source controlled
Check ATI Errors (Macro) 1: !****************************** ;
2: !MACRO CHECK ATI ERRORS ;
3: !****************************** ;
4: !Parameters: AR[] ;
5: !1: Current Sequence ;
6: !****************************** ;
7: ;
8: !Jump to Current Sequence ;
9: R[16]=AR[1] ;
10: JMP LBL[R[16]] ;
11: ;
12: !****************************** ;
13: !READY TO PICK/LATCH/UNLATCH ;
14: !****************************** ;
15: LBL[1:ReadyToPick] ;
16: LBL[3:Latch] ;
17: LBL[7:Unlatch] ;
18: ;
19: !Set ATI Recovery Method ;
20: R[17]=1 ;
21: ;
22: IF (DI[648:RTLMismatch]),JMP LBL[648] ;
23: IF (DI[649:TSIVMismatch]),JMP LBL[649] ;
24: IF (DI[650:LatchOverLoad]),JMP LBL[650] ;
25: IF (DI[651:UnlatchOverLoad]),JMP LBL[651] ;
26: IF (DI[652:SpareOverload]),JMP LBL[652] ;
27: IF (DI[659:TSIVFault]),JMP LBL[659] ;
28: IF (DI[660:RTLFault]),JMP LBL[660] ;
29: IF (DI[653:RTLrtlvMismatch]),JMP LBL[653] ;
30: IF (DI[654:TSIVtsrvMismatch]),JMP LBL[654] ;
31: IF (DI[655:UnsafeUnlatch]),JMP LBL[655] ;
32: IF (DI[656:LckUnlckSensFlt]),JMP LBL[656] ;
33: IF (DI[657:LatchNotComplt]),JMP LBL[657] ;
34: IF (DI[658:UnlatchNotComplt]),JMP LBL[658] ;
35: ;
36: !OK - Exit ;
37: JMP LBL[999] ;
38: ;
39: !****************************** ;
40: !READY TO LATCH ;
41: !****************************** ;
42: LBL[2:ReadyToLatch] ;
43: ;
44: !Set ATI Recovery Method ;
45: R[17]=0 ;
46: ;
47: IF (!DI[636:ReadyToLock1]),JMP LBL[636] ;
48: IF (!DI[637:ReadyToLock2]),JMP LBL[637] ;
49: ;
50: !OK - Exit ;
51: JMP LBL[999] ;
52: ;
53: !****************************** ;
54: !EXIT PICK/RDY TO DROP/EXT DROP ;
55: !****************************** ;
56: LBL[4:ExitPick] ;
57: LBL[5:ReadyToDrop] ;
58: LBL[8:ExitDrop] ;
59: ;
60: !Set ATI Recovery Method ;
61: R[17]=0 ;
62: ;
63: IF (DI[648:RTLMismatch]),JMP LBL[648] ;
64: IF (DI[649:TSIVMismatch]),JMP LBL[649] ;
65: IF (DI[650:LatchOverLoad]),JMP LBL[650] ;
66: IF (DI[651:UnlatchOverLoad]),JMP LBL[651] ;
67: IF (DI[652:SpareOverload]),JMP LBL[652] ;
68: IF (DI[659:TSIVFault]),JMP LBL[659] ;
69: IF (DI[660:RTLFault]),JMP LBL[660] ;
70: IF (DI[653:RTLrtlvMismatch]),JMP LBL[653] ;
71: IF (DI[654:TSIVtsrvMismatch]),JMP LBL[654] ;
72: IF (DI[655:UnsafeUnlatch]),JMP LBL[655] ;
73: IF (DI[656:LckUnlckSensFlt]),JMP LBL[656] ;
74: IF (DI[657:LatchNotComplt]),JMP LBL[657] ;
75: IF (DI[658:UnlatchNotComplt]),JMP LBL[658] ;
76: ;
77: !OK - Exit ;
78: JMP LBL[999] ;
79: ;
80: !****************************** ;
81: !READY TO UNLATCH ;
82: !****************************** ;
83: LBL[6:ReadyToUnlatch] ;
84: ;
85: !Set ATI Recovery Method ;
86: R[17]=0 ;
87: ;
88: IF (!DI[640:ToolStndIntlkV1]),JMP LBL[640] ;
89: IF (!DI[641:ToolStndIntlkV2]),JMP LBL[641] ;
90: ;
91: !OK - Exit ;
92: JMP LBL[999] ;
93: ;
94: !****************************** ;
95: !ERROR HANDLING ;
96: !****************************** ;
97: ;
98: !AUX POWER ;
99: LBL[635] ;
100: UALM[7] ;
101: JMP LBL[900] ;
102: ;
103: !READY TO LOCK1 ;
104: LBL[636] ;
105: UALM[8] ;
106: JMP LBL[900] ;
107: ;
108: !READY TO LOCK2 ;
109: LBL[637] ;
110: UALM[9] ;
111: JMP LBL[900] ;
112: ;
113: !TOOL STAND INTERLOCK1 ;
114: LBL[640] ;
115: UALM[10] ;
116: JMP LBL[900] ;
117: ;
118: !TOOL STAND INTERLOCK2 ;
119: LBL[641] ;
120: UALM[11] ;
121: JMP LBL[900] ;
122: ;
123: !RTL MISMATCH ;
124: LBL[648] ;
125: UALM[12] ;
126: JMP LBL[900] ;
127: ;
128: !TSIV MISMATCH ;
129: LBL[649] ;
130: UALM[13] ;
131: JMP LBL[900] ;
132: ;
133: !LATCH OVERLOAD ;
134: LBL[650] ;
135: UALM[14] ;
136: JMP LBL[900] ;
137: ;
138: !UNLATCH OVERLOAD ;
139: LBL[651] ;
140: UALM[15] ;
141: JMP LBL[900] ;
142: ;
143: !SPARE OVERLOAD ;
144: LBL[652] ;
145: UALM[16] ;
146: JMP LBL[900] ;
147: ;
148: !RTLRTLV MISMATCH ;
149: LBL[653] ;
150: UALM[17] ;
AS OF 1/12/2012 112 CUSW REL1.3
Printed copies are not source controlled
151: JMP LBL[900] ;
152: ;
153: !TSIVTSRV MISMATCH ;
154: LBL[654] ;
155: UALM[18] ;
156: JMP LBL[900] ;
157: ;
158: !UNSAFE UNLATCH ;
159: LBL[655] ;
160: UALM[19] ;
161: JMP LBL[900] ;
162: ;
163: !LOCK UNLOCK SENSOR FAULT ;
164: LBL[656] ;
165: UALM[20] ;
166: JMP LBL[900] ;
167: ;
168: !LATCH NOT COMPLETE ;
169: LBL[657] ;
170: UALM[21] ;
171: JMP LBL[900] ;
172: ;
173: !UNLATCH NOT COMPLETE ;
174: LBL[658] ;
175: UALM[22] ;
176: JMP LBL[900] ;
177: ;
178: !TSIV FAULT ;
179: LBL[659] ;
180: UALM[23] ;
181: JMP LBL[900] ;
182: ;
183: !RTL FAULT ;
184: LBL[660] ;
185: UALM[24] ;
186: JMP LBL[900] ;
187: ;
188: !****************************** ;
189: !RECOVERY ;
190: !****************************** ;
191: ;
192: LBL[900:Recovery] ;
193: ;
194: !Check Recovery Type ;
195: IF R[17]=1,JMP LBL[910] ;
196: ;
197: !Set Clear Errors ;
198: DO[635:ClearErrs]=ON ;
199: ;
200: !Wait 2 Seconds ;
201: WAIT 2.00(sec) ;
202: ;
203: !Reset Clear Errors ;
204: DO[635:ClearErrs]=OFF ;
205: ;
206: !Retry ;
207: JMP LBL[R[16]] ;
208: ;
209: LBL[910] ;
210: ;
211: !Reset Latch and Unlatch Tool ;
212: DO[632:LatchOrLock]=OFF ;
213: DO[633:UnlatchOrUnlock]=OFF ;
214: ;
215: !Set Clear Errors ;
216: DO[635:ClearErrs]=ON ;
217: ;
218: !Wait 2 Seconds ;
219: WAIT 2.00(sec) ;
220: ;
221: !Reset Clear Errors ;
222: DO[635:ClearErrs]=OFF ;
223: ;
224: LBL[999:End] ;
225: ;
Check Tool (Macro) 1: !****************************** ;
2: !MACRO CHECK TOOL ON WRIST ;
3: !****************************** ;
4: ;
5: LBL[1:Verify Tool] ;
6: ;
7: !Set Current Tool ID and ;
8: !Line Number ;
9: R[1]=(GI[41:ToolIDswtch1Bits]) ;
10: R[8]=(GI[45:ToolIDSwtch5Bits]) ;
11: GO[3:ToolIDOnWrstBits]=R[1] ;
12: ;
13: !Is Tool ID Correct? ;
14: IF R[1]=R[2],JMP LBL[999] ;
15: ;
16: !Is Tool on Wrist? ;
17: IF (!DI[644:ToolPresent] AND R[1]=15),JMP
LBL[2] ;
18: ;
19: !Drop Prep and Drop Tool ;
21: CALL PREPDROP ;
22: ;
23: JMP LBL[1] ;
24: ;
25: LBL[2:Pick Tool] ;
26: ;
27: !Select Pick Fixture & Pick ;
28: CALL PREPPICK ;
29: ;
30: JMP LBL[1] ;
31: ;
32: LBL[999:End] ;
33: ;
AS OF 1/12/2012 113 CUSW REL1.3
Printed copies are not source controlled
Drop Tool Nest 1 (Macro) 1: !****************************** ;
2: !MACRO DROP TOOL IN NEST 1 ;
3: !****************************** ;
4: ;
5: UTOOL_NUM=5 ;
6: UFRAME_NUM=0 ;
7: ;
8: DO[635:ClearErrs]=PULSE,1.0sec ;
9: ;
10: !Set Request to Enter Tool Nest ;
11: DO[71:Req2EntrToolNest]=ON ;
12: ;
13: !Wait Clear to Enter Tool Nest ;
14: WAIT DI[81:Clr2EntToolNest]=ON ;
15: ;
16: !Reset Clear of Tool Nest ;
17: DO[72:ClearOfToolNest]=OFF ;
18: ;
19: !Reset Request to Enter Nest ;
20: DO[71:Req2EntrToolNest]=OFF ;
21: ;
22: !MACRO-Set Tool Device Offline ;
23: CALL DV_OFFLN(2,31,10) ;
23: CALL DV_OFFLN(2,39,10) ;
24: ;
25: !Move to Tool Nest Perch/Approach ;
26:J P[3:Perch In] 100% FINE ;
27: ;
28: !PR[111:ToolOffset1] ;
29: !X=-150 Y=0 Z=65 Rx=0 Ry=0 Rz=0 ;
30:L PR[101:ToolNest1Drop] 1200mm/sec FINE
Tool_Offset,PR[111:ToolOffset1]
: ;
31: ;
32: !PR[112:ToolOffset2] ;
33: !X=-5 Y=0 Z=65 Rx=0 Ry=0 Rz=0 ;
34:L PR[101:ToolNest1Drop] 200mm/sec FINE
Tool_Offset,PR[112:ToolOffset2]
: ;
35: ;
36: !PR[113:ToolOffset3] ;
37: !X=0 Y=0 Z=25 Rx=0 Ry=0 Rz=0 ;
38:L PR[101:ToolNest1Drop] 50mm/sec FINE
Tool_Offset,PR[113:ToolOffset3]
: ;
39: ;
40: !MACRO-ATI State Check - Seq5 ;
41: IF DO[645:GeneralFaults]=ON,CALL ATI_CHCK(5) ;
42: ;
43: !Reset Out of Nest ;
44: DO[637:OutOfNest]=OFF ;
45: ;
46: !Move to Tool Nest ;
47: UTOOL_NUM=5 ;
48:L PR[101:ToolNest1Drop] 50mm/sec FINE ;
49: ;
50: !Wait for Tool in Nest 1 ;
51: WAIT DI[73:ToolInNest1]=ON ;
52: ;
53: !MACRO-ATI State Check - Seq6 ;
54: CALL ATI_CHCK(6) ;
55: ;
56: LBL[7:RetryATISeq7] ;
57: ;
58: !Reset Latch Tool ;
59: DO[632:LatchOrLock]=OFF ;
60: ;
61: !Set Unlatch Tool ;
62: DO[633:UnlatchOrUnlock]=ON ;
63: ;
64: !Wait for ATI switches to settle in ;
64: WAIT DI[633:ToolUnLocked]=ON TIMEOUT,LBL[633] ;
65: LBL[633] ;
66: ;
67: !Wait for ATI ;
68: WAIT ((DI[633:ToolUnLocked] AND
!DI[632:ToolLocked]) OR
: DO[645:GeneralFaults]) ;
69: ;
70: !Check for Errors ;
71: IF DO[645:GeneralFaults]=OFF,JMP LBL[17] ;
72: ;
73: !MACRO-ATI State Check - Seq7 ;
74: CALL ATI_CHCK(7) ;
75: ;
76: JMP LBL[7] ;
77: ;
78: LBL[17:ATIUnlocked] ;
79: ;
80: !Set Payload Without Tool ;
81: PAYLOAD[2] ;
82: ;
83: UTOOL_NUM=9 ;
84: UFRAME_NUM=0 ;
85: ;
86:L PR[106:ToolNest1Pick] 150mm/sec FINE ;
87: ;
87: !Move Clear of Tool in Nest IO ;
88: !PR[114:ToolOffset4] ;
89: !X=0 Y=0 Z=-15 Rx=0 Ry=0 Rz=0 ;
90:L PR[106:ToolNest1Pick] 150mm/sec FINE
Tool_Offset,PR[114:ToolOffset4]
: ;
91: ;
92: !Wait for Tool in Nest 1 ;
93: !Check for Disengagement ;
94: !of Tool Changer ;
95: WAIT DI[73:ToolInNest1]=ON ;
96: ;
97: !MACRO-ATI State Check - Seq8 ;
98: IF DO[645:GeneralFaults]=OFF,JMP LBL[8] ;
99: ;
100: !MACRO-ATI State Check ;
101: CALL ATI_CHCK(8) ;
102: ;
103: !Wait for Tool in Nest 1 ;
104: !Check for Disengagement ;
105: !of Tool Changer ;
106: WAIT DI[73:ToolInNest1]=ON ;
107: ;
108: LBL[8] ;
109: !Clear of Tool in Nest ;
110: ;
111: !PR[115:ToolOffset5] ;
112: !X=0 Y=0 Z=-155 Rx=0 Ry=0 Rz=0 ;
113:L PR[106:ToolNest1Pick] 150mm/sec FINE
Tool_Offset,PR[115:ToolOffset5]
: ;
114: ;
115: !Reset Unlatch Tool ;
116: DO[633:UnlatchOrUnlock]=OFF ;
117: ;
118: !Set Out of Nest ;
119: DO[637:OutOfNest]=ON ;
120: ;
121: !Clear Ati Errors ;
122: DO[635:ClearErrs]=PULSE,1.0sec ;
123: ;
124: UTOOL_NUM=9 ;
125: UFRAME_NUM=0 ;
126: ;
127: !Move Clear of Tool Nest ;
128:J P[2:Perch Out] 50% FINE ;
AS OF 1/12/2012 114 CUSW REL1.3
Printed copies are not source controlled
Pick Tool Nest 1 (Macro) 1: !****************************** ;
2: !MACRO PICK TOOL FROM NEST 1 ;
3: !****************************** ;
4: ;
5: UTOOL_NUM=9 ;
6: UFRAME_NUM=0 ;
7: ;
8: !Move to Tool Nest Perch ;
9:J P[1:Perch In] 100% FINE ;
10: ;
11: !Clear Ati Errors ;
12: DO[635:ClearErrs]=PULSE,1.0sec ;
13: ;
14: !Set Request to Enter Tool Nest ;
15: DO[71:Req2EntrToolNest]=ON ;
16: ;
17: !Wait Clear to Enter Tool Nest ;
18: WAIT DI[81:Clr2EntToolNest]=ON ;
19: ;
20: !Reset Clear of Tool Nest ;
21: DO[72:ClearOfToolNest]=OFF ;
22: ;
23: !Reset Request to Enter Nest ;
24: DO[71:Req2EntrToolNest]=OFF ;
25: ;
26: !
27: ;
28: !Move Clear of Tool in Nest IO ;
29: !PR[115:ToolOffset5] ;
30: !X=0 Y=0 Z=-155 Rx=0 Ry=0 Rz=0 ;
31:L PR[106:ToolNest1Pick] 150mm/sec FINE
Tool_Offset,PR[115:ToolOffset5]
: ;
32: ;
33: !PR[116:ToolOffset6] ;
34: !X=0 Y=0 Z=-50 Rx=0 Ry=0 Rz=0 ;
35:L PR[106:ToolNest1Pick] 150mm/sec FINE
Tool_Offset,PR[116:ToolOffset6]
: ;
36: !Reset Out of Nest ;
37: DO[637:OutOfNest]=OFF ;
38: ;
39: LBL[10] ;
40: ;
41: !Check ATI Sensor States ;
42: WAIT (!DI[632:ToolLocked] AND
!DI[633:ToolUnLocked]) TIMEOUT,LBL[90] ;
43: ;
44: LBL[1:RetryATISeq1] ;
45: ;
46: !Reset Latch Tool ;
47: DO[632:LatchOrLock]=OFF ;
48: ;
49: !Set Unlatch Tool ;
50: DO[633:UnlatchOrUnlock]=ON ;
51: ;
52: WAIT DI[633:ToolUnLocked]=ON TIMEOUT,LBL[633] ;
53: LBL[633] ;
54: ;
55: !Wait for ATI Feedback ;
56: WAIT (DI[633:ToolUnLocked] OR
DO[645:GeneralFaults]) ;
57: ;
58: !Check for General Errors ;
59: IF DO[645:GeneralFaults]=OFF,JMP LBL[11] ;
60: ;
61: !ATI State Check - Seq1 ;
62: CALL ATI_CHCK(1) ;
63: ;
64: JMP LBL[1] ;
65: ;
66: LBL[11:ToolUnlocked] ;
67: ;
68: !Move to Tool Nest ;
69: ;
70: !PR[117:ToolOffset7] ;
71: !X=0 Y=0 Z=-25 Rx=0 Ry=0 Rz=0 ;
72:L PR[106:ToolNest1Pick] 150mm/sec FINE
Tool_Offset,PR[117:ToolOffset7]
: ;
73:L PR[106:ToolNest1Pick] 50mm/sec FINE ;
74: ;
75: !ATI State Check - Seq2 ;
76: CALL ATI_CHCK(2) ;
77: ;
78: LBL[3:RetryATISeq3] ;
79: ;
80: !Reset Unlatch Tool ;
81: DO[633:UnlatchOrUnlock]=OFF ;
82: ;
83: !Set Latch Tool ;
84: DO[632:LatchOrLock]=ON ;
85: ;
86: !MACRO-Set Tool Devices Online ;
87: CALL DV_ONLN(2,31,0) ;
87: CALL DV_ONLN(2,39,0) ;
88: ;
89: WAIT DI[632:ToolLocked]=ON TIMEOUT,LBL[632] ;
90: LBL[632] ;
91: ;
92: !Wait for ATI ;
93: WAIT ((DI[632:ToolLocked] AND
!DI[633:ToolUnLocked]) OR
: DO[645:GeneralFaults]) ;
94: ;
95: !Check for Errors ;
96: IF DO[645:GeneralFaults]=OFF,JMP LBL[13] ;
97: ;
98: !ATI State Check - Seq3 ;
99: CALL ATI_CHCK(3) ;
100: ;
101: JMP LBL[3] ;
102: ;
103: LBL[13:ToolLocked] ;
104: ;
105: !Set Payload With Tool ;
106: PAYLOAD[1] ;
107: ;
108: !Verify Tool ID ;
109: IF GI[41:ToolIDswtch1Bits]<>R[2:Desired Tool
ID],JMP LBL[6] ;
110: ;
111: !Set Frames with new Tool ;
111: UTOOL_NUM=5 ;
112: UFRAME_NUM=0 ;
113: ;
114: !Move Clear of Tool in Nest IO ;
115:L PR[6:ToolNest1] 50mm/sec FINE ;
116: ;
117: !PR[113:ToolOffset3] ;
118: !X=0 Y=0 Z=25 Rx=0 Ry=0 Rz=0 ;
119:L PR[101:ToolNest1Drop] 50mm/sec FINE
Tool_Offset,PR[113:ToolOffset3]
: ;
120: !ATI State Check - Seq4 ;
121: IF DO[645:GeneralFaults]=ON,CALL ATI_CHCK(4) ;
122: ;
123: !Set Out of Nest ;
124: DO[637:OutOfNest]=ON ;
125: ;
126: !PR[112:ToolOffset2] ;
127: !X=-5 Y=0 Z=65 Rx=0 Ry=0 Rz=0 ;
128:L PR[101:ToolNest1Drop] 200mm/sec FINE
Tool_Offset,PR[112:ToolOffset2]
: ;
129: !Move Clear Tool Nest ;
130: ;
131: !PR[111:ToolOffset1] ;
132: !X=-150 Y=0 Z=65 Rx=0 Ry=0 Rz=0 ;
133:L PR[101:ToolNest1Drop] 1200mm/sec FINE
Tool_Offset,PR[111:ToolOffset1]
: ;
AS OF 1/12/2012 115 CUSW REL1.3
Printed copies are not source controlled
134: !Set Frames with new Tool again ;
134: UTOOL_NUM=5 ;
135: UFRAME_NUM=0 ;
136: ;
137: !Move to Tool Nest Perch ;
138:L P[2:Perch Out] 2000mm/sec FINE ;
139: ;
140: !Check If Device Is Online ;
141: CALL DV_STCHK(2,31,3) ;
142: IF R[3:Devnet Status]=2,JMP LBL[99] ;
143: ;
144: !Set Device Online ;
145: CALL DV_ONLN(2,31,30) ;
146: JMP LBL[99] ;
147: ;
148: LBL[6:ToolIDMismatch] ;
149: ;
150: !User Alarm - Unrecognized ;
151: !Tool on End-effector ;
152: UALM[1] ;
153: ABORT ;
154: ;
155: LBL[90:ATILockUnlockSns] ;
156: ;
157: !User Alarm - Lock or Unlock ;
158: !Sensor Incorrect State ;
159: UALM[26] ;
160: JMP LBL[10] ;
161: ;
162: LBL[99:End] ;
AS OF 1/12/2012 116 CUSW REL1.3
Printed copies are not source controlled
Enter Zone 1 (Macro) 1: !****************************** ;
2: !Enter Zone 1 Macro ;
3: !****************************** ;
4: ;
5: !Reset Clear of Zone 1 ;
6: DO[33:RobotClrZone1]=OFF ;
7: ;
8: !Wait for OK To Enter Zone 1 ;
9: WAIT DI[33:Zone1ClrToEnter]=ON ;
10: ;
Home IO (Macro) 1: !****************************** ;
2: !MACRO Setup Outputs ;
3: !****************************** ;
4: ;
5: GO[1:ActiveStyle]=0 ;
7: ;
8: DO[18:RbtAtWork]=OFF ;
9: DO[19:WorkComplete]=OFF ;
10: DO[25:RbtAtPounce]=OFF ;
11: DO[26:RbtAtService]=OFF ;
12: DO[28RbtInTipDress]=OFF ;
13: DO[29:TipDressComplt]=OFF ;
14: DO[31:ClearToTransfer]=ON ;
15: ;
16: !Zones ;
17: DO[33:RbtClrZone1]=ON ;
18: DO[34:RbtClrZone2]=ON ;
19: DO[35:RbtClrZone3]=ON ;
20: DO[36:RbtClrZone4]=ON ;
21: DO[37:RbtClrZone5]=ON ;
22: DO[38:RbtClrZone6]=ON ;
23: DO[39:RbtClrZone7]=ON ;
24: DO[40:RbtClrZone8]=ON ;
25: ;
26: !Pickup/Dropoff ;
27: DO[49:ClrOfPickup1]=ON ;
28: DO[50:AtPickup1]=OFF ;
29: DO[51:ClrOfDropoff1]=ON ;
30: DO[52:AtDropoff1]=OFF ;
31: DO[53:ClrOfPickup2]=ON ;
32: DO[54:AtPickup2]=OFF ;
33: DO[55:ClrOfDropoff2]=ON ;
34: DO[56:AtDropoff2]=OFF ;
35: DO[57:ClrOfPickup3]=ON ;
36: DO[58:AtPickup3]=OFF ;
37: DO[59:ClrOfDropoff3]=ON ;
38: DO[60:AtDropoff3]=OFF ;
39: DO[61:ClrOfPickup4]=ON ;
40: DO[62:AtPickup4]=OFF ;
41: DO[63:ClrOfDropoff4]=ON ;
42: DO[64:AtDropoff4]=OFF ;
43: ;
44: DO[65:Clr2UnclampEarly]=OFF;
45: DO[71:Req2ToEnterTN]=OFF ;
46: DO[72:ClrOfToolNest]=ON ;
47: DO[89:PickOverride]=OFF ;
48: DO[94:AbortPickReq]=OFF ;
49: DO[102:StepperRst1Ack]=OFF ;
50: DO[103:StepperRst2Ack]=OFF ;
51: DO[104:TipBurnInComplt]=OFF ;
52: DO[105:RbtClrFixt1]=ON ;
53: DO[106:RbtClrFixt2]=ON ;
54: DO[107:RbtClrFixt3]=ON ;
55: GO[2:ReposTooling]=0 ;
56: ;
57: GO[31:Disp1StyleBits]=0 ;
58: DO[393:Disp1RbtinPrc]=OFF ;
59: DO[394:Disp1StyStrobe]=OFF ;
60: DO[401:Disp1Complete]=OFF ;
61: ;
62: DO[637:OutOfNest]=ON ;
63: DO[640:ToolNotPresent]=OFF ;
64: DO[641:InvalidToolReqd]=OFF ;
65: DO[642:UnxpctdToolPrsnt]=OFF ;
66: DO[643:Nest not Empty]=OFF ;
67: DO[644:Nest is Empty]=OFF ;
68: ;
AS OF 1/12/2012 117 CUSW REL1.3
Printed copies are not source controlled
Process Application – Ped Spot (Macro) 1: !****************************** ;
2: !MACRO PED SPOT WELD;
3: !****************************** ;
4: ;
5: !Move to Weld 1 ;
6: !insert motion if necessary ;
7:L P[1] 1000mm/sec FINE ;
8: ;
9: !Select Schedule Weld 1 ;
10:L P[2] 100mm/sec FINE
: SPOT[SD=1,P=1,S=1,ED=1] ;
11: ;
12: !Move to Weld 2 ;
13: !insert motion if necessary ;
14:L P[3] 1000mm/sec FINE ;
15: ;
16: !Select Schedule Weld 2 ;
17:L P[4] 100mm/sec FINE
: SPOT[SD=1,P=1,S=1,ED=1] ;
18: ;
19: !Move Clear of Ped Welder ;
20:L P[5] 1000mm/sec FINE ;
21: ;
22: LBL[20] ;
23: ;
24: !Dropoff/Tip Change/Tip Dress ;
25: WAIT (DI[51:GoToDropoff1]=ON OR
DI[28:TipDressGunReq]=ON OR
DI[105:TipChangeReq]=ON OR
DI[104: TipBurnInReq]=ON OR
DI[27: ServiceRequest]=ON);
26: ;
27: !Check for Tip Change ;
28: IF DI[105:TipChangeReq]=ON,JMP LBL[30] ;
29: ;
30: !Check for Tip Dress ;
31: IF DI[28:TipDressGunReq]=ON,JMP LBL[40] ;
32: ;
33: !Check for Tip Burn In ;
34: IF DI[104:TipBurnInReq]=ON,JMP LBL[50] ;
35: ;
36: !Check for Service Request ;
37: IF DI[27:ServiceRequest]=ON,JMP LBL[60]
38: ;
39: !Check for go to Dropoff ;
40: IF DI[51:GoToDropoff1]=ON,JMP LBL[70] ;
41: ;
42: !****************************** ;
43: LBL[30:TipChange] ;
44: ;
45: !MACRO-Tip Dress Ped ;
46: CALL TPDRSPD(0) ;
47: ;
48: !Reset Tip Dress Complete ;
49: DO[29:TipDressComplt]=OFF ;
50: ;
51: !MACRO-Tip Change Ped ;
52: CALL TPCHGPD ;
53: ;
54: !MACRO-Tip Dress Ped ;
55: CALL TPDRSPD(58) ;
56: ;
57: JMP LBL[20] ;
58: ;
59: !****************************** ;
60: LBL[40:TipDress] ;
61: ;
62: !MACRO-Tip Dress Ped ;
63: CALL TPDRSPD(62) ;
64: ;
65: JMP LBL[20] ;
66: ;
67: !****************************** ;
68: LBL[50:TipBurnIn] ;
69: ;
70: !MACRO-Tip Burn In ;
71: CALL TPBURNIN ;
72: ;
73: JMP LBL[20] ;
74: ;
75: !****************************** ;
76: LBL[60:Service_W_Part] ;
77: ;
78: !MACRO-Srv_With_Prt ;
79: CALL Srv_With_Prt ;
80: ;
81: JMP LBL[20] ;
82: ;
83: !****************************** ;
84: LBL[70:Dropoff] ;
85: ;
AS OF 1/12/2012 118 CUSW REL1.3
Printed copies are not source controlled
Process Application – Ped Dispense (Macro) 1: !****************************** ;
2: !MACRO PED DISPENSE ;
3: !****************************** ;
4: ;
5: !Pre-processing for Disp Equip ;
6: !Insert Statements ;
7: ;
8: !Wait for Dispenser Ready ;
9: WAIT (DI[385:Dsp1DispenRdy]=ON) ;
10: ;
11: !Set Disp Robot in Process ;
12: DO[393:Disp1RbtinPrc]=ON ;
13: ;
14: WAIT .10(sec) ;
15: ;
16: !Set Dispense Style ;
17: GO[31:Disp1StyBits]=1 ;
18: ;
19: WAIT .10(sec) ;
20: ;
21: !Set Disp Style Strobe ;
22: DO[394:Disp1StyStrobe]=ON ;
23: ;
24: !Wait for Disp in Process ;
25: WAIT DI[386:Dsp1DispenInPrc]=ON ;
26: ;
27: !Reset Dispense Style ;
28: GO[31:Disp1StyBits]=0 ;
29: ;
30: !Reset Disp Style Strobe ;
31: DO[394:Disp1StyStrobe]=OFF ;
32: ;
33: !Set Coll Guard Sensitivity ;
34: COL GUARD ADJUST R[42] ;
35: ;
36: !Move Seal Start, Turn On Gun ;
37:L P[1] 1000mm/sec CNT100 SS[1] ;
38: ;
39: !Move along Path ;
40:L P[2] 100mm/sec CNT100 ;
41: ;
42: !Move To Seal End, Turn Off Gun ;
43:L P[3] 1000mm/sec CNT100 SE ;
44: ;
45: !Move Clear of Nozzle ;
46:L P[4] 1000mm/sec FINE ;
47: ;
48: !Reset Coll Guard Sensitivity ;
49: COL GUARD ADJUST ;
50: ;
51: !Set Dispense Complete ;
52: DO[401:Disp1Complete]=ON ;
53: ;
54: !Wait for Dispense Vol. OK ;
55: WAIT DI[387:Dsp1VolumeOK]=ON ;
56: ;
57: !Reset Dispense Complete ;
58: DO[401:Disp1Complete]=OFF ;
59: ;
60: !Reset Disp Robot in Process ;
61: DO[393:Disp1RbtinPrc]=OFF ;
62: ;
63: !Post-processing for Disp Equip ;
64: !Insert Statements ;
65: ;
66: LBL[20] ;
67: ;
68: !Purge or Go To Dropoff ;
69: WAIT (DI[51:GoToDropoff1]=ON OR
DI[95:PurgeGun1Req]=ON) ;
70: ;
71: !Check for Dropoff ;
72: IF DI[51:GoToDropoff1]=ON,JMP LBL[30] ;
73: ;
74: !MACRO - Purge Ped Gun 1 ;
75: CALL PRGPDGN1 ;
76: ;
77: JMP LBL[20] ;
78: ;
79: LBL[30:Dropoff] ;
80: ;
Need Fine
term type or
more robot
positions
(delay time).
Because the
SE instruction
is to close to
the
DO[401:dispe
nsecomplete].
The Nordson
may see both
signals turn
ON at the
same time due
to their scan
rate.
Example: SS[1]
–seal schedule is
using BW TCPP
(robot tool center
point position)
changes digital
IO per robot
speed. In the SS
command use
the following per
robot speed
500mm/sec:
200mm=10volt
100mm=5volts
OR
Change SS[1] -
flow rate to be
direct voltage
AS OF 1/12/2012 119 CUSW REL1.3
Printed copies are not source controlled
Process Application – Ped Stud (Macro) 1: !****************************** ;
2: !MACRO PED STUD WELD;
3: !****************************** ;
4: ;
5: !Move to Weld 1 ;
6: !insert motion if necessary ;
7:L P[1] 1000mm/sec FINE ;
8: ;
9: !Select Schedule Weld 1 ;
10:L P[2] 100mm/sec FINE
: SPOT[S=1] ;
11: ;
12: !Move to Weld 2 ;
13: !insert motion if necessary ;
14:L P[3] 1000mm/sec FINE ;
15: ;
16: !Select Schedule Weld 2 ;
17:L P[4] 100mm/sec FINE
: SPOT[S=1] ;
18: ;
19: !Move Clear of Ped Welder ;
20:L P[5] 1000mm/sec FINE ;
21: ;
Purge Ped Gun (Macro) 1: !****************************** ;
2: !MACRO PURGE PED GUN 1 ;
3: !****************************** ;
4: ;
5: !Set Ext Purge 1 in Progress ;
6: DO[97:ExtPurg1InProgrs]=ON ;
7: ;
8: !Pre-process Dispense Equipment ;
9: !(insert statements) ;
10: ;
11: !Turn On Gun-Purge Schedule ;
12: DO[416:Disp1Purge]=ON ;
13: ;
14: !Wait 'X' Seconds ;
15: WAIT 7.00(sec) ;
16: ;
17: !Turn Off Gun ;
18: DO[416:Disp1Purge]=OFF ;
19: ;
20: !Post-process Disp Equipment ;
21: !(insert statements) ;
22: ;
23: !Reset Ext Purge 1 in Progress ;
24: DO[97:ExtPurg1InProgrs]=OFF ;
25: ;
Reset Stepper (Macro) 1: !****************************** ;
2: !MACRO RESET STEPPER ;
3: !****************************** ;
4: ;
5: !Set Weld 1 Reset Stepper ;
6: DO[590:W1ResetStepper]=ON ;
7: ;
8: !Wait for Stepper Reset ;
9: WAIT DI[204:W1 SteppersReset]=ON ;
10: ;
11: !Reset Weld 1 Reset Stepper ;
12: DO[590:W1ResetStepper]=OFF ;
13: ;
Tip Burn In (Macro) 1: !****************************** ;
2: !MACRO TIP BURN IN ;
3: !****************************** ;
4: ;
5: !Reset Registers for Burn In ;
6: R[14]=0 ;
7: ;
8: LBL[1] ;
9: ;
10: !Burn In ;
11:L P[1] 100mm/sec FINE
: SPOT[SD=1,P=1,S=62,ED=1] ;
12: ;
13: !Total Number of Burn Ins ;
14: R[14]=R[14]+1 ;
15: ;
16: !Check Number of Burn-ins ;
17: IF R[14]<R[15],JMP LBL[1] ;
18: ;
19: !MACRO-Tip Wear Compensation ;
20: CALL WR_UPDAT(1,0) ;
21: ;
22: !Set Tip Burn-in Complete ;
23: DO[104:TipBurnInComplt]=ON ;
24: ;
Tip Change Ped Gun (Macro) 1: !****************************** ;
2: !MACRO TIP CHANGE PED GUN ;
3: !****************************** ;
4: ;
5: !Pulse W1 Water Off ;
6: DO[587:W1WtrOff]=PULSE,1.0sec ;
7: ;
8: !Set Robot at Service ;
9: DO[26:RbtAtService]=ON ;
10: ;
11: !Set Ready for Tip Change ;
12: DO[30:RdyForTipChg]=ON ;
13: ;
14: !Wait for Service Complete ;
15: WAIT (DI[26:ServiceCompltReq]=ON) ;
16: ;
17: !Reset Robot at Service ;
18: DO[26:RbtAtService]=OFF ;
19: ;
20: !Reset Ready for Tip Change ;
21: DO[30:RdyForTipChg]=OFF ;
22: ;
23: !MACRO-Reset Stepper ;
24: CALL RST_STPR ;
25: ;
26: !MACRO-Seat Caps Gun 1 ;
27: CALL TW_PRSRT(1,500,2,4,1,10,5,15) ;
28: ;
29: !Tip Wear Compensation Gun 1 ;
30: CALL WR_UPDAT(1,0) ;
31: ;
32: !Pulse W1 Reset Water Saver ;
33: DO[586:W1RstWtrSvr]=PULSE,1.0sec ;
34: ;
AS OF 1/12/2012 120 CUSW REL1.3
Printed copies are not source controlled
Tip Dress Gun 1 (Macro) 1: !******************************** ;
2: !MACRO Tip Dress Carried gun 1 ** ;
3: !******************************** ;
4: ;
5: !Setup Weld Register ;
6: R[19:Gun1BurnInSched]=AR[1] ;
7: ;
8: IF DI[127:TipdressBypassed]=ON,JMP LBL[20] ;
9: ;
10: !Set Robot In Tip Dress ;
11: DO[28:RobotInTipDress]=ON ;
12: ;
13: !T/Dress Approach (Common Pos.) ;
14:J PR[4:MHWait/TDCom Pos] 50% FINE ;
15:J P[1] 80% CNT25 ;
16:J P[2] 80% CNT25 ;
17:J P[3] 80% CNT25 ;
18:J P[4] 80% CNT10 ;
19: ;
20: !Turn On Tip Dress Motor ;
21: DO[101:TurnOnTipDresser]=ON ;
22: ;
23: !Wait Tip Dress Motor On ;
24: WAIT DI[101:TipDrsMotorOn]=ON ;
25: ;
26: !Before/After Tip Dress ;
27:L P[5] 800mm/sec FINE ;
28: ;
29: !At Tip Dress ;
30:L P[6] 500mm/sec FINE
: SPOT[SD=2,P=60,S=60,ED=2] ;
31: ;
32: !Before/After Tip Dress ;
33:L P[5] 800mm/sec CNT10 ;
34: ;
35: !Turn Off Tip Dress Motor ;
36: DO[101:TurnOnTipDresser]=OFF ;
37: ;
38:L P[4] 1600mm/sec CNT50 ;
39:J P[3] 80% CNT25 ;
40:J P[2] 80% CNT25 ;
41:J P[1] 80% CNT25 ;
42: ;
43: !T/Dress Approach (Common Pos.) ;
44:J PR[4:MHWait/TDCom Pos] 80% CNT50 ;
45: ;
46: !STYLE003 Wear Update & ;
47: !Burn In Skip ;
48: IF R[19:Gun1BurnInSched]=0,JMP LBL[10] ;
49: ;
50: !MACRO-Tip Wear Compensation ;
51: CALL WR_UPDAT(1,0) ;
52: ;
53: !Set Tip Dress Complete ;
54: DO[29:TipDressComplt]=ON ;
55: ;
56: LBL[20:TIPDRESS BYPASS] ;
57: ;
58: IF R[19:Gun1BurnInSched]=0,JMP LBL[10] ;
59: ;
60: !Do Tip Burn In Weld Schedule ;
61: SPOT[SD=4,P=62,S=R[19],ED=4] ;
62: ;
63: LBL[10:SKIP TIPBURN] ;
64: ;
65: !******************************** ;
66: !CNT CAN NOT CHANGE MUST BE FINE ;
67:J PR[1:Home 1] 80% FINE ;
68: !******************************** ;
69: ;
70: !Reset Robot In Tip Dress ;
71: DO[28:RobotInTipDress]=OFF ;
Tip Dress Gun 2 (Macro) 1: !******************************** ;
2: !MACRO Tip Dress Carried gun 2 ** ;
3: !******************************** ;
4: ;
5: !Setup Weld Register ;
6: R[20:Gun2BurnInSched]=AR[1] ;
7: ;
8: IF DI[127:TipdressBypassed]=ON,JMP LBL[20] ;
9: ;
10: !Set Robot In Tip Dress ;
11: DO[28:RobotInTipDress]=ON ;
12: ;
13: !T/Dress Approach (Common Pos.) ;
14:J PR[4:MHWait/TDCom Pos] 50% FINE ;
15:J P[1] 80% CNT25 ;
16:J P[2] 80% CNT25 ;
17:J P[3] 80% CNT25 ;
18:J P[4] 80% CNT10 ;
19: ;
20: !Turn On Tip Dress Motor ;
21: DO[101:TurnOnTipDresser]=ON ;
22: ;
23: !Wait Tip Dress Motor On ;
24: WAIT DI[101:TipDrsMotorOn]=ON ;
25: ;
26: !Before/After Tip Dress ;
27:L P[5] 800mm/sec FINE ;
28: ;
29: !At Tip Dress ;
30:L P[6] 500mm/sec FINE
: SPOT[SD=2,P=60,S=61,ED=2] ;
31: ;
32: !Before/After Tip Dress ;
33:L P[5] 800mm/sec CNT10 ;
34: ;
35: !Turn Off Tip Dress Motor ;
36: DO[101:TurnOnTipDresser]=OFF ;
37: ;
38:L P[4] 1600mm/sec CNT50 ;
39:J P[3] 80% CNT25 ;
40:J P[2] 80% CNT25 ;
41:J P[1] 80% CNT25 ;
42: ;
43: !T/Dress Approach (Common Pos.) ;
44:J PR[4:MHWait/TDCom Pos] 80% CNT50 ;
45: ;
46: !STYLE003 Wear Update & ;
47: !Burn In Skip ;
48: IF R[20:Gun2BurnInSched]=0,JMP LBL[10] ;
49: ;
50: !MACRO-Tip Wear Compensation ;
51: CALL WR_UPDAT(1,0) ;
52: ;
53: !Set Tip Dress Complete ;
54: DO[29:TipDressComplt]=ON ;
55: ;
56: LBL[20:TIPDRESS BYPASS] ;
57: ;
58: IF R[20:Gun2BurnInSched]=0,JMP LBL[10] ;
59: ;
60: !Do Tip Burn In Weld Schedule ;
61: SPOT[SD=4,P=62,S=R[19],ED=4] ;
62: ;
63: LBL[10:SKIP TIPBURN] ;
64: ;
65: !******************************** ;
66: !CNT CAN NOT CHANGE MUST BE FINE ;
67:J PR[1:Home 1] 80% FINE ;
68: !******************************** ;
69: ;
70: !Reset Robot In Tip Dress ;
71: DO[28:RobotInTipDress]=OFF ;
AS OF 1/12/2012 121 CUSW REL1.3
Printed copies are not source controlled
Tip Dress Ped Gun (Macro) 1: !****************************** ;
2: !MACRO TIP DRESS PED GUN ;
3: !****************************** ;
4: !Parameters: AR[] ;
5: !1: Burn In Schedule Gun 1 ;
6: !****************************** ;
7: ;
8: !Setup Weld Register ;
9: R[19:Gun1BurnInSched]=AR[1] ;
10: ;
11: !Set Robot in Tip Dress ;
12: DO[28:RbtInTipDress]=ON ;
13: ;
14: !Wait for Tip Dress Dump Ext ;
15: WAIT DI[99:TipDressDumpExtd]=ON ;
16: ;
17: !Turn On Tip Dresser ;
18: DO[101:TurnOnTipDresser]=ON ;
19: ;
20: !Wait Tip Dress Motor On ;
21: WAIT DI[101:TipDrsMotorOn]=ON ;
22: ;
23: !Do Tip Dress Weld Schedule ;
24:L P[1] 100mm/sec FINE
: SPOT[SD=1,P=1,S=60,ED=1] ;
25: ;
26: !Reset Turn On Tip Dresser ;
27: DO[101:TurnOnTipDresser]=OFF ;
28: ;
29: !Reset Tip Dress Request ;
30: DO[100:TipDressReq1]=OFF ;
31: ;
32: !Set Tip Dress Complete ;
33: DO[29:TipDressComplt]=ON ;
34: ;
35: !Wait for Tip Dress Dump Ret ;
36: WAIT DI[100:TipDrsDumpRtrct]=ON ;
37: ;
38: !Check If Burn In Required ;
39: IF R[19:Gun1BurnInSched]=0,JMP LBL[10] ;
40: ;
41: !Do Tip Burn In Weld Schedule ;
42:L P[2] 100mm/sec FINE
: SPOT[SD=1,P=1,S=R[19],ED=1] ;
43: ;
44: !MACRO-Tip Wear Compensation ;
45: CALL WR_UPDAT(1,0) ;
46: ;
47: LBL[10:SkipBurnIn] ;
48: ;
49: !Reset Robot in Tip Dress ;
50: DO[28:RbtInTipDress]=OFF ;
51: ;
AS OF 1/12/2012 122 CUSW REL1.3
Printed copies are not source controlled
Tool Drop Preperation (Macro) 1: !****************************** ;
2: !MACRO TOOL DROP PREPARATION ;
3: !****************************** ;
4: ;
5: LBL[1:Retry] ;
6: ;
7: !Select Tool ;
8: SELECT R[1]=1,JMP LBL[10] ;
9: =2,JMP LBL[20] ;
10: =3,JMP LBL[30] ;
11: =4,JMP LBL[40] ;
12: ELSE,JMP LBL[90] ;
13: ;
14: LBL[10:Tool1] ;
15: ;
16: !Verify Part Not Present ;
17: Check No Part(1,2,3,4) ;
18: ;
19: !MACRO-Set Active MH Tool ;
20: Set MH Tool(1) ;
21: ;
22: !Set Tool 1 Drop State ;
23: Release Part(1) ;
24: ;
25: !Verify Nest Empty Before Drop ;
26: IF DI[73:ToolInNest1]=ON,JMP LBL[95] ;
27: ;
28: !MACRO-Drop Tool in Nest 1 ;
29: CALL NST1DROP ;
30: ;
31: JMP LBL[99] ;
32: ;
33: ;
34: LBL[20:Tool2] ;
35: ;
36: !Verify Part Not Present ;
37: Check No Part(1,2,3,4) ;
38: ;
39: !MACRO-Set Active MH Tool ;
40: Set MH Tool(2) ;
41: ;
42: !Set Tool 2 Drop State ;
43: Release Part(1) ;
44: ;
45: !Verify Nest Empty Before Drop ;
46: IF DI[74:ToolInNest2]=ON,JMP LBL[95] ;
47: ;
48: !MACRO-Drop Tool in Nest 2 ;
49: CALL NST2DROP ;
50: ;
51: JMP LBL[99] ;
52: ;
53: ;
54: LBL[30:Tool3] ;
55: ;
56: !Verify Part Not Present ;
57: Check No Part(1,2,3,4) ;
58: ;
59: !MACRO-Set Active MH Tool ;
60: Set MH Tool(3) ;
61: ;
62: !Set Tool 3 Drop State ;
63: Release Part(1) ;
64: ;
65: !Verify Nest Empty Before Drop ;
66: IF DI[75:ToolInNest3]=ON,JMP LBL[95] ;
67: ;
68: !MACRO-Drop Tool in Nest 3 ;
69: CALL NST3DROP ;
70: ;
71: JMP LBL[99] ;
72: ;
73: ;
74: LBL[40:Tool4] ;
75: ;
76: !Verify Part Not Present ;
77: Check No Part(1,2,3,4) ;
78: ;
79: !MACRO-Set Active MH Tool ;
80: Set MH Tool(4) ;
81: ;
82: !Set Tool 4 Drop State ;
83: Release Part(1) ;
84: ;
85: !Verify Nest Empty Before Drop ;
86: IF DI[76:ToolInNest4]=ON,JMP LBL[95] ;
87: ;
88: !MACRO-Drop Tool in Nest 4 ;
89: CALL NST4DROP ;
90: ;
91: JMP LBL[99] ;
92: ;
93: !****************************** ;
94: !ALARMS ;
95: !****************************** ;
96: ;
97: !Unexpected Tool Present ;
98: LBL[90:WrongTool] ;
99: ;
100: !Set Application Error Output ;
101: DO[642:UnxpctdToolPrsnt]=ON ;
102: ;
103: !Post User Alarm ;
104: UALM[3] ;
105: ;
106: !Reset Appliction Error Output ;
107: DO[642:UnxpctdToolPrsnt]=OFF ;
108: ;
109: JMP LBL[1] ;
110: ;
111: !Nest not Empty;
112: LBL[95:Nest not Empty] ;
113: ;
114: !Set Application Error Output ;
115: DO[643:Nest not Empty]=ON ;
116: ;
117: !Post User Alarm ;
118: UALM[4] ;
119: ;
120: !Reset Not not Empty ;
121: DO[643:Nest not Empty]=OFF ;
122: ;
123: JMP LBL[1] ;
124: ;
125: LBL[99:End] ;
126: ;
AS OF 1/12/2012 123 CUSW REL1.3
Printed copies are not source controlled
Tool Pick Preperation (Macro) 1: !****************************** ;
2: !MACRO TOOL PICK PREPARATION ;
3: !****************************** ;
4: ;
5: LBL[1] ;
6: ;
7: !Select Tool Nest for Pick ;
8: SELECT R[2]=1,JMP LBL[10] ;
9: =2,JMP LBL[20] ;
10: =3,JMP LBL[30] ;
11: =4,JMP LBL[40] ;
12: ELSE,JMP LBL[90] ;
13: ;
14: LBL[10:Tool1] ;
15: ;
16: !Verify Tool in Nest B4 Pick ;
17: IF DI[73:ToolInNest1]=OFF,JMP LBL[95] ;
18: ;
19: !MACRO-Pick Tool in Nest 1 ;
20: CALL NST1PICK ;
21: ;
22: JMP LBL[99] ;
23: ;
24: LBL[20:Tool2] ;
25: ;
26: !Verify Tool in Nest B4 Pick ;
27: IF DI[74:ToolInNest2]=OFF,JMP LBL[95] ;
28: ;
29: !MACRO-Pick Tool in Nest 2 ;
30: CALL NST2PICK ;
31: ;
32: JMP LBL[99] ;
33: ;
34: LBL[30:Tool3] ;
35: ;
36: !Verify Tool in Nest B4 Pick ;
37: IF DI[75:ToolInNest3]=OFF,JMP LBL[95] ;
38: ;
39: !MACRO-Pick Tool in Nest 3 ;
40: CALL NST3PICK ;
41: ;
42: JMP LBL[99] ;
43: ;
44: LBL[40:Tool4] ;
45: ;
46: !Verify Tool in Nest B4 Pick ;
47: IF DI[76:ToolInNest4]=OFF,JMP LBL[95] ;
48: ;
49: !MACRO-Pick Tool in Nest 4 ;
50: CALL NST4PICK ;
51: ;
52: JMP LBL[99] ;
53: ;
54: !****************************** ;
55: !ALARMS ;
56: !****************************** ;
57: ;
58: !Invalid Tool Requested ;
59: LBL[90:WrongTool] ;
60: ;
61: !Set Application Error ;
62: !DO[641:InvalidToolReqd]=ON ;
63: ;
64: !Post User Alarm ;
65: UALM[2] ;
66: ;
67: !Reset Application Error ;
68: !DO[641:InvalidToolReqd]=OFF ;
69: ;
70: JMP LBL[1] ;
71: ;
72: !Tool Nest is Empty ;
73: LBL[95:Nest is Empty] ;
74: ;
75: !Set Application Error ;
76: DO[644:Nest is Empty]=ON ;
77: ;
78: !Post User Alarm ;
79: UALM[5] ;
80: ;
81: !Reset Application Error ;
82: DO[644:Nest is Empty]=OFF ;
83: ;
84: JMP LBL[1] ;
85: ;
86: LBL[99:End] ;
87: ;