Ford FANUC R30iA R30iB NextGen E

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

Next Gen - Integrated Ethernet Safety for R-30iA and R-30iB
Controllers
Appendix Combo SWG - STUD

Table of Contents
1 Servo Weld Gun Setup and Programming ................................................................. 9
2 Servo Tip Dress.......................................................................................................... 9
3 Spot Program Touchup .............................................................................................. 9
4 Style Sample Teach Pendant Programs ..................................................................... 9

4.1 ASCII UPLOAD ............................................................................................................................. 9
4.2 PG21 – CARRIED WELD OPERATIONS ONLY.................................................................................11
4.3 PG21 – PEDESTAL WELD / STUD OPERATION WITH TIP DRESS DUMP............................................15
4.4 WELD01 PROGRAM FOR R-30IA CONTROLLERS ...........................................................................23
4.5 WELD01 PROGRAM FOR R-30IB CONTROLLERS ...........................................................................24
4.6 TPDRSMAC - TIP DRESS DUMP WITH SERVO TIP DRESSER MACRO............................................25
4.7 PEDTDMACS - PEDESTAL TIP DRESS DUMP WITH SERVO TIP DRESSER MACRO FOR R-30IA
CONTROLLERS..............................................................................................................................30
4.8 PEDTDMACS - PEDESTAL TIP DRESS DUMP WITH SERVO TIP DRESSER MACRO FOR R-30IB
CONTROLLERS..............................................................................................................................33
4.9 STUD01 – STUD PATH.................................................................................................................36
4.10 FFRSTUD1 – FAST FAULT RECOVERY .........................................................................................37
4.11 TIP WEAR COMPENSATION (TPWEARC1).............................................................................38
4.12 TIP WEAR UPDATE (TW_UPD01) ...........................................................................................41
4.13 TIP_MEAS – TIP WEAR CUTTER WARNING ..................................................................................43
4.14 WELD1ENB MACRO....................................................................................................................45
4.15 WELD1DIS MACRO ......................................................................................................................46
4.16 WELDHOME MACRO FOR R-30IA CONTROLLERS ........................................................................47
4.17 WELDHOME MACRO FOR R-30IB CONTROLLERS ........................................................................48
4.18 WELDONCE MACRO...................................................................................................................49
4.19 WELD39 MACRO FOR R-30IA CONTROLLERS ...............................................................................50
4.20 WELD39 MACRO FOR R-30IB CONTROLLERS ...............................................................................52
4.21 PG08 – MANUAL TIP DRESS FOR CARRIED APPLICATION FOR R-30IA CONTROLLERS ...............54
4.22 PG08 – MANUAL TIP DRESS FOR CARRIED APPLICATION FOR R-30IB CONTROLLERS ....................59
4.23 PG08 – MANUAL TIP DRESS FOR PEDESTAL DUMP APPLICATION FOR R-30IA CONTROLLERS ........64
4.24 PG08 – MANUAL TIP DRESS FOR PEDESTAL DUMP APPLICATION FOR R-30IB CONTROLLERS ........69
4.25 PG09 – MINOR MAINTENANCE POSITION......................................................................................74
4.26 PG10 OR PG06 – AUTO TIP DRESS FOR CARRIED APPLICATION WITH SERVO TIP DRESS FOR R-30IA
CONTROLLERS..............................................................................................................................76
4.27 PG10 OR PG06 – AUTO TIP DRESS FOR CARRIED APPLICATION WITH SERVO TIP DRESS FOR R-30IB
CONTROLLERS..............................................................................................................................80
4.28 CGTDMACS – CARRIED SERVO GUN WITH SERVO TIP DRESSER MACRO FOR R-30IA
CONTROLLERS..............................................................................................................................84
4.29 CGTDMACS – CARRIED SERVO GUN WITH SERVO TIP DRESSER MACRO FOR R-30IB
CONTROLLERS..............................................................................................................................88
4.30 OPNGUN – OPEN SERVO GUN POSITION MACRO ......................................................................92
4.31 CLSGUN – CLOSE SERVO GUN POSITION MACRO ......................................................................93
4.32 BLOWOFF – TIP DRESS SPIN AND BLOWER PROGRAM.................................................................94
4.33 HOME_IO – RESET INPUT/OUTPUT MACRO ..............................................................................95
5 Software I/F Panels .................................................................................................. 97
Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

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5.1 SPOT SWG MENU .......................................................................................................................97
5.2 STUD MENU .................................................................................................................................99
6 PMC Logic (S-Logic)- Spot / Stud with Servo Tip Dress for R-30iA Controllers 102
7 PMC Logic (S-Logic)- Spot / Stud with Servo Tip Dress for R-30iB Controllers 103

Page 3 of 103
Revision History
Revision Modification Date Description
1.0 Initial Release
1.1 2012-11-15 Added sentence about checking if one tip is wearing
faster than the other in the TIP_MEAS section.
Added tip wear check logic in TIP_MEAS program.
R[83] defined as Maximum Tip Wear.
Tip Wear Warnings Set OFF in PG10/PG06 auto tip
dress programs.
Added Increment for Register [49] in CGTDMACS.
Adjusted output for TIP_MEAS.
Added note that the servo tip dresser will not spin in
STEP mode in CGTDMACS and PEDTDMACS.
Changed start and end distance schedules to 2 in
PEDTDMACS.
Made tip dress instruction stand alone in
PEDTDMACS.
Copied logic for New tips from Carried to Pedestal
program PEDTDMACS.
Added E-Stop Recovery during tip dress in
TPDRSMAC.
Added jump around resistance check logic in PG10.
PMC Update: Removed Y1020.4 RO 5 TD Enable 1
output coil.
PMC Update: Changed X0001.1 DI 10 Auto Rept from
RD NOT to RD in the rung with Y0101.5 DO 814
MODSEL2 as the output.
PMC Update: Added 5 rungs to stud ladder for start
feed cycle heads. The new rungs have outputs with
Y0099.5 DO 798 STRFEDH1, Y0099.6 DO 799
STRFEDH2, Y0099.7 DO 800 STRFEDH3, Y0100.0
DO 801 STRFEDH4 and Y0100.1 DO 802
STRFEDH5.
PMC Update: Created Prompt Box Rung for Resume
Tolerance in LEVEL2. Y73.0
PMC Update: Added Y1020.4 RO 5 TD Enable 1
output coil to rung with output coil Y0109.0 DO 873
TD1 ENB.
PMC Update: Added rungs to detect SVGN-320 and
SVGN-326 errors. (output coils R0385.0 and R0386.0).
Added R386.1 rung for both SVGN latch. Added
SVGN-320 and SVGN-326 elements to filtered faults.

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Added R386.1 to R1404.5 Drop Auto Fault.
PMC Update: Added SRVO-408 filtering. Added
safety chain fault error decoding to send a bit to the
PLC.
1.2 2012-11-16 Corrected pressure and tip dress schedules for
PEDTDMACS and pressure schedule and starting and
ending distances for CGTDMACS.
1.3 2012-12-21 Created direct Exit Zones in HOME_IO.
Updated PMC: Modified D0004.1 Remote No Stroke
OK WC1 to use nutfeed applciation bypass correctly.
An AND was added with DO 388 NUTFD APP
Y0048.3 to have NOT DO 387 Y0048.2 WLD2 APP
and an OR with DO 387 Y0048.2 WLD2 APP AND
DO 406 Y0050.5 NTFD 2APP.
Updated PMC: Added K0016.1 (VAC 4 ON PB) and
K0016.2 (BLOWOFF 4 ON PB) to rung output
D0612.1 (MH IF PB TO) in INTERFACE logic.
1.4 2013-01-14 Fixed Clear Zone 14 bit in HOME_IO.
Added parenthesis in stationary tip measurement logic
in TIP_MEAS.
1.5 2013-03-18 Changed New Tip comment in PG10.
Added R-30iB programs for WELD01, PEDTDMACS,
STUD01, WELDHOME, WELD39, PG08,
PG10/PG06, CGTDMACS.
Added R-30iB PMC.
Removed TW_PRS01 from TPWEARC1 and
TW_UPD01. Also removed OPEN GUN instruction
from TW_UPD01.
Added a text box at the beginning of CGTDMACS for
R30iA and R30iB which describes how to setup and
teach tip dress for carried guns so that tip wear offsets
will be applied during tip dress.
Corrected wrong parenthesis logic in TIP_MEAS.
1.6 2013-05-06 Corrected logic in TIP_MEAS that caused change
requests for both moveable and fixed tips when only
one of them was required.
Changed name of guide to have SWG and Stud in title
to match other Combo file names.
Changes were made for the blower to be controlled
outside of PMC via TP Programs. TP Logic is used to
spin the dresser and blower after tip dressing.
BLOWOFF is called from CGTDMACS or
PEDTDMACS. See note block at beginning of these
macros for more information. The PMC, dated 2013-04-

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15, appended to this guide is required for the change to
take effect.
Updated PMC: Removed Blower output Y1020.4 (RO
5) from PMC. Blower is now controlled through TP
Programs.
Added TW_PRS01 with additional logic to
TPDRSMAC to allow new tips to be pressed in a
pedestal application.
1.7 2013-07-08 Corrected SPOT instruction for R-30iB programs for
the stud welders. It should not have SWG parameters
in it.
Added date reference in the note for BLOWOFF control
change in CGTDMACS and PEDTDMACS.
Added a new TP Program PG09 which is a Minor
Maintenance program, similar to PG08.
Removed logic from TPDRSMAC for R[49]=0,
DO[438]=0, and DO[439]=0, in the section where the
wear amount is reset for a new tip
1.8 2013-08-07 Updated iA PMC: Add Fast Fault Recovery and Skip
Remaining Active. Y126.6 DO1015 FFRECOVERY
turns ON Y0036.0 DO289 Skip Remaining Active.
Updated iA PMC: Added UALM 26 to detect when
K4.5 Equalizer Enabled is enabled.
Updated iB PMC: Removed logic for fault decoding for
SRVO 379-385 alarms (R387.1 - R87.7). Removed
comments for R387.1 - R387.7. Modified comment for
R387.0 for new R30iB fault description. Modified logic
for rung with output R0388.0 OPSFTY_FLT_LATCH.
Added a rung for this modification that has output
R0388.1 F1008.1 DELAY ON.
1.9 2013-12-20 Added logic to CGTDMACS and PEDTDMACS to
prevent the Blowoff Macro from being executed if the
tip dress enable is OFF.
2.0 2014-03-26 Added abort pick logic to PG21.TP Pedestal.
2.1 2014-06-24 Corrected PG21s to set Clear Transfer and Unclamp to
ON at the end of the program
Adjusted abort pick logic to PG21 Pedestal TP to allow
for an abort after attempting clamps closed
Adjusted Logic in TPDRSMAC for dump advance
Adjusted Logic in PG08 (Pedestals) to inhibit redundant
tip measurements after a cap change
Adjusted Logic in HOME_IO to Disable Tip Dress
Dump Advance
Updated iA PMC: Added Time Delay Exceeded Rungs

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in STUD PMC.
Updated iA PMC: Modified facility code reset logic.
Modified safety chain fault detection logic. Added head
back logic Y78.0 DO 625 Head back. Modified pause
logic for Y35.3 DO 284 Reject Part, Y35.4 DO 285
Skip Remaining Studs, Y35.2 DO 283 Reject Part Don't
Recall and Y101.2 DO 811 Restart Weld.
Updated iB PMC: Added head back logic (output Y78.0
DO 625 HEAD BACK). Modified Stud Restart Weld
(Y101.2 DO 811), Stud Reject Part Don’t Recall (Y35.2
DO 283), Skip Remaining Studs (Y35.4 DO 285) and
Stud Reject Part (Y35.3 DO 284) logic.
Updated iB PMC: Facility code reset logic modified.
Updated iB PMC: Modified R388.1 comment. D4.2
Remote No Stroke OK WC2 logic modified to account
for SWG+SWGNUT applciations (SWG standard logic
change).
Updated HOME_IO to reset Robot at Minor
Maintenance;
Added DO[587:RBT AT MINMAINT]=OFF
2.2 2015-01-30 Updated FFR for Stud in PG21 for Carried applications
Added Second Program Verify to Main Style Programs;
Set to Skip Second Verify if in FFR
Updated (Minor) Maintenance Programs:: Moved
position at which the at (Minor) Maintenance position
signal is turned off to come immediately after the wait
for the PLC (Minor) Maintenance clear signal.
Updated PMC:: Modified Stud Restart Weld (Y101.2
DO 811), Stud Reject Part Don’t Recall (Y35.2 DO
283), Skip Remaining Studs (Y35.4 DO 285) and Stud
Reject Part (Y35.3 DO 284) logic.
Updated PMC:: Added Y0.2 Robot in Auto as a
requirement to select FFR
2.3 2016-02-12 Updated IO Comment for DO118
DO[118:WLD CTRL1 TD ENABLE]
Updated PMC: Added TC Cover Open/Close to the
Interface Anti-Tiedown Logic
Updated PMC: Added Logic to allow for the reset of the
Time Delay Exceeded signal upon activation of either
Skip Remaining, Reject Part, or Reject Part No Recall
Updated PMC: 2015-10-30 : Added Logic to allow
Robot Cycle Start from Multiple Home Positions;
Added Logic to require a TP Interface Button Press to
(Un)Lock the Tool Changer while in Teach; Added

Page 7 of 103
Logic to not allow the signal for the Lock Command to
go low when the Tool Change Application Bit is
inactive
Updated PMC: 2016-03-30 : Added
DI[111:AUTOTIPCHG] to the Pulled Tip Bypass rung
to allow for the PLC to disable the check to allow
Automatic Cap change

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1 Servo Weld Gun Setup and Programming
 Please reference the SWG – Servo Weld Gun Appendix for this
information.
2 Servo Tip Dress
information.
3 Spot Program Touchup
information.
4 Style Sample Teach Pendant Programs

NOTE: USE ONLY ONE METHOD OF TIP WEAR MEASUREMENT FOR TIP WEAR
COMPENSATION (ONE-STEP OR TWO-STEP) . ONE-STEP IS USING TIP-TO-TIP
MEASURING AND THE AVERAGE OF THE TIP WEAR IS ASSUMED TO BE EQUALLY
DISTRIBUTED FROM EACH TIP. TWO-STEP WILL USE A CALIBRATION PLATE. IF
YOU ARE USING A CALIBRATION PLATE (TWO-STEP) FOR TIP WEAR MEASUREMENT,
DO NOT USE THE ROBOT’S ONE-STEP WEAR MEASUREMENT METHOD ELSEWHERE.
CONVERSLY, IF USING THE ONE STEP WEAR MEASUREMENT METHOD AT THE END OF
THE ROBOT’S PROGRAM, DON’T USE THE TWO-STEP METHOD . BUT IF YOU HAVE A
CALIBRATION PLATE BY DEFAULT USE THE TWO-STEP METHOD
4.1 ASCII Upload

You can use the ASCII upload feature on the robot controllers to get these sample programs
into the robot. This saves the work of typing the instructions into the teach pendant manually.
The general procedure is:
1. Select the program lines from this document.
2. Copy to clipboard.
3. Open NotePad or similar editor.
4. Paste the lines into Notepad.
5. Check for Strikeout lines in the original listing from this document. If any are found,
delete those lines from the listing on Notepad.
6. Check the program header. If it is not complete, you will need to paste missing lines
into the header from another program. (You can get them from a saved .LS file from
the controller).
7. If you wish to add any logic to the program, do so now.
8. Save the file on Notepad as NAME.LS, where NAME is the name of the TP program.

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9. This file can now be put on a memory card or USB Flash drive and inserted into the
controller. You can use the Files menu to load the NAME.LS file.
10. You can alternatively use FTP to copy the .LS file to the robot MD: device.
11. Check the alarm log for syntax errors while loading. If necessary, correct those errors
and try loading again.
NOTE: The SPOTTOOL+ manual discusses ASCII file operations
11.1 Saving Files as ASCII
11.2 ASCII UPLOAD

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4.2 PG21 – Carried Weld Operations Only
/PROG PG21
/ATTR
OWNER = MNEDITOR;
COMMENT = "Style1 Main ";
PROG_SIZE = 3720;
CREATE = DATE 10-06-07 TIME 17:29:34;
MODIFIED = DATE 10-10-01 TIME 16:39:30;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 169;
MEMORY_SIZE = 4216;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = *,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
SPOT Welding Equipment Number : 1 ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
CYCLE_TARGET = 0.00 ;
/MN
1: !***************************** ;
2: ! CARRIED SPOT / STUD ;
3: ! ;
4: ! NOTE: This program has NO ;
5: ! GP[1:robot] and ;
6: ! GP[2:servogun] motion ;
7: !***************************** ;
8: ;
9: !IF FFRActive(FastFaultRecovery) ;
10: ! Bit is ON, skip tp logic ;
11: IF DO[1015:FASTFAULTRECOV]=ON,JMP LBL[444] ;
12: ;
13: !Verify Program ;
14: PROGRAM VERIFY(21) ;
15: ;
16: !Set Maint Prog flag for FFR ;
17: ! (FastFaultRecovery) ;
18: MAINT_PROG[1]=FFRSTUD1 ;
19: !Setup App Specific Outputs ;
20: ! Runs HOME_IO ;
21: SETUP OUTPUTS ;
22: ;
23: !Move to Home ;
24: GO TO HOME POS ;
25: ;
26: LBL[444:FFRActive] ;
27: ;
28: ! Move to pounce position ;
29: GO TO POUNCE ;
30: ;

Page 11 of 103
31: !Clr to Adv Xfer ;
32: DO[954:CLRTOADVXFR]=ON ;
33: ;
34: !Clr to Ret Xfer ;
35: DO[955:CLRTORETXFR]=ON ;
36: ;
37: !Clr to Unclamp ;
38: DO[956:CLRTOUNCLMP]=OFF ;
39: ;
40: !-------------------------------- ;
41: LBL[33:Loop Back ] ;
42: ;
43: ! Turn ON Robot in LOOP ;
44: DO[24:RBT IN LOOP]=ON ;
45: ;
46: !-------------------------------- ;
47: !Wait Continue from Pounce ;
48: !or Return to Home ;
49: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
50: ;
51: ! Turn OFF Robot in LOOP ;
52: DO[24:RBT IN LOOP]=OFF ;
53: ;
54: !If Return to Home ;
55: !jump to LB[13] ;
56: IF DI[13:RETURN TO HOME]=ON,JMP LBL[13] ;
57: ;
58: !If Continue from Pounce ;
59: !jump to LB[9]-Continue- ;
60: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
61: ;
62: JMP LBL[33] ;
63: ;
64: !-------------------------------- ;
65: !Continue from Pounce ;
66: LBL[9] ;
8: ;
11: IF (!DO[1015:FASTFAULTRECOV]), CALL VERIFY(21) ;
11: ;
68: !Clr to Return Xfer ;
69: DO[955:CLRTORETXFR]=OFF ;
70: ;
72: DO[954:CLRTOADVXFR]=OFF ;
73: ;
76: ;
77: ;
81: ;
82: !******************************* ;
83: ! Servo Gun SPOT Path ;
84: !******************************* ;
85: ;
86: !Enter Zone1 ;
87: ENTER ZONE(1) ;

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88: ;
89: !Calls Weld Routine ;
90: ! Contains Weld Points ;
91: CALL WELD01 ;
92: ;
95: ;
98: ;
100: DO[956:CLRTOUNCLMP]=ON ;
101: ;
102: !Exit Zone1 ;
103: EXIT ZONE(1) ;
104: !Label to jump to, skip calibrat ;
106: ;
107: !******************************* ;
108: ! Weld STUD Path ;
109: !******************************* ;
110: ;
111: !Enter Zone3 w/Ped Stud ;
112: ENTER ZONE(3) ;
113: ;
114: !Calls STUD PROCESS ;
116: CALL STUD01 ;
117: ;
203: ;
204: !Remove DO[274] if (2) Stud gun ;
205: DO[274:SW SEQ COMP]=PULSE,2.0sec ;
206: ;
207: LBL[222:Skip Seq Cmplt] ;
119: ;
120: !Exit Zone3 w/Ped Stud ;
121: EXIT ZONE(3) ;
122: ;
123: ;
124: !-------------------------------- ;
127: ;
130: ;
133: ;
134: !Wait for FFR Maint ;
136: ;

Page 13 of 103
139: ;
140: !Wait for Ret Home ;
141: WAIT DI[13:RETURN TO HOME]=ON ;
142: ;
145: ;
146: !-------------------------------- ;
147: LBL[13] ;
158: ;
159: ;
160: !-------------------------------- ;
161: !Move to Home ;
163: ;
168: ;
169: IF DO[1013:STUD_ABORT]=OFF,JMP LBL[123] ;
170: ABORT ;
171: LBL[123] ;
/POS
/END

Page 14 of 103
4.3 PG21 – Pedestal Weld / Stud Operation with Tip Dress Dump
1) Remove ALL Spot Welding Positions (including the approach and depart positions) in the main
program (example PG21) and add them into it own program called WELD01.tp (Gun#1
operation) with Group1 and Group2 enabled.
2) Create Tip Dress Macro Program with Group 2 enabled only (meaning servo gun axis)
3) Configure Tip Dress Macro Program in the Macro table triggering off an DI[ ]
NOTE1: In PG21, Motion Group[1:Robot] only is defined.
NOTE2: CLR TO ADV XFR must be off (low) during the weld sequence in
order to trap a weld timer fault.
/PROG PG21
/ATTR
OWNER = MNEDITOR;
COMMENT = "Style 1 Main";
PROG_SIZE = 8205;
CREATE = DATE 10-06-07 TIME 17:29:34;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 375;
MEMORY_SIZE = 8645;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! PEDESTAL SPOTWELD PG21 ;
3: ! with TIP Dress Dump ;
4: ! and STUD weld ;
5: ! ;
6: ! NOTE: This program has ;
7: ! GP[1:robot] ;
8: !***************************** ;
9: ;
13: ;
16: ;
17: !Set Robot UTOOL Number ;
18: UTOOL_NUM=1 ;

Page 15 of 103
19: ;
20: !Set Robot UFRAME Number ;
21: UFRAME_NUM=1 ;
22: ;
23: !Set Maint Prog flag for FFR ;
24: ! (FastFaultRecovery) ;
25: MAINT_PROG[1]=FFRSTUD1 ;
26: ;
27: !If Part Present and Gripper ;
28: ! Closed, GO set Part Down ;
29: IF DI[67:PART PRESENT 1]=ON AND DI[74:CLMP 1 CLOSED]=ON AND
DI[76:CLMP 2 CLOSED]=ON,JMP LBL[10] ;
30: ;
31: ;
32: !-------------------------------- ;
33: !Set Robot Payload WITHOUT PART ;
34: PAYLOAD[2] ;
35: ;
37: ! Runs HOME_IO ;
38: SETUP OUTPUTS ;
39: ;
40: !Move to Home ;
42: ;
44: ! Move to pounce position ;
45: GO TO POUNCE ;
46: ;
49: ;
52: ;
55: ;
56: ;
57: !-------------------------------- ;
58: LBL[40:Loop Back] ;
59: ;
62: ;
63: !Wait Continue from Pounce ;
64: ! or Return to Home ;
65: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
66: ;
69: ;
71: !jump to LB[13] ;
73: ;
74: !If Continue from Pounce ;
75: !jump to LB[9]-Continue- ;
76: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;

Page 16 of 103
77: ;
78: JMP LBL[40] ;
79: ;
80: !-------------------------------- ;
81: !Continue from Pounce ;
82: LBL[9] ;
8: ;
11: IF (!DO[1015:FASTFAULTRECOV]), CALL VERIFY(21) ;
11: ;
86: ;
89: ;
92: ;
96: ;
97: !******************************* ;
98: !PICKUP PATH ;
99: !******************************* ;
100: ;
103: ;
104: !Wait for Clear to Pickup ;
105: WAIT DI[94:CLR TO PICKUP]=ON ;
106: ;
109: ;
110: !Enter Zone1 ;
112: ;
113: !Check Clamps OPENED ;
114: WAIT DI[73:CLMP 1 OPENED]=ON ;
116: ;
118: UFRAME_NUM=1 ;
119: ;
120: ! Move to Pickup Position ;
121:J P[1] 25% CNT100 ;
122:L P[2] 100mm/sec FINE ;
123: ;
124: !At Pickup 1 ;
125: DO[49:RBT @ PKUP POS 1]=ON ;
126: ;
127: !Wait for part present or abort pickup ;
128: WAIT DI[67:PART PRESENT 1]=ON OR DI[93:ABORT PICKUP]=ON ;
128: IF DI[93:ABORT PICKUP]=ON, JMP LBL[500] ;
129: ;
130: !Close gripper 1,2 ;
131: CLOSE GRIPPER1 ;
132: CLOSE GRIPPER2 ;

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133: ;
134: !Wait for Grippers Close or Abort Pick ;
135: WAIT (((DI[74:CLMP 1 CLOSED]=ON AND DI[76:CLMP 2 CLOSED]=ON)
: AND DI[67:PART PRESENT1]=ON)) OR DI[93:ABORT PICKUP]=ON) ;
128: IF DI[93:ABORT PICKUP]=ON, JMP LBL[500] ;
137: ;
138: !Set Robot Payload WITH PART ;
139: PAYLOAD[3] ;
140: ;
141: ! Move above Pickup Position ;
142: ;
143:L P[2] 100mm/sec CNT10 ;
144: ;
145: !Wait for Pickup 1 Complete ;
146: WAIT DI[49:PICKUP COMP 1]=ON ;
147: ;
145: JMP LBL[600] ;
145: ;
145: !-------------------------------- ;
146: !If abort pickup is ON ;
147: LBL[500] ;
147: ;
147: !Open gripper 1,2 ;
147: OPEN GRIPPER1 ;
147: ;
147: !Wait for ALL Grippers ;
147: ! and Safety Clamps are ;
147: ! OPEN before continuing ;
147: ;
147: !Vacuum 1 OFF ;
147 ! (if applicable) ;
147: CALL VAC1_OFF ;
147: ;
147: !Wait for ALL Grippers ;
147: ! and Safety Clamps are ;
147: ! OPEN before continuing ;
147: ;
147: !Move above pickup Position ;
147: ! without the part.;
147: !This needs to be clear with ;
147: ! clamps open, otherwise use ;
147: ! a different position. ;
147:L P[2] 500mm/sec CNT100 ;
147: ;
147: !Wait for no parts ;
147: !present ;
147: WAIT DI[66:NO PARTS PRESENT]=ON ;
147: ;
147: !If not Aborted or ;
147: ! Aborted with Clamp Open ;
148: LBL[600] ;
148:
148: !At Pickup 1 ;
149: DO[49:RBT @ PKUP POS 1]=OFF ;
150: ;
151: ! Move away from Pickup Pos ;
152: ;
153:L P[3] 100mm/sec CNT10 ;

Page 18 of 103
154: ;
155: !Exit Zone1 ;
156: EXIT ZONE(1) ;
157: ;
158: ;
159: !-------------------------------- ;
160: LBL[10:Skip Pickup ] ;
161: ;
164: ;
167: ;
170: ;
172: PAYLOAD[3] ;
173: ;
174: !If Skip Weld Routine ;
175: IF DI[123:WD SCMP/SKP1]=ON,JMP LBL[30] ;
176: ;
178: ! jump to LB[13] ;
180: ;
181: ;
182: !******************************* ;
183: !Pedestal weld Path ;
184: !******************************* ;
185: ;
186: !Tip Dress Clear ;
187: WAIT DI[119:TD DUMP RET 1]=ON ;
188: ;
189: ! Wait for Tip Dress Dump Macro t ;
190: WAIT DI[117:INIT TIP DRESS 1]=OFF ;
191: ;
193: WAIT DO[972:TDDMP1INPROC]=OFF ;
194: ;
195: !OPEN GUN MACRO ;
196: OPEN GUN ;
197: ;
198: !Enter Zone3 w/Ped Welder ;
200: ;
201: !Calls Weld Routine ;
203: CALL WELD01 ;
204: ;
205: !Exit Zone3 w/Ped Welder ;
206: EXIT ZONE(3) ;
207: ;
252: !-------------------------------- ;
253: LBL[30:Skip Weld ] ;
207: ;
207: ;
208: !-------------------------------- ;

Page 19 of 103
209: !If pulled tip bypass, skip ;
210: !Calibration Routine ;
211: IF DO[141:AUTOPTBYPAS1]=ON OR DO[131:XFRMR OTEMP 1]=ON OR
DO[113:PLDTIP BYPASS ]=ON OR DO[130:SG MTR OTEMP 1]=ON,JMP LBL[555] ;
212: ;
213: ! Wait for Tip Dress Dump Macro ;
215: ;
218: ;
219: !**************************** ;
220: !Run TipWear Compensation ;
221: ! Macro in the Background ;
222: RUN TPWEARC1 ;
223: ;
224: DO[974:RUNTWRCMP1]=ON ;
225: !**************************** ;
226: ;
227: !Label to jump, skip calibrate ;
171: ;
172: !If Skip Stud Routine ;
172: ! NOTE: Need PLC Logic in ;
172: ! order for this to work ;
173: IF DI[277: STUD WLD 1 SEQ COMP]=ON,JMP LBL[333] ;
173: ;
229: !******************************* ;
230: !Pedestal STUD Path Gun1 ;
231: !******************************* ;
232: ;
233: !Enter Zone3 w/Ped Stud ;
235: ;
236: !Calls STUD PROCESS ;
238: CALL STUD01 ;
239: ;
243: ;
244: !Remove DO[274] if (2) Stud gun ;
245: DO[274:SW SEQ COMP]=PULSE,2.0sec ;
246: ;
247: LBL[222:Skip Seq Cmpl] ;
248: ;
249: !Exit Zone3 w/Ped Stud ;
250: EXIT ZONE(3) ;
251: ;
252: !-------------------------------- ;
253: LBL[333:Skip Stud Weld ] ;
254: ;
257: ;
260: ;

Page 20 of 103
263: ;
265: PAYLOAD[3] ;
266: ;
267: !Wait for FFR Maint ;
269: ;
270: !-------------------------------- ;
271: LBL[99:Loop Back] ;
272: ;
275: ;
276: !Wait for Return2Home or Set Down ;
277: WAIT DI[96:CLR TO SET DOWN]=ON OR DI[13:RETURN TO HOME]=ON ;
278: ;
281: ;
283: !jump to label 13 ;
285: ;
286: !If Clear to Set Down ;
287: !jump to dropoff path ;
288: IF DI[96:CLR TO SET DOWN]=ON,JMP LBL[400] ;
289: JMP LBL[99] ;
290: ;
291: LBL[400:GO to Set Down] ;
292: !******************************* ;
293: !DROPOFF PATH ;
294: !******************************* ;
295: ;
298: ;
301: ;
304: ;
305: !Enter Zone2 ;
307: ;
309: UFRAME_NUM=2 ;
310: ;
311: ! Move to Dropoff Position ;
312: ;
313:J P[5] 25% CNT100 ;
315: ;
316: ;
317: !At Set Down ;
318: DO[59:RBT AT DRP OFF 1]=ON ;
319: ;

Page 21 of 103
320: !Open Grippers 1,2 ;
323: ;
324: !Wait for Gripper 1,2 Open ;
327: ;
330: ;
331: !Wait for Set Down Complete ;
332: WAIT DI[59:SET DOWN COMP 1]=ON ;
333: ;
336: ;
338: PAYLOAD[2] ;
339: ;
340: ! Move above Dropoff Position ;
341: ;
342:L P[7] 100mm/sec CNT10 ;
343: ;
344: !Wait for Part Release ;
345: WAIT DI[97:PART RELEASED]=ON ;
346: ;
347: !Robot Waiting in Loop ;
348: DO[59:RBT AT DRP OFF 1]=OFF ;
349: ;
350: ! Move away from Dropoff Pos ;
351: ;
352:J P[8] 25% CNT50 ;
353: ;
354: !Exit Zone2 ;
355: EXIT ZONE(2) ;
356: ;
359: ;
362: ;
365: ;
366: ;
367: LBL[13:Return to Home ] ;
368: !-------------------------------- ;
371: ;
372: !FLAG to notify robot is running ;
373: ! TipWear Routine ;
374: !NOTE: Wait until FLAG is OFF ;
375: WAIT (F[1:RunningTipWearR]=OFF) ;
/POS
/END

Page 22 of 103
4.4 WELD01 Program for R-30iA Controllers
Enter ALL weld positions and weld commands in this teach pendant program.
NOTE1: In WELD01, Group[1:Robot] and Group[2:ServoGun] are defined.
/PROG WELD01
/ATTR
OWNER = MNEDITOR;
COMMENT = "Weld Gun1";
PROG_SIZE = 802;
CREATE = DATE 06-02-28 TIME 16:57:28;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 28;
MEMORY_SIZE = 1098;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,1,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: !WELD PATH ;
3: ! ;
7: !***************************** ;
9: !Set Robot Payload ;
10: PAYLOAD[2] ;
11: ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=1 ;
17: ;
18: ! Approach Weld Position ;
19:J P[1] 100% FINE ;
20: ;
21: ! Weld Instructions ;
22:L P[2] 2000mm/sec CNT50
: SPOT[SD=1,EP=0,P=1,S=1,EP=0,ED=1] ;
23: ;
24: ! Depart Weld Position ;
25:J P[1] 100% FINE ;
26: ;
27: !Set after Weld Paths ;
28: DO[111: WELDSEQCOMP2PLC1]=PULSE,1.0sec;
/POS
/END

Page 23 of 103
4.5 WELD01 Program for R-30iB Controllers
Enter ALL weld positions and weld commands in this teach pendant program.
NOTE1: In WELD01, Group[1:Robot] and Group[2:ServoGun] are defined.
/PROG WELD01
/ATTR
OWNER = MNEDITOR;
COMMENT = "Weld Gun1";
PROG_SIZE = 802;
CREATE = DATE 06-02-28 TIME 16:57:28;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 28;
MEMORY_SIZE = 1098;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: !WELD PATH ;
3: ! ;
7: !***************************** ;
9: !Set Robot Payload ;
10: PAYLOAD[2] ;
11: ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=1 ;
17: ;
18: ! Approach Weld Position ;
19:J P[1] 100% FINE ;
20: ;
21: ! Weld Instructions ;
22:L P[2] 2000mm/sec CNT50
: SPOT[SD=1,EP=0,P=1,t=0.0,S=1,EP=0,ED=1] ;
23: ;
24: ! Depart Weld Position ;
25:J P[1] 100% FINE ;
26: ;
27: !Set after Weld Paths ;
28: DO[111: WELDSEQCOMP2PLC1]=PULSE,1.0sec;
/POS
/END

Page 24 of 103
4.6 TPDRSMAC - Tip Dress Dump with Servo Tip Dresser
MACRO
This program will run automatically in the background, which is initiated by DI[966:
RUN TDDMP1] = ON.
NOTE1: In TPDRSMAC, NO Groups are define.
/PROG TPDRSMAC Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "TIP DRESS DUMP";
PROG_SIZE = 4500;
CREATE = DATE 10-06-01 TIME 13:33:26;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 182;
MEMORY_SIZE = 4952;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
/MN
1: !***************************** ;
2: !(1) Pedestal Tip Dress Dump ;
3: ! ;
7: !***************************** ;
8: ! ;
9: ! CONDITION TO START MACRO ;
10: ! DO[971:TipDrssAppl]=ON ;
11: ! DI[966:RunTipDrssDump1]+ ;
12: ! ROBOT AUTO ;
13: ! TP = OFF ;
14: ! NO FAULT ;
15: ! DO[972:TpDrsDump1InPrc]=OFF ;
16: ! ;
17: ! ;
18: ! CONDITION TO RE-START MACRO ;
19: ! SENERIO #1 ;
21: ! DO[972:TpDrsDump1InPrc]=ON ;
22: ! ROBOT AUTO ;

Page 25 of 103
23: ! TP = OFF ;
24: ! NO FAULT ;
25: ! DI[1:EXT RUN ENABLE]+ ;
26: ! ;
27: ! ;
28: ! CONDITION TO RE-START MACRO ;
29: ! SENERIO #2 ;
31: ! DO[972:TpDrsDump1InPrc]=ON ;
32: ! ROBOT AUTO ;
33: ! TP = OFF ;
34: ! NO FAULT ;
35: ! DI[1:EXT RUN ENABLE]=ON ;
36: ! SI[13:HoldReset]+ ;
37: ! ;
38: !In Tip Dress Dump Routine ;
39: ! Robot Internal Flag ;
40: DO[972:TDDMP1INPROC]=ON ;
41: ;
41: !Re-Runs Tip Wear Compensation ;
41: ! PROCESS ONLY ;
41: ! If robot is E-stopped ;
41: OPEN GUN ;
41: IF DO[122:TD COMPLETE 1]=ON,JMP LBL[1] ;
41: ;
42: !Runs Tip Wear Compensation ;
43: ! PROCESS ONLY ;
44: ! Skip Tip Dress Routine ;
45: IF DO[974:RUNTWRCMP1]=ON AND DI[117:INIT TIP DRESS 1]=OFF,JMP
LBL[1] ;
46: ! ;
47: !**************************** ;
48: !ENTER INDEPENDENT ZONE ;
49: !Let everyone know we are ;
50: ! in Independent ;
51: ! Motion Zone1 ;
52: DO[952:INDCLRMOTZONE1]=OFF ;
53: ;
54: ! Wait for Independent ;
55: ! Zone1 to be clear ;
56: WAIT DI[39:IND MOT ZN 1 CLR]=ON ;
57: !**************************** ;
58: ;
33: !Is this a New Tip? ;
34: !Jump if it isn’t a new tip ;
35: IF DI[669:NEW TIP]=OFF,JMP LBL[567] ;
36: ;
37: !-------------------------------- ;
38: ! Reset Wear Amount ;
39: ! ;
40: ! ;
41: ! This section is used ONLY ;
42: ! when New Tips (NTSR) is ;
43: ! set. This will reset the ;
44: ! tip wear amount from the ;
45: ! last master position w/o ;
46: ! the need to perform a ;
47: ! tip wear measurement ;
48: !-------------------------------- ;

Page 26 of 103
49: ;
26: !OPTIONALLY Run Open Gun Macro ;
26: ! Guarantee gun is inside stroke ;
26: ! limit before seating new caps ;
26: OPEN GUN ;
26: ;
26: !This seats the new caps ;
26: ! Set parameters in TW_PRS01 for ;
26: ! proper seating force and iterations ;
26: CALL TW_PRS01 ;
26: ;
92: !Let's PLC know to ADVANCE ;
93: !TIP DRESS DUMP ;
94: DO[440]=ON ;
95: ;
62: !IF NO New Tip 1 ;
63: LBL[567] ;
64: ;
59: !OPEN ServoGun ;
60: ! Use Grp#2 REF Pos 1 ;
61: ! Use PosReg PR[100] ;
62: !OPEN GUN ;
63: ;
64: !Wait Dump Advanced ;
65: WAIT DI[118:TD DUMP ADV 1]=ON ;
66: ;
67: !Turn OFF Flag to run Tip ;
68: ! Wear Compensation Routine ;
69: DO[974:RUNTWRCMP1]=OFF ;
70: ;
71: ;
72: DO[115:WELD/NO WELD MD]=ON ;
73: ;
74: ;
76: ! jump if it is ;
78: ;
79: !-------------------------------- ;
81: ! PEDESTAL ONLY ;
82: ! ;
83: ! This section is used ONLY ;
90: !-------------------------------- ;
91: ;
92: ! The 1st parameter = 1 ;
93: ! that represents gun number ;
94: ! The 2nd parameter = 29 ;
95: ! that represents a place ;
96: ! holder for R[29] ;
97: CALL TWKRSMOV(1,29) ;
98: CALL TWKRSFIX(1,29) ;
99: ;

Page 27 of 103
100: ! The parameter = 29 ;
101: ! that uses R[29] ;
102: CALL TWKRSCLB(29) ;
103: ;
104: !IF NO New Tip ;
105: LBL[456] ;
106: ;
107: !Turn ON Equalization ;
108: ! *If Equalizer is Used (X=numbr) ;
109: !GO[X:Equal press ]=1 ;
110: ;
111: !Macro for Ped Tip Dress ;
112: CALL PEDTDMACS ;
113: ;
155: !Turn OFF Equalization ;
156: ! *If Equalizer is Used (X=numbr) ;
157: !GO[X:Equal press ]=1 ;
114: ;
118: !OPEN GUN ;
119: ;
120: ! Pulse ON Tip Dress Done to ;
121: ! return the dump ;
122: DO[122:TD COMPLETE 1]=ON ;
123: ;
124: !Reset Dress req ;
125: DO[936:STEPPERRST1]=ON ;
126: ;
127: ! Wait for Auto TipDress Position ;
128: WAIT DI[129:AUTOTPDRSPOSCLR1]=ON AND DI[670:DRESSED TIP]=ON
;
129: ;
130: ;
132: DO[936:STEPPERRST1]=OFF ;
133: ;
134: ;
135: ! Check ServoGun Open ;
136: WAIT DO[128:RTRCT/SRV OPN1]=ON ;
137: ;
138: !**************************** ;
139: !EXIT INDEPENDENT ZONE ;
141: ! out Independent ;
143: DO[952:INDCLRMOTZONE1]=ON ;
144: ;
147: WAIT DI[39:IND MOT ZN 1 CLR]=OFF ;
148: !**************************** ;
149: ;
150: ;
151: ! Wait Dump Retract ;

Page 28 of 103
153: ;
157: ;
158: !-------------------------------- ;
159: ! Label to jump to,Tip Wear Cmp ;
160: LBL[1:Run Tip Wear Com] ;
161: ;
162: ! If pulled tip bypass, jump ;
163: ! to the end of program ;
DO[113:PLDTIP BYPASS ]=ON OR DO[130:SG MTR OTEMP 1]=ON,JMP LBL[999]
;
165: ;
166: ;
167: !-------------------------------- ;
168: !Call Tip Wear Compensation ;
169: CALL TPWEARC1 ;
170: ;
171: ! Turn OFF Flag to run Tip ;
172: ! Wear Compensation Routine ;
173: DO[974:RUNTWRCMP1]=OFF ;
213: ;
214: !TIP DRESS DUMP ;
215: DO[440]=OFF ;
216: ;
176: !-------------------------------- ;
177: !Label to jump to, finish routine ;
178: LBL[999:Done] ;
179: ;
180: !In Tip Dress Dump Routine ;
181: DO[972:TDDMP1INPROC]=OFF ;
182: DO[115:WELD/NO WELD MD]=OFF ;
183: DO[122:TD COMPLETE 1]=OFF ;
184: ;
/POS
/END

Page 29 of 103
4.7 PEDTDMACS - Pedestal Tip Dress Dump with Servo Tip
Dresser MACRO for R-30iA Controllers
BLOWOFF
 The location of the BLOWOFF TP program call will have to be
decided by the process.
 The BLOWOFF program needs to be called after the robot is
away from the dresser, DO[118] is turned OFF and RO[5] has
been turned OFF.
 RO[5] needs to be turned ON and OFF in this program for
normal operation as PMC no longer controls this output.
 PMC dated on or after 2013-04-15 includes the Blowoff
change.
/PROG PEDTDMACS Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "PED GUN SERVO TD MAC";
PROG_SIZE = 1466;
CREATE = DATE 09-07-25 TIME 13:37:02;
FILE_NAME = CGTDM;
VERSION = 0;
LINE_COUNT = 61;
MEMORY_SIZE = 1850;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = *,1,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! AUTO PED SERVO TIP DRESS ;
3: ! ;
4: ! Pedestal SERVO Tip Dress ;
5: ! ;
7: ! GP[2:servogun] ONLY ;
7: ! NOTE: Servo Tip Dresser will ;
7: ! not spin in step mode ;
8: !***************************** ;
9: ;

Page 30 of 103
13: OPEN GUN ;
14: ;
15: !------------------------------ ;
15: !Reset Signals ;
16: DO[118:WLD CTRL1 TD ENABLE]=OFF ;
16: RO[5:TIPDRSENB BLWFF1]=OFF ;
17: DO[876:SRVOTIPDRSSALERT]=OFF ;
18: DO[877:SRVOTIPDRSSFAULT]=OFF ;
19: DO[875:SRVOTIPDRSSOK]=OFF ;
21: ;
23: !CHECK FOR TD PERMISSIVES ;
DO[113:PLDTIP BYPASS ]=ON OR DO[130:SG MTR OTEMP 1]=ON OR DI[120:TD
BYPASSED 1]=ON,JMP LBL[99] ;
25: ;
26: !------------------------------ ;
28: ;
27: !TURN ON TIP DRESSER ON ;
28: DO[118:WLD CTRL1 TD ENABLE]=ON ;
28: RO[5:TIPDRSENB BLWFF1]=ON ;
29: WAIT .50(sec) ;
38: ;
34: !------------------------------ ;
37: ;
38: !Dont Dress if motor problem ;
39: IF ($IS_MOR.$SERVO_READY[1]=0),JMP LBL[788] ;
40: ;
41: ! Do Servo Tip Dress Using ;
42: ! TIPDRESS Instruction ;
43: ! Use TD=1 for new tip ;
44: ! Use correct P= for new tip ;
45: ;
46: ! Record the position with ;
47: ! fixed tip at cutting position ;
48: ! set SD/ED that'll clear dresser ;
49: ! ;
50: TIPDRESS[SD=2,EP=0,P=94,TD=1,ED=2] ;
51: ;
52: !Set Servo TD-OK if no alerts ;
53: IF (!DO[876:SRVOTIPDRSSALERT] AND
!DO[877:SRVOTIPDRSSFAULT]),DO[875:SRVOTIPDRSSOK]=(ON) ;
56: ;
57: JMP LBL[789] ;
58: ;
59: !------------------------------ ;
60: !IF OLD Tip ;
61: LBL[456] ;
62: ;
40: ;

Page 31 of 103
43: ! Use TD=2 for old tip ;
44: ! Use correct P= for old tip ;
45: ;
49: ! ;
50: TIPDRESS[SD=2,EP=0,P=95,TD=2,ED=2] ;
51: ;
44: ;
57: JMP LBL[789] ;
100: ;
101: !UALM for Servo TD Motor Fault ;
102: LBL[788] ;
103: UALM[65] ;
104: ;
105: LBL[789] ;
105: ;
48: OPEN GUN ;
49: ;
54: !END OF PROGRAM ;
55: LBL[99:END OF PROGRAM] ;
56: ;
116: ;
117: !Move away from the Dresser ;
118: !Position away from the Dresser ;
119: !Recorded Here ;
120: ;
121: !Call the BLOWOFF TP program ;
122: ! Prevents the BLOWOFF macro ;
122: ! from being executed if ;
122: ! tip dress enable is OFF ;
122: IF DO[10044]=OFF AND DO[4:RBT IN TEACH]=ON,JMP LBL[350] ;
122: CALL BLOWOFF ;
122: LBL[350] ;
123: ;
/POS
/END

Page 32 of 103
4.8 PEDTDMACS - Pedestal Tip Dress Dump with Servo Tip
Dresser MACRO for R-30iB Controllers
BLOWOFF
been turned OFF.
change.
/PROG PEDTDMACS Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "PED GUN SERVO TD MAC";
PROG_SIZE = 1466;
CREATE = DATE 09-07-25 TIME 13:37:02;
FILE_NAME = CGTDM;
VERSION = 0;
LINE_COUNT = 61;
MEMORY_SIZE = 1850;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! AUTO PED SERVO TIP DRESS ;
3: ! ;
4: ! Pedestal SERVO Tip Dress ;
5: ! ;
8: !***************************** ;
9: ;

Page 33 of 103
13: OPEN GUN ;
14: ;
15: !------------------------------ ;
21: ;
25: ;
26: !------------------------------ ;
28: ;
29: WAIT .50(sec) ;
38: ;
34: !------------------------------ ;
37: ;
40: ;
45: ;
49: ! ;
50: TIPDRESS[SD=2,EP=0,P=94,t=0.0,TD=1,ED=2] ;
51: ;
56: ;
57: JMP LBL[789] ;
58: ;
59: !------------------------------ ;
60: !IF OLD Tip ;
61: LBL[456] ;
62: ;
40: ;
43: ! Use TD=2 for old tip ;

Page 34 of 103
44: ! Use correct P= for old tip ;
45: ;
49: ! ;
50: TIPDRESS[SD=2,EP=0,P=95,t=0.0,TD=2,ED=2] ;
51: ;
44: ;
57: JMP LBL[789] ;
100: ;
102: LBL[788] ;
103: UALM[65] ;
104: ;
105: LBL[789] ;
105: ;
48: OPEN GUN ;
49: ;
56: ;
116: ;
120: ;
122: CALL BLOWOFF ;
122: LBL[350] ;
123: ;
/POS
/END

Page 35 of 103
4.9 STUD01 – Stud Path
/PROG STUD01 Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "WELD TARC PATH";
PROG_SIZE = 1315;
CREATE = DATE 10-08-06 TIME 21:11:02;
FILE_NAME = COUPON;
VERSION = 0;
LINE_COUNT = 33;
MEMORY_SIZE = 1679;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
2: !WELD TAB TO VEHICLE ;
3: !******************************** ;
4: ;
5: ! Set Robot Payload ;
6: PAYLOAD[3] ;
7: ;
8: ! Set Robot UTOOL Number ;
9: UTOOL_NUM=1 ;
10: ;
11: ! Set Robot UFRAME Number ;
12: UFRAME_NUM=0 ;
13: ;
14: !Move to Weld Point ;
15:J P[3] 50% CNT10 ;
16:L P[2] 500mm/sec CNT5 ;
17: ;
18:L P[1] 200mm/sec FINE
: SPOT[S=1 ] ;
19: ;
20: WAIT 1.00(sec) ;
21: ;
22:L P[2] 500mm/sec CNT5 ;
23:L P[3] 1000mm/sec CNT10 ;
24: ;
25: !Clear to Unclamp ;
27: ;
28:J PR[1:Home 1] 50% CNT10 ;
/POS
/END

Page 36 of 103
4.10 FFRSTUD1 – Fast Fault Recovery
/PROG FFRSTUD1
/ATTR
OWNER = MNEDITOR;
COMMENT = "FFR PedStud V1.0";
PROG_SIZE = 843;
CREATE = DATE 06-03-30 TIME 07:43:00;
FILE_NAME = FFRSTUD1;
VERSION = 0;
LINE_COUNT = 18;
MEMORY_SIZE = 1287;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Stud FAST FAULT RECOVERY ;
3: !******************************** ;
4: ;
5: !Move to Home ;
7: ;
8: !Move to Maintenance ;
9: CALL PG08 ;
10: ;
/POS
/END

Page 37 of 103
4.11 TIP WEAR COMPENSATION (TPWEARC1)
For Pedestal Tip Dress Dump Application ONLY
CALIBRATION PLATE BY DEFAULT USE THE TWO-STEP METHOD.
WR_UPDAT(#,#) = 1 STEP METHOD
TW_UPDAT(#,#) = 2 STEP METHOD – CARRIED SWG APPLICATION ONLY
This program is a GROUP#2 ONLY and GROUP#3 (if (2) Pedestal Welders).
This program can run automatically in the background.
/PROG TPWEARC1
/ATTR
OWNER = MNEDITOR;
COMMENT = "TIPWEAR MACRO";
PROG_SIZE = 2562;
CREATE = DATE 09-07-25 TIME 13:37:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 94;
MEMORY_SIZE = 2958;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
/MN
1: !******************************** ;
2: !TIPWEAR MACRO ;
3: ! ;
4: !Macro use every time when robot ;
5: ! moves home ;
6: ! Runs in the background ;
8: ! GP[2:servogun] motion ONLY ;
9: !******************************** ;
10: ;

Page 38 of 103
11: ;
12: ! FLAG to tell robot that Tip Wear ;
13: ! Routine is being run ;
14: ! Don't end Main program until ;
15: ! Flag is OFF ;
16: F[1:RunningTipWearR]=(ON) ;
17: ;
18: !**************************** ;
19: !NOTE: REMOVE INDEPENDENT ;
20: ! MOTION ZONE 2 LOGIC ;
21: ! WHEN CARRIED APP ON ;
22: ;
23: !ENTER INDEPENDENT ZONE ;
25: ! in Independent ;
26: !MOTION ZONE 2 ;
27: DO[953:INDCLRMOTZONE2]=OFF ;
28: ;
31: WAIT DI[40:IND MOT ZN 2 CLR]=ON ;
32: !**************************** ;
33: ;
34: ! If pulled tip bypass, jump ;
35: ! to the END of program ;
36: IF DI[958:PULLTIPBYPS1]=ON,JMP LBL[999] ;
37: ;
38: ;
39: !******************************** ;
40: !Run Tip Wear Update Routine ;
41: !******************************** ;
42: ;
45: IF DI[669:NEW TIP]=ON,JMP LBL[1] ;
46: ;
47: !Call Tip Wear Update with NO NEW ;
48: ! Program to update Tip ;
49: ! location ;
50: ! (1) represents Gun1 ;
51: ! (0) not a new tip installed ;
52: CALL WR_UPDAT(1,0) ;
53: ;
54: ! Jump to the END of program ;
55: JMP LBL[999] ;
56: ;
57: ;
58: !Label to jump to, if it is a new ;
59: ! tip ;
60: LBL[1:New Tip] ;
65: ;
66: !Call Tip Update with NEW TIP ;
67: ! (1) represents Gun1 ;
68: ! (0) not a new tip installed ;
69: CALL WR_UPDAT(1,1) ;
70: ;
71: !Label to jump to, finished tip c ;
72: ! calibration ;
73: LBL[999:Done] ;

Page 39 of 103
74: ;
75: !**************************** ;
76: !NOTE: REMOVE INDEPENDENT ;
77: ! MOTION ZONE 2 LOGIC ;
78: ! WHEN CARRIED APP ON ;
79: ;
80: !EXIT INDEPENDENT ZONE ;
82: ! out Independent ;
84: DO[953:INDCLRMOTZONE2]=ON ;
85: ;
88: WAIT DI[40:IND MOT ZN 2 CLR]=OFF ;
89: !**************************** ;
90: ;
91: ;
92: ! FLAG to tell robot that Tip Wea ;
93: ! Routine has ended ;
94: F[1:RunningTipWearR]=(OFF) ;
/POS
/END

Page 40 of 103
4.12 TIP WEAR UPDATE (TW_UPD01)
For Carried Application ONLY
-USE Calibration Plate
/PROG TW_UPD01
/ATTR
OWNER = MNEDITOR;
COMMENT = "Updat TW on Gun1";
PROG_SIZE = 1060;
CREATE = DATE 06-02-28 TIME 16:57:28;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 33;
MEMORY_SIZE = 1564;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
/MN
1: !***************************** ;
2: !Program description ;
3: ! Update wear measurement for ;
4: ! gun number 1 using fixture-. ;
5: ! based wear measurement ;
6: ;
7: ! Arguments to TW_UPDAT ;
8: !Parm1: gun number ;
9: !Parm2: new tips:1,used tips:0 ;
10: ;
11: !Note: Parm2 is used only ;
12: ! for measurement error checking ;
13: ! ( increased error function). ;
14: !Parm2 should be <>0 at cap ;
15: ! change only. ;
16: !If measurement error checking ;
17: ! is NOT used, then Parm2 ;
18: ! should always be 0. ;
19: ;
20: !***************************** ;
24: ! New Tip Installed ;
26: ;
25: CALL TW_UPDAT(1,1) ;
26: END ;
27: ;
28: !***************************** ;
30: LBL[456] ;

Page 41 of 103
31: ;
32: CALL TW_UPDAT(1,0) ;
33: ;
/POS
/END

Page 42 of 103
4.13 TIP_MEAS – Tip Wear Cutter Warning
This program is called in PG10. The reason for recording this value was to give the
plant an idea as to how many dresses are occurring for a single tip and compare it
with the estimated number of dresses from the welding engineers. The program also
contains a check after 10 tip dresses to see if one tip is wearing faster than the other
tip by a specified amount. This program is used for Trend tracking only and does not
indicate or calculate the tip wear amounts; tip wear amounts are calculated in the
internal Fanuc Software.
/PROG TIP_MEAS Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "CHK TIPWEAR MEAS";
PROG_SIZE = 1880;
CREATE = DATE 10-09-21 TIME 08:48:30;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 65;
MEMORY_SIZE = 2408;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !*************************** ;
2: !TIP CUTTER WARNING MACRO ;
3: !*************************** ;
4: ;
5: !REG.BELOW CAPTURE USER INPUT MAX ;
6: !WEAR DWN VALS(MENU/SETUP/SRVGUN) ;
7: R[45:MaxMoveableTipwr]=($SGGUN1.$SETUP.$MAXWDNTIP) ;
8: R[46:MaxFixedTipwr]=($SGGUN1.$SETUP.$MAXWDNRBT) ;
9: ;
10: ;
11: !REG.BELOW CAPTURE CURRENT TIP ;
12: !WEAR AMOUNT (STATUS/Servogun) ;
13: R[47:WRDWN_TIP]=($SGGUN1.$SETUP.$WRDWN_TIP) ;
14: R[48:ActualFiwedTipwr]=($SGGUN1.$SETUP.$WRDWN_RBT) ;
15: ;
16: ;
17: !CHECK IF ACTUAL TIPWEAR AMOUNT ;
18: ! IS GREATER THAN MAX WEAR DWN ;
19: IF (R[47:WRDWN_TIP]>R[45:MaxMoveableTipwr]),JMP LBL[1] ;
20: IF (R[48:ActualFiwedTipwr]>R[46:MaxFixedTipwr]),JMP LBL[1] ;
21: ;
22: ;
23: !RECORD 1ST TIPWEAR MEASUREMENT ;

Page 43 of 103
24: ! ON 1ST TIP DRESS ;
25: IF (R[49:Number of Tip dr]=1),R[44:Amt]=(R[47:WRDWN_TIP]) ;
26: ;
27: ;
28: !SET COUNTER TO 10 ON THE 11TH DR ;
29: IF (R[49:Number of Tip dr]=11),R[42:Tip Dress Counte]=10 ;
30: ;
31: !ADD TO COUNTER AFTER 11TH DRESS ;
32: IF (R[49:Number of Tip dr]>11),R[42:Tip Dress Counte]=R[42:Tip
Dress Counte]+1 ;
33: ;
30: !CHECK IF ONE TIP IS WEARING FASTER THAN ;
30: ! THE OTHER TIP AFTER 10 TIP DRESSES ;
30: ! IF IT IS, SET AN OUTPUT TO PLC ;
30: IF (R[49:Number of Tip dr]<10),JMP LBL[20] ;
30: ;
30: !CHECK TO SEE IF MOVEABLE TIP IS WEARING FASTER ;
30: ! THAN THE STATIONARY TIP ;
30: IF (R[47:WRDWN_TIP]-R[48:ActualFixedTipwr]>=R[83:Max Tip
Wear]),DO[438:TipWearWarn]=PULSE,2.0sec ;
30: ;
30: !CHECK TO SEE IF STATIONARY TIP IS WEARING FASTER ;
30: ! THAN MOVEABLE TIP ;
30: IF (R[48:AcutalFixedTipwr]-R[47:WRDWN_TIP]>=R[83:Max Tip
Wear]),DO[438:TipWearWarn]=PULSE,2.0sec ;
30: ;
30: LBL[20] ;
34: !CALCULATE AVG TIPWEAR ;
35: IF (R[49:Number of Tip dr]>=11),R[43:Avg
Wear]=((R[47:WRDWN_TIP]-R[44:Amt])/R[42:Tip Dress Counte]) ;
36: ;
37: !SET TIP CUTTER WARNING ;
38: IF (R[49:Number of Tip dr]>=11 AND R[43:Avg
Wear]<.02),DO[433:TIPCUTWARN#1]=PULSE,0.5sec ;
39: ;
39: !------------------------------;
39: !CHECK TIP WEAR ;
40: LBL[1] ;
40: ;
41: !CHECK IF ACTUAL TIPWEAR AMOUNT ;
42: ! IS LESS THAN OR EQUAL TO MAX ;
43: ! WEAR ;
44: IF (R[47:WRDWN_TIP]<=R[45:MaxMoveableTipwr]),JMP LBL[35] ;
44: ;
44: !CHANGE REQUIRED ;
44: ! ON MOVEABLE TIP ;
44: DO[888:TipWearMovingWC#1]=ON ;
44: ;
44: LBL[35] ;
44: ;
45: IF (R[48:ActualFiwedTipwr]<=R[46:MaxFixedTipwr]),JMP LBL[36] ;
46: ;
44: !CHANGE REQUIRED ;
44: ! ON FIXED TIP ;
47: DO[889:TipWearFixedWC#1]=ON ;
47: ;
47: LBL[36] ;
48: ;
/POS
/END

Page 44 of 103
4.14 WELD1ENB macro
This macro enables welding once, with no retries. This macro is called from another
TP program. (for example from PG08)
/PROG WELD1ENB Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "SET WELD RETRY 1";
PROG_SIZE = 858;
CREATE = DATE 10-01-12 TIME 16:01:56;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 21;
MEMORY_SIZE = 1174;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! Number of Retries ;
3: ! ;
4: ! 0 = Weld only ONCE ;
5: ! 1 = Weld + one retry ;
6: ! 3 = Weld + three retries ;
7: ! ;
11: !***************************** ;
12: ;
13: ! Set the number of weld retries ;
14: $SPOTADVFUNC.$NUM_RETRIES=0 ;
/POS
/END

Page 45 of 103
4.15 Weld1DIS macro
This macro re-enables welding with retries. This macro is called from another TP
program (for example from PG08).
/PROG WELD1DIS Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "SET WELD RETRY 3";
PROG_SIZE = 858;
CREATE = DATE 10-01-12 TIME 16:01:56;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 21;
MEMORY_SIZE = 1174;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! Number of Retries ;
3: ! ;
4: ! 0 = Weld only ONCE ;
5: ! 1 = Weld + one retry ;
6: ! 3 = Weld + three retries ;
7: ! ;
11: !***************************** ;
12: ;
14: $SPOTADVFUNC.$NUM_RETRIES=3 ;
/POS
/END

Page 46 of 103
4.16 WELDHOME macro for R-30iA Controllers
This macro executes when the robot is at HOME and the manual weld push button is
pressed, or the PLC remote manual weld button. Please make sure to enable only
group 2 (gun) motion on this macro.
The macro table should be set up with macro number 26 = WELDHOME, which
should be triggered by DI[902], which is an input defined as follows:
1. Robot at home
2. Program not running
3. Program not paused
4. DO[967: MANUALWELD1PB] or DI[121:Remote Weld1] pressed
Please set up a pressure 26 with any common pressure (i.e. 220 pounds) and a part
thickness of 0 (zero).
/PROG WELDHOME Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "WELDHOME";
PROG_SIZE = 870;
CREATE = DATE 10-01-12 TIME 16:01:56;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 23;
MEMORY_SIZE = 1146;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: !WELDHOME MACRO ;
3: ! ;
4: ! Triggered by DI[902:WeldHome] ;
5: ! Manual Weld Button in ;
6: ! I/F Screen ;
7: ! ;
10: !***************************** ;
12: !Read current weld schedule ;
13: R[4:Weld Sched Num]=GO[7:MANUALWELDW1BITS] ;
14: ;
15: SPOT[SD=3,EP=0,P=1,S=R[4],EP=0,ED=3] ;
16: ;
/END

Page 47 of 103
4.17 WELDHOME macro for R-30iB Controllers
This macro executes when the robot is at HOME and the manual weld push button is
pressed, or the PLC remote manual weld button. Please make sure to enable only
group 2 (gun) motion on this macro.
The macro table should be set up with macro number 26 = WELDHOME, which
should be triggered by DI[902], which is an input defined as follows:
5. Robot at home
6. Program not running
7. Program not paused
8. DO[967: MANUALWELD1PB] or DI[121:Remote Weld1] pressed
Please set up a pressure 26 with any common pressure (i.e. 220 pounds) and a part
thickness of 0 (zero).
/PROG WELDHOME Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "WELDHOME";
PROG_SIZE = 870;
CREATE = DATE 10-01-12 TIME 16:01:56;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 23;
MEMORY_SIZE = 1146;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: !WELDHOME MACRO ;
3: ! ;
4: ! Triggered by DI[902:WeldHome] ;
5: ! Manual Weld Button in ;
6: ! I/F Screen ;
7: ! ;
10: !***************************** ;
12: !Read current weld schedule ;
14: ;
15: SPOT[SD=3,EP=0,P=1,t=0.0,S=R[4],EP=0,ED=3] ;
16: ;
/END

Page 48 of 103
4.18 WELDONCE macro
This macro executes when a weld fault occurs (and thus DO7:Time Delay Exceeded
turns ON), and either the manual weld push button is pressed, or the PLC remote
weld button is pressed. This macro should be added in the macro table (31), which
should be set up to trigger this macro when DI[121: REM MAN WELD 1] is turned
ON.
/PROG WELDONCE Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "WELDONCE";
PROG_SIZE = 862;
CREATE = DATE 10-01-12 TIME 16:01:56;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 24;
MEMORY_SIZE = 1142;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: !WELDONCE MACRO ;
3: ! ;
5: ! ;
6: ! Triggered by DI[121:RemManWeld] ;
7: ! Used After a Weld Fault ;
8: ! ;
12: !***************************** ;
13: ;
14: ! Update robot variable ;
15: CALL WELD1ENB ;
16: ;
17: ! Fault Reset ;
18: DO[959:FAULTRESET]=PULSE,0.5sec ;
19: ;
/POS
/END

Page 49 of 103
4.19 WELD39 Macro for R-30iA Controllers
This macro uses a backup of 0 (zero) to keep the gun closed for examining the cap
alignment. It is called only from PG08, the manual tip dress program. When the
manual weld push button is pressed again, another SPOT instruction is executed,
opening the gun. This macro can be executed at the gate, while in maintenance mode.
Please make sure to set this macro to only use group 2 (gun) motion.
/PROG WELD39 Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "WELD39";
PROG_SIZE = 862;
CREATE = DATE 10-01-12 TIME 16:01:56;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 24;
MEMORY_SIZE = 1142;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
2: !FORD -;
3: !WELD39 MACRO ;
4: !Used for check aligment ;
5: !and for manual weld ;
6: !Set ED30 to 0 ;
7: !Set Pressure 26 to 250lb & ;
8: !Thikness of 0 ;
9: !******************************** ;
10: ;
11: !Copy Manual weld sch in reg 4 ;
13: ;
14: !Weld with thickness = 0 and ;
15: !leave gun closed for ;
16: !inspection use ED[30] ;
18: ;
19: !Wait for button to be released ;
20: WAIT DO[967:MANUALWELD1PB]=OFF ;
21: ;
22: !When man weld PB is pressed ;
23: !then weld again ;
24: WAIT DO[967:MANUALWELD1PB]=ON ;
25: ;
26: !Use a ED that opens the gun & ;
27: !pressure 26 (part thicknes = 0) ;

Page 50 of 103
28: ;
30: ;
32: DO[967:MANUALWELD1PB]=OFF ;
33: ;
/POS
/END

Page 51 of 103
4.20 WELD39 Macro for R-30iB Controllers
This macro uses a backup of 0 (zero) to keep the gun closed for examining the cap
alignment. It is called only from PG08, the manual tip dress program. When the
manual weld push button is pressed again, another SPOT instruction is executed,
opening the gun. This macro can be executed at the gate, while in maintenance mode.
Please make sure to set this macro to only use group 2 (gun) motion.
/PROG WELD39 Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "WELD39";
PROG_SIZE = 862;
CREATE = DATE 10-01-12 TIME 16:01:56;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 24;
MEMORY_SIZE = 1142;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
2: !FORD -;
3: !WELD39 MACRO ;
4: !Used for check aligment ;
5: !and for manual weld ;
6: !Set ED30 to 0 ;
7: !Set Pressure 26 to 250lb & ;
8: !Thikness of 0 ;
9: !******************************** ;
10: ;
11: !Copy Manual weld sch in reg 4 ;
13: ;
14: !Weld with thickness = 0 and ;
15: !leave gun closed for ;
16: !inspection use ED[30] ;
18: ;
20: WAIT DO[967:MANUALWELD1PB]=OFF ;
21: ;
22: !When man weld PB is pressed ;
23: !then weld again ;
24: WAIT DO[967:MANUALWELD1PB]=ON ;
25: ;
26: !Use a ED that opens the gun & ;
27: !pressure 26 (part thicknes = 0) ;

Page 52 of 103
28: ;
30: ;
32: DO[967:MANUALWELD1PB]=OFF ;
33: ;
/POS
/END

Page 53 of 103
4.21 PG08 – Manual Tip Dress for Carried Application for R-
30iA Controllers
NOTE1: Since the robot maybe in a confined area, make sure robot is Clear of
Transfer, when going to and from Home position.
NOTE2: Do NOT do a Manual Weld after changing tips. This will cause the
robot to do an Auto Tip Dress and stop at the tip dresser OR the robot may not
go to tip dress at all. If you find yourself in this situation, toggle NTSR to the
weld controller to clear the issue or do a Manual Weld and then initiate NTSR.
/PROG PG08
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance Ops";
PROG_SIZE = 5497;
CREATE = DATE 10-05-10 TIME 14:50:46;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 248;
MEMORY_SIZE = 5909;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! Manual Tip Dress ;
3: ! Combo SWG / STUD - Carried ;
4: ! Moves robot to Maint Position ;

Page 54 of 103
5: ! ;
9: !***************************** ;
10: ;
11: ;
15: ;
18: ;
19: !CLR TO ADV. TRANSFER ;
21: ;
23: PAYLOAD[2] ;
24: ;
26: UTOOL_NUM=1 ;
27: ;
29: UFRAME_NUM=1 ;
30: ;
32: SETUP OUTPUTS ;
33: ;
34: !Move to Home ;
36: ;
38: ;
39: !Enable "number of retries=0" ;
40: WLD RETRY1 ENBLD ;
41: ;
42: !------------------------------ ;
43: !Check for Inspect Request ;
44: IF DI[6:MAINT RQST PLC]=ON,JMP LBL[222] ;
45: ;
46: !Approach to Maint Pos ;
47:J P[1] 100% FINE ;
48:J P[2] 100% FINE ;
49: ;
50: !Maintenance Position ;
52: ;
53: !Wait for Tip Dress Dump Macro ;
55: ;
57: OPEN GUN ;
58: ;
59: ;
60: !Maint Position ON ;
61: DO[6:RBT AT MAINT]=ON ;
62: ;
62: !RESET Tip Change Required ;

Page 55 of 103
62: ! DO[139] to PLC ;
62: DO[888:Tip wear moving WC#1]=OFF;
62: DO[889:Tip wear fixed WC#1]=OFF ;
62: ;
63: !------------------------------ ;
64: !Label to jump after maint op ;
65: LBL[1] ;
66: ;
68: ! Bit is OFF, skip tp logic ;
69: IF DO[1015:FASTFAULTRECOV]=OFF,JMP LBL[333] ;
70: UALM[70] ;
71: WAIT DI[1024:STUDOUTMAINT]=ON ;
72: ;
73: LBL[333] ;
74: ;
77: ;
78: !Wait for Maintenance Clear ;
79: ! Manual Weld PB or ;
80: ! Tip Alignment PB ;
81: WAIT DI[7:MAINT POS CLR]=ON OR DO[967:MANUALWELD1PB]=ON OR
DI[974:TIPALIGNCLOSED]=ON OR RO[1:EQUALIZATION VALVE 1]=ON ;
82: ;
85: ;
86: !If maintenance clear, Jump ;
87: !over the weld routine ;
88: IF DI[7:MAINT POS CLR]=ON,JMP LBL[8] ;
89: ;
90: !If TIP ALIGN was selected ;
91: IF DI[974:TIPALIGNCLOSED]=ON,JMP LBL[100] ;
92: ;
93: !If MANUAL WELD was selected ;
94: IF DO[967:MANUALWELD1PB]=ON,JMP LBL[101] ;
95: ;
96: !ONLY If EQUALIZATION is ;
97: ! Added to this App ;
98: !If EQUALIZATION was selected ;
99: IF RO[1:EQUALIZATION VALVE 1]=ON,JMP LBL[102] ;
100: ;
101: ! jump back up ;
102: JMP LBL[1] ;
103: ;
104: ;
105: !------------------------------ ;
106: !TIP ALIGN ;
107: LBL[100] ;
108: ;
109: !CLOSE GUN MACRO ;
110: CLOSE GUN ;
111: ;
112: !Wait for the button release ;
113: WAIT DI[974:TIPALIGNCLOSED]=OFF ;
114: ;
115: !Wait for the button press ;
116: WAIT DI[975:TIPALIGNOPEN]=ON ;
117: ;
119: OPEN GUN ;
120: ;

Page 56 of 103
121: !Wait for the buttons release ;
122: WAIT DI[975:TIPALIGNOPEN]=OFF ;
123: ;
126: ;
127: !Finished ALIGN Jump Back ;
128: JMP LBL[1] ;
129: ;
130: ;
131: !------------------------------ ;
132: !MANUAL WELD, ;
133: LBL[101] ;
134: ;
135: !Save the man. wld. schedule ;
137: ;
138: !Weld with part thickness 0 ;
139: !And manual weld schedule ;
141: ;
143: WAIT DI[976:MANUALWELD1PB]=OFF ;
144: ;
145: !Done welding, Jump back ;
146: JMP LBL[1] ;
147: ;
148: ;
149: !------------------------------ ;
150: !EQUALIZATION, ;
151: LBL[102] ;
152: ;
153: !Set GO[1] to a pressure that ;
154: ! will move the gun. This will ;
155: ! identify to the user that the ;
156: ! Equalization is working ;
157: GO[1:EQUALIZATION VALVE 1]=40 ;
158: ;
159: WAIT 1.00(sec) ;
160: ;
162: ;
163: WAIT 1.00(sec) ;
164: ;
166: ;
167: WAIT 1.00(sec) ;
168: ;
170: ;
171: !Done, Jump back ;
172: JMP LBL[1] ;
173: ;
174: ;
175: !------------------------------ ;
176: LBL[7] ;
177: ;
178: DO[936:STEPPERRST1]=PULSE,1.0sec ;
179: JMP LBL[9] ;

Page 57 of 103
180: ;
181: ;
182: !------------------------------ ;
183: !Maintenance clear ;
184: LBL[8] ;
185: ;
186: IF DI[120:TD BYPASSED 1]=ON,JMP LBL[7] ;
187: ;
188: ;
189: !------------------------------ ;
190: LBL[9] ;
206: ;
207: !Maint Position OFF ;
208: DO[6:RBT AT MAINT]=OFF ;
209: ;
203: !Depart pos. ;
204:J P[2] 100% FINE ;
205:J P[1] 100% FINE ;
206: ;
209: ;
210: !Set Number of retries ;
212: ;
213: JMP LBL[444] ;
214: ;
215: ;
216: !------------------------------ ;
217: LBL[222:INSPECT POS] ;
218: ;
219: !Approach to Inspect Pos ;
220:J P[4] 20% CNT100 ;
221:J P[5] 20% CNT100 ;
222: ;
223: !Inspect Position ;
224:L P[6] 200mm/sec CNT100 ;
225: ;
226: ;
229: ;
231: WAIT DI[7:MAINT POS CLR]=ON ;
232: ;
235: ;
236: !Depart pos. ;
237:J P[5] 20% CNT100 ;
238:J P[4] 20% CNT100 ;
239: ;
240: LBL[444:WAIT FOR PLC] ;
241: ;
244: ;
/POS
/END

Page 58 of 103
4.22 PG08 – Manual Tip Dress for Carried Application for R-30iB
Controllers
/PROG PG08
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance Ops";
PROG_SIZE = 5497;
CREATE = DATE 10-05-10 TIME 14:50:46;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 248;
MEMORY_SIZE = 5909;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! Combo SWG / STUD - Carried ;
5: ! ;

Page 59 of 103
9: !***************************** ;
10: ;
11: ;
15: ;
18: ;
21: ;
23: PAYLOAD[2] ;
24: ;
26: UTOOL_NUM=1 ;
27: ;
29: UFRAME_NUM=1 ;
30: ;
32: SETUP OUTPUTS ;
33: ;
34: !Move to Home ;
36: ;
38: ;
41: ;
42: !------------------------------ ;
45: ;
47:J P[1] 100% FINE ;
48:J P[2] 100% FINE ;
49: ;
52: ;
55: ;
57: OPEN GUN ;
58: ;
59: ;
62: ;
62: ! DO[139] to PLC ;
62: DO[888:Tip wear moving WC#1]=OFF;
62: DO[889:Tip wear fixed WC#1]=OFF ;

Page 60 of 103
62: ;
63: !------------------------------ ;
65: LBL[1] ;
66: ;
70: UALM[70] ;
72: ;
73: LBL[333] ;
74: ;
77: ;
82: ;
85: ;
86: !If maintenance clear, Jump ;
87: !over the weld routine ;
89: ;
92: ;
95: ;
100: ;
102: JMP LBL[1] ;
103: ;
104: ;
105: !------------------------------ ;
106: !TIP ALIGN ;
107: LBL[100] ;
108: ;
110: CLOSE GUN ;
111: ;
114: ;
117: ;
119: OPEN GUN ;
120: ;
123: ;

Page 61 of 103
126: ;
128: JMP LBL[1] ;
129: ;
130: ;
131: !------------------------------ ;
133: LBL[101] ;
134: ;
137: ;
141: ;
144: ;
146: JMP LBL[1] ;
147: ;
148: ;
149: !------------------------------ ;
151: LBL[102] ;
152: ;
158: ;
159: WAIT 1.00(sec) ;
160: ;
162: ;
163: WAIT 1.00(sec) ;
164: ;
166: ;
167: WAIT 1.00(sec) ;
168: ;
170: ;
172: JMP LBL[1] ;
173: ;
174: ;
175: !------------------------------ ;
176: LBL[7] ;
177: ;
179: JMP LBL[9] ;
180: ;
181: ;
182: !------------------------------ ;

Page 62 of 103
184: LBL[8] ;
185: ;
187: ;
188: ;
189: !------------------------------ ;
190: LBL[9] ;
206: ;
209: ;
203: !Depart pos. ;
204:J P[2] 100% FINE ;
205:J P[1] 100% FINE ;
206: ;
209: ;
212: ;
213: JMP LBL[444] ;
214: ;
215: ;
216: !------------------------------ ;
218: ;
220:J P[4] 20% CNT100 ;
221:J P[5] 20% CNT100 ;
222: ;
224:L P[6] 200mm/sec CNT100 ;
225: ;
226: ;
229: ;
232: ;
235: ;
236: !Depart pos. ;
237:J P[5] 20% CNT100 ;
238:J P[4] 20% CNT100 ;
239: ;
241: ;
244: ;
/POS
/END

Page 63 of 103
4.23 PG08 – Manual Tip Dress for Pedestal Dump Application for
R-30iA Controllers
NOTE1: DO[37: New Tip Dress Enable] = ON will enable a tip dress when a
new tip is selected, for use with offset caps.
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Manl Tip Dress";
PROG_SIZE = 5838;
CREATE = DATE 10-05-10 TIME 14:50:46;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 260;
MEMORY_SIZE = 6330;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! Combo SWG / STUD - Pedestal ;
5: ! ;
9: !***************************** ;
10: ;
11: ;
15: ;

Page 64 of 103
18: ;
21: ;
23: PAYLOAD[2] ;
24: ;
26: UTOOL_NUM=1 ;
27: ;
29: UFRAME_NUM=1 ;
30: ;
32: SETUP OUTPUTS ;
33: ;
34: !Move to Home ;
36: ;
38: ;
41: ;
42: !------------------------------ ;
45: ;
47:J P[1] 100% FINE ;
48:J P[2] 100% FINE ;
49: ;
52: ;
55: ;
57: OPEN GUN ;
58: ;
59: ;
62: ;
62: ! DO[139] to PLC ;
62: DO[888: Tip wear moving WC#1]=OFF ;
62: DO[889: Tip wear fixed WC#1]=OFF ;
62: ;
63: !------------------------------ ;
65: LBL[1] ;
66: ;
70: UALM[70] ;
72: ;
73: LBL[333] ;
74: ;
77: ;

Page 65 of 103
82: ;
85: ;
86: !If maintenance clear, Jump Over ;
87: !the weld routine ;
89: ;
92: ;
95: ;
100: ;
102: JMP LBL[1] ;
103: ;
104: !------------------------------ ;
105: !TIP ALIGN ;
106: LBL[100] ;
107: ;
108: !Wait for Tip Dresser dump returd ;
110: ;
111: ! In Tip Maintenance Routine ;
113: ;
114: ! In Tip Dress Routine ;
116: ;
118: CLOSE GUN ;
119: ;
122: ;
125: ;
127: OPEN GUN ;
128: ;
131: ;
134: ;
136: JMP LBL[1] ;
137: ;
138: ;
139: !------------------------------ ;
141: LBL[101] ;
142: ;
145: ;

Page 66 of 103
149: ;
152: ;
154: JMP LBL[1] ;
155: ;
156: ;
157: !------------------------------ ;
159: LBL[102] ;
160: ;
166: ;
167: WAIT 1.00(sec) ;
168: ;
170: ;
171: WAIT 1.00(sec) ;
172: ;
174: ;
175: WAIT 1.00(sec) ;
176: ;
178: ;
180: JMP LBL[1] ;
181: ;
182: ;
183: !------------------------------ ;
184: LBL[7] ;
185: ;
187: JMP LBL[9] ;
188: ;
189: ;
190: !------------------------------ ;
192: LBL[8] ;
193: ;
195: ;
196: ;
197: !------------------------------ ;
198: LBL[9] ;
199: ;
203: ;
204: ;
205: IF DO[972:TDDMP1INPROC]=ON OR DI[669:NTSR]=ON, JMP LBL[145] ;
206: !Run TipWear Routine in the ;
207: ! background ;
208: RUN TPWEARC1 ;
209: LBL[145] ;

Page 67 of 103
210: ;
211: ;
213: LBL[555] ;
206: ;
209: ;
203: !Depart pos. ;
204:J P[2] 100% FINE ;
205:J P[1] 100% FINE ;
206: ;
209: ;
224: ;
225: JMP LBL[444] ;
226: ;
227: ;
228: !------------------------------ ;
230: ;
232:J P[4] 20% CNT100 ;
233:J P[5] 20% CNT100 ;
234: ;
236:L P[6] 200mm/sec CNT100 ;
237: ;
238: ;
241: ;
244: ;
247: ;
248: !Depart pos. ;
249:J P[5] 20% CNT100 ;
250:J P[4] 20% CNT100 ;
251: ;
253: ;
256: ;
/POS
/END

Page 68 of 103
4.24 PG08 – Manual Tip Dress for Pedestal Dump Application for
R-30iB Controllers
NOTE1: DO[37: New Tip Dress Enable] = ON will enable a tip dress when a
new tip is selected, for use with offset caps.
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Manl Tip Dress";
PROG_SIZE = 5838;
CREATE = DATE 10-05-10 TIME 14:50:46;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 260;
MEMORY_SIZE = 6330;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! Combo SWG / STUD - Pedestal ;
5: ! ;
9: !***************************** ;
10: ;
11: ;
15: ;

Page 69 of 103
18: ;
21: ;
23: PAYLOAD[2] ;
24: ;
26: UTOOL_NUM=1 ;
27: ;
29: UFRAME_NUM=1 ;
30: ;
32: SETUP OUTPUTS ;
33: ;
34: !Move to Home ;
36: ;
38: ;
41: ;
42: !------------------------------ ;
45: ;
47:J P[1] 100% FINE ;
48:J P[2] 100% FINE ;
49: ;
52: ;
55: ;
57: OPEN GUN ;
58: ;
59: ;
62: ;
62: ! DO[139] to PLC ;
62: DO[888: Tip wear moving WC#1]=OFF ;
62: DO[889: Tip wear fixed WC#1]=OFF ;
62: ;
63: !------------------------------ ;
65: LBL[1] ;
66: ;
70: UALM[70] ;
72: ;
73: LBL[333] ;
74: ;
77: ;

Page 70 of 103
82: ;
85: ;
86: !If maintenance clear, Jump Over ;
87: !the weld routine ;
89: ;
92: ;
95: ;
100: ;
102: JMP LBL[1] ;
103: ;
104: !------------------------------ ;
105: !TIP ALIGN ;
106: LBL[100] ;
107: ;
108: !Wait for Tip Dresser dump returd ;
110: ;
111: ! In Tip Maintenance Routine ;
113: ;
114: ! In Tip Dress Routine ;
116: ;
118: CLOSE GUN ;
119: ;
122: ;
125: ;
127: OPEN GUN ;
128: ;
131: ;
134: ;
136: JMP LBL[1] ;
137: ;
138: ;
139: !------------------------------ ;
141: LBL[101] ;
142: ;
145: ;

Page 71 of 103
149: ;
152: ;
154: JMP LBL[1] ;
155: ;
156: ;
157: !------------------------------ ;
159: LBL[102] ;
160: ;
166: ;
167: WAIT 1.00(sec) ;
168: ;
170: ;
171: WAIT 1.00(sec) ;
172: ;
174: ;
175: WAIT 1.00(sec) ;
176: ;
178: ;
180: JMP LBL[1] ;
181: ;
182: ;
183: !------------------------------ ;
184: LBL[7] ;
185: ;
187: JMP LBL[9] ;
188: ;
189: ;
190: !------------------------------ ;
192: LBL[8] ;
193: ;
195: ;
196: ;
197: !------------------------------ ;
198: LBL[9] ;
199: ;
203: ;
204: ;
205: IF DO[972:TDDMP1INPROC]=ON OR DI[669:NTSR]=ON, JMP LBL[145] ;
206: !Run TipWear Routine in the ;
207: ! background ;
208: RUN TPWEARC1 ;
209: LBL[145] ;

Page 72 of 103
210: ;
211: ;
213: LBL[555] ;
206: ;
209: ;
203: !Depart pos. ;
204:J P[2] 100% FINE ;
205:J P[1] 100% FINE ;
206: ;
209: ;
224: ;
225: JMP LBL[444] ;
226: ;
227: ;
228: !------------------------------ ;
230: ;
232:J P[4] 20% CNT100 ;
233:J P[5] 20% CNT100 ;
234: ;
236:L P[6] 200mm/sec CNT100 ;
237: ;
238: ;
241: ;
244: ;
247: ;
248: !Depart pos. ;
249:J P[5] 20% CNT100 ;
250:J P[4] 20% CNT100 ;
251: ;
253: ;
256: ;
/POS
/END

Page 73 of 103
4.25 PG09 – Minor Maintenance Position
/PROG PG09
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 1532;
CREATE = DATE 09-10-02 TIME 10:57:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 54;
MEMORY_SIZE = 1816;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
3: ! ;
4: !***************************** ;
5: ;
8: ;
11: ;
12: PAYLOAD[2] ;
13: ;
15: UTOOL_NUM=1 ;
16: ;
18: UFRAME_NUM=1 ;
19: ;
21: SETUP OUTPUTS ;
22: ;
23: !Move to Home ;
25: ;
26: !------------------------------ ;
28:J P[1] 20% CNT10 ;
29: ;
31:J P[2] 10% FINE ;
32: ;
34: DO[587:RBT AT MIN MAINT]=ON ;
35: ;
36: !Turn ON Robot in Loop ;

Page 74 of 103
38: ;
41: ;
42: !Turn OFF Robot in Loop ;
44: ;
50: DO[587:RBT AT MIN MAINT]=OFF ;
45: !------------------------------ ;
46: !Depart from Maint Pos ;
47:J P[1] 20% CNT10 ;
48: ;
50: DO[587:RBT AT MIN MAINT]=OFF ;
51: ;
52: !Move to Home ;
54: ;
/POS
/END

Page 75 of 103
4.26 PG10 or PG06 – Auto Tip Dress for Carried Application with
Servo Tip Dress for R-30iA Controllers
Refer NOTE: USE ONLY ONE METHOD OF TIP WEAR MEASUREMENT FOR TIP WEAR
NOTE1: PG06 is used for side-cut if needed use below as template replacing 10
for 06 in the title and Program Verify macro.
/PROG PG10
/ATTR
OWNER = MNEDITOR;
COMMENT = "Auto Tip Dress";
PROG_SIZE = 3230;
CREATE = DATE 09-07-30 TIME 08:19:50;
FILE_NAME = PG10;
VERSION = 0;
LINE_COUNT = 133;
MEMORY_SIZE = 3758;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! AUTO TIP DRESS ;
3: ! ;
4: ! Moves robot to Tip Dress ;
5: ! ;
9: !***************************** ;
10: ;
13: ;
16: ;
18: PAYLOAD[2] ;
19: ;

Page 76 of 103
21: UTOOL_NUM=1 ;
22: ;
24: UFRAME_NUM=1 ;
25: ;
27: SETUP OUTPUTS ;
28: ;
29: !Move to Home ;
31: ;
32: ;
36: ;
37: !-------------------------------- ;
39: ! ;
40: !This section is used ONLY ;
47: !-------------------------------- ;
48: ;
26: OPEN GUN ;
26: ;
26: CALL TW_PRS01 ;
26: ;
49: !The 1st parameter = 1 ;
51: !The 2nd parameter = 29 ;
56: ;
58: ! that uses R[29] ;
60: ;
61: R[49:Number of Tip dr]=0 ;
62: ;
62: !Ensure that Tip Wear Warning is Off ;
62: ! After Tip Dress ;
62: DO[438:TipWearWarn]=OFF ;
62: ;
64: LBL[456] ;
65: !------------------------------ ;
66: ;
67: !Enter Zone 6 w/ R1 Zone6 ;
68: ENTER ZONE(6) ;
69: ;

Page 77 of 103
70: !Approach Tip Dress ;
71:J P[1] 100% CNT100 ;
72:L P[2] 2000mm/sec CNT25 ;
73: ;
75: OPEN GUN ;
76: ;
77: !Turn OFF Weld Mode ;
79: ;
80: !Move to Tip Dress ;
81: !Position ;
82:L P[3] 2000mm/sec CNT25 ;
84: ;
85: !Macro for Tip Dress ;
86: CALL CGTDMACS ;
87: ;
88:L P[5] 1600mm/sec CNT10 ;
89:L P[6] 1600mm/sec CNT25 ;
90:L P[7] 1600mm/sec CNT25 ;
91: ;
94: ;
96: WAIT DI[129:AUTOTPDRSPOSCLR1]=ON AND DI[670:DRESSED TIP]=ON ;
97: ;
98: ;
101: ;
102: !IF lost caps/water ;
103: IF DO[141:AUTOPTBYPAS1]=ON,JMP LBL[123] ;
104: ;
105: !Move to Calibration ;
106: ! Plate ;
107:L P[8] 2000mm/sec FINE ;
108: ;
109: ;
110: !Run TipWear Routine ;
111: ! on Cal Plate ;
112: CALL TW_UPD01 ;
113: ;
114: ;
116: LBL[123] ;
117: ;
118: !Turn ON Weld Mode ;
120: ;
121: ;
122: !Depart Position ;
123:L P[9] 2000mm/sec FINE ;
124:J P[10] 100% FINE ;
125: ;
126: !Tip Cutter Warning Check ;
127: CALL TIP_MEAS ;
104: ;
104: !Don’t jump to label 475 if using Resistance check logic ;
104: JMP LBL[475] ;
105: !-------------------------------- ;
106: !TIP RESISTANCE CHK LOGIC ;
107: ! (if applicable) ;
108: !-------------------------------- ;

Page 78 of 103
109: ;
111: DO[115:WELD/NO WELD MD1]=OFF ;
112: ;
113: !Allow TipWear to Finish ;
114: WAIT 1.00(sec) ;
115: ;
116: !Set Tip Resistance Output ;
117: DO[946:TIPRESISTFLT1]=ON ;
118: ;
119: !Set Tip Resistance Weld Sch ;
120: SPOT[SD=1,EP=0,P=96,S=30,EP=0,ED=1] ;
121: ;
122: !Reset Tip Resistance Output ;
123: DO[946:TIPRESISTFLT1]=OFF ;
124: ;
125: !Pulse Stepper Reset Output ;
127: ;
128: !Wait 4 AutoTipDress Pos Clear ;
129: WAIT DI[129:AUTOTPDRSPOSCLR1]=ON ;
129: ;
129: !-------------------------------- ;
129: LBL[475] ;
129: ;
131: ;
132: !Exit Zone 6 ;
133: EXIT ZONE(6) ;
/POS
/END

Page 79 of 103
4.27 PG10 or PG06 – Auto Tip Dress for Carried Application with
Servo Tip Dress for R-30iB Controllers
Refer NOTE: USE ONLY ONE METHOD OF TIP WEAR MEASUREMENT FOR TIP WEAR
NOTE1: PG06 is used for side-cut if needed use below as template replacing 10
for 06 in the title and Program Verify macro.
/PROG PG10
/ATTR
OWNER = MNEDITOR;
COMMENT = "Auto Tip Dress";
PROG_SIZE = 3230;
CREATE = DATE 09-07-30 TIME 08:19:50;
FILE_NAME = PG10;
VERSION = 0;
LINE_COUNT = 133;
MEMORY_SIZE = 3758;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! AUTO TIP DRESS ;
3: ! ;
4: ! Moves robot to Tip Dress ;
5: ! ;
9: !***************************** ;
10: ;
13: ;
16: ;
18: PAYLOAD[2] ;

Page 80 of 103
19: ;
21: UTOOL_NUM=1 ;
22: ;
24: UFRAME_NUM=1 ;
25: ;
27: SETUP OUTPUTS ;
28: ;
29: !Move to Home ;
31: ;
32: ;
36: ;
37: !-------------------------------- ;
39: ! ;
40: !This section is used ONLY ;
47: !-------------------------------- ;
48: ;
26: OPEN GUN ;
26: ;
26: CALL TW_PRS01 ;
26: ;
49: !The 1st parameter = 1 ;
51: !The 2nd parameter = 29 ;
56: ;
58: ! that uses R[29] ;
60: ;
61: R[49:Number of Tip dr]=0 ;
62: ;
62: !Ensure that Tip Wear Warning is Off ;
62: ! After Tip Dress ;
62: ;
64: LBL[456] ;
65: !------------------------------ ;
66: ;
67: !Enter Zone 6 w/ R1 Zone6 ;
68: ENTER ZONE(6) ;

Page 81 of 103
69: ;
70: !Approach Tip Dress ;
71:J P[1] 100% CNT100 ;
72:L P[2] 2000mm/sec CNT25 ;
73: ;
75: OPEN GUN ;
76: ;
79: ;
80: !Move to Tip Dress ;
81: !Position ;
82:L P[3] 2000mm/sec CNT25 ;
84: ;
85: !Macro for Tip Dress ;
86: CALL CGTDMACS ;
87: ;
88:L P[5] 1600mm/sec CNT10 ;
89:L P[6] 1600mm/sec CNT25 ;
90:L P[7] 1600mm/sec CNT25 ;
91: ;
94: ;
96: WAIT DI[129:AUTOTPDRSPOSCLR1]=ON AND DI[670:DRESSED TIP]=ON ;
97: ;
98: ;
101: ;
103: IF DO[141:AUTOPTBYPAS1]=ON,JMP LBL[123] ;
104: ;
105: !Move to Calibration ;
106: ! Plate ;
107:L P[8] 2000mm/sec FINE ;
108: ;
109: ;
110: !Run TipWear Routine ;
111: ! on Cal Plate ;
112: CALL TW_UPD01 ;
113: ;
114: ;
116: LBL[123] ;
117: ;
118: !Turn ON Weld Mode ;
120: ;
121: ;
122: !Depart Position ;
123:L P[9] 2000mm/sec FINE ;
124:J P[10] 100% FINE ;
125: ;
126: !Tip Cutter Warning Check ;
127: CALL TIP_MEAS ;
104: ;
104: !Don’t jump to label 475 if using Resistance check logic ;
104: JMP LBL[475] ;
105: !-------------------------------- ;
106: !TIP RESISTANCE CHK LOGIC ;
107: ! (if applicable) ;

Page 82 of 103
108: !-------------------------------- ;
109: ;
111: DO[115:WELD/NO WELD MD1]=OFF ;
112: ;
113: !Allow TipWear to Finish ;
114: WAIT 1.00(sec) ;
115: ;
116: !Set Tip Resistance Output ;
117: DO[946:TIPRESISTFLT1]=ON ;
118: ;
119: !Set Tip Resistance Weld Sch ;
120: SPOT[SD=1,EP=0,P=96,t=0.0,S=30,EP=0,ED=1] ;
121: ;
122: !Reset Tip Resistance Output ;
123: DO[946:TIPRESISTFLT1]=OFF ;
124: ;
125: !Pulse Stepper Reset Output ;
127: ;
128: !Wait 4 AutoTipDress Pos Clear ;
129: WAIT DI[129:AUTOTPDRSPOSCLR1]=ON ;
129: ;
129: !-------------------------------- ;
129: LBL[475] ;
129: ;
131: ;
132: !Exit Zone 6 ;
133: EXIT ZONE(6) ;
/POS
/END

Page 83 of 103
4.28 CGTDMACS – Carried Servo Gun with Servo Tip Dresser
MACRO for R-30iA Controllers
In order for tip wear offsets to be applied during tip dress,
the tip dress TP program must contain group 1 and group 2
motion. Also, the TIPDRESS instruction must be in motion
option format. This means that the final position for tip
dress must be attached to the TIPDRESS instruction.
To optimize the tip dress, the final tip dress position should
be taught to have the fixed tip just below the cutting blade.
It is taught similar to how a weld location is taught.
BLOWOFF
been turned OFF.
change.
/PROG CGTDMACS Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "CAR GUN STD MAC";
PROG_SIZE = 3334;
CREATE = DATE 00-01-03 TIME 11:25:38;
FILE_NAME = CGTDMAC;
VERSION = 0;
LINE_COUNT = 115;
MEMORY_SIZE = 3794;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! AUTO SERVO TIP DRESS ;
3: ! Carried SWG ;
4: ! ;

Page 84 of 103
6: ! GP[1:robot] AND ;
7: ! NOTE: Servo Tip Dresser will;
8: !***************************** ;
9: ;
10: !Save robot gun open pos ;
11: PR[95:TipDrsGun1OpnPos]=LPOS ;
12: ;
13: !------------------------------ ;
14: ;
20: ;
23: WAIT 1.50(sec) ;
24: ;
25: !------------------------------ ;
26: ;
29: WAIT .50(sec) ;
30: ;
31: !Check for TD Motor ON ;
32: IF DO[873]=OFF,JMP LBL[250] ;
33: ;
34: !------------------------------ ;
37: ;
46: R[49:Number of Tip dr]=0;
46: ;
40: ;
45: ;
49: ! ;
50:L P[1] 2000mm/sec CNT25
: TIPDRESS[SD=2,EP=0,P=94,TD=1,ED=2] ;
51: ;

Page 85 of 103
56: ;
57: JMP LBL[789] ;
58: ;
59: !------------------------------ ;
60: !IF OLD Tip ;
61: LBL[456] ;
62: ;
57: R[49:Number of Tip dr]=R[49:Number of Tip dr]+1;
58: ;
63: !Dont Servo Dress if motor problm ;
65: ;
68: ! Use TD=2 for used tip ;
69: ! Use correct P= for used tip ;
73: ! ;
74:L P[1] 2000mm/sec CNT25
: TIPDRESS[SD=2,EP=0,P=95,TD=2,ED=2] ;
75: ;
80: ;
81: JMP LBL[789] ;
82: ;
83: !------------------------------ ;
84: ;
85: !Jump here if TD MOTOR not enabld ;
86: ;
87: LBL[250] ;
88: ;
: PRESS_MOTN[SD=94,P=94] ;
92: WAIT 1.00(sec) ;
93: ;
95: ! both tips open from dresser ;
97: ;
98: JMP LBL[789] ;
99: !------------------------------ ;
100: ;
102: LBL[788] ;
103: UALM[65] ;
104: ;

Page 86 of 103
105: LBL[789] ;
106: ;
107: !Move Back to Orginal pos ;
108:L PR[95:TipDrsGun1OpnPos] 1000mm/sec FINE ;
109: ;
112: ;
116: ;
120: ;
122: CALL BLOWOFF ;
122: LBL[350] ;
123: ;
/POS
/END

Page 87 of 103
4.29 CGTDMACS – Carried Servo Gun with Servo Tip Dresser
MACRO for R-30iB Controllers
In order for tip wear offsets to be applied during tip dress,
the tip dress TP program must contain group 1 and group 2
motion. Also, the TIPDRESS instruction must be in motion
option format. This means that the final position for tip
dress must be attached to the TIPDRESS instruction.
To optimize the tip dress, the final tip dress position should
be taught to have the fixed tip just below the cutting blade.
It is taught similar to how a weld location is taught.
BLOWOFF
been turned OFF.
change.
/PROG CGTDMACS Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "CAR GUN STD MAC";
PROG_SIZE = 3334;
CREATE = DATE 00-01-03 TIME 11:25:38;
FILE_NAME = CGTDMAC;
VERSION = 0;
LINE_COUNT = 115;
MEMORY_SIZE = 3794;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! AUTO SERVO TIP DRESS ;
3: ! Carried SWG ;
4: ! ;

Page 88 of 103
6: ! GP[1:robot] AND ;
7: ! NOTE: Servo Tip Dresser will;
8: !***************************** ;
9: ;
10: !Save robot gun open pos ;
11: PR[95:TipDrsGun1OpnPos]=LPOS ;
12: ;
13: !------------------------------ ;
14: ;
20: ;
23: WAIT 1.50(sec) ;
24: ;
25: !------------------------------ ;
26: ;
29: WAIT .50(sec) ;
30: ;
31: !Check for TD Motor ON ;
32: IF DO[873]=OFF,JMP LBL[250] ;
33: ;
34: !------------------------------ ;
37: ;
46: R[49:Number of Tip dr]=0;
46: ;
40: ;
45: ;
49: ! ;
50:L P[1] 2000mm/sec CNT25
: TIPDRESS[SD=2,EP=0,P=94,t=0.0,TD=1,ED=2] ;
51: ;

Page 89 of 103
56: ;
57: JMP LBL[789] ;
58: ;
59: !------------------------------ ;
60: !IF OLD Tip ;
61: LBL[456] ;
62: ;
57: R[49:Number of Tip dr]=R[49:Number of Tip dr]+1;
58: ;
63: !Dont Servo Dress if motor problm ;
65: ;
68: ! Use TD=2 for used tip ;
69: ! Use correct P= for used tip ;
73: ! ;
74:L P[1] 2000mm/sec CNT25
: TIPDRESS[SD=2,EP=0,P=95,t=0.0,TD=2,ED=2] ;
75: ;
80: ;
81: JMP LBL[789] ;
82: ;
83: !------------------------------ ;
84: ;
85: !Jump here if TD MOTOR not enabld ;
86: ;
87: LBL[250] ;
88: ;
: PRESS_MOTN[SD=94,P=94,t=0.0] ;
92: WAIT 1.00(sec) ;
93: ;
95: ! both tips open from dresser ;
97: ;
98: JMP LBL[789] ;
99: !------------------------------ ;
100: ;
102: LBL[788] ;
103: UALM[65] ;
104: ;

Page 90 of 103
105: LBL[789] ;
106: ;
107: !Move Back to Orginal pos ;
108:L PR[95:TipDrsGun1OpnPos] 1000mm/sec FINE ;
109: ;
112: ;
116: ;
120: ;
122: CALL BLOWOFF ;
122: LBL[350] ;
123: ;
/POS
/END

Page 91 of 103
4.30 OPNGUN – Open Servo Gun Position MACRO
/PROG OPNGUN Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "OPEN GUN";
PROG_SIZE = 646;
CREATE = DATE 09-07-25 TIME 13:37:02;
FILE_NAME = CGTDM;
VERSION = 0;
LINE_COUNT = 13;
MEMORY_SIZE = 962;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
2: ! OPEN GUN MACRO ;
3: ! ;
6: ! ;
7: ! Record GRP2 Ref Pos 1 ;
8: ! turns ON DO[128] ;
9: ! Record POS Reg PR[100] ;
10: !***************************** ;
11: ;
12: !RECORD OPEN SWG POSITION ;
13:J PR[100:SWG Full OPN Pos] 100% FINE ;
/POS
/END

Page 92 of 103
4.31 CLSGUN – Close Servo Gun Position MACRO
/PROG CLSGUN Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "CLOSE GUN";
PROG_SIZE = 588;
CREATE = DATE 09-07-25 TIME 13:37:02;
FILE_NAME = CGTDM;
VERSION = 0;
LINE_COUNT = 11;
MEMORY_SIZE = 912;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
2: ! CLOSE GUN MACRO ;
3: ! ;
6: ! ;
7: ! Record POS Reg PR[101] ;
8: !***************************** ;
9: ;
10: !RECORD CLOSE SWG POSITION ;
11:J PR[101:SWG Close Pos] 100% FINE ;
/POS
/END

Page 93 of 103
4.32 BLOWOFF – Tip Dress Spin and Blower Program
/PROG BLOWOFF
/ATTR
OWNER = MNEDITOR;
COMMENT = "BLOWOFF";
PROG_SIZE = 884;
CREATE = DATE 00-01-03 TIME 11:25:38;
FILE_NAME = BLOWOFF;
VERSION = 0;
LINE_COUNT = 21;
MEMORY_SIZE = 1180;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! BLOWOFF ;
3: ! Spin the Dresser ;
4: ! and Turn ON the Blower ;
5: ! ;
8: !***************************** ;
9: ;
10: !Turn ON the Dresser ;
11: !This will Spin the Dresser ;
12: !for a Specified Speed and Time ;
13: !3 Parameters are Required ;
14: !Param 1 = dresser number ;
15: !Param 2 = speed in rpm ;
16: !Param 3 = duration in ms ;
17: CALL TURNDRES(1,300,4000) ;
18: ;
19: !Pulse ON the Blower ;
20: RO[5:TIPDRSENB BLWFF1]=PULSE,4.0sec ;
21: ;
/POS
/END

Page 94 of 103
4.33 HOME_IO – Reset Input/Output MACRO
/PROG HOME_IO
/ATTR
OWNER = ASCBIN;
COMMENT = "SET AT HOME I-O";
PROG_SIZE = 1850;
CREATE = DATE 10-08-03 TIME 21:26:06;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 97;
MEMORY_SIZE = 2222;
TASK_PRIORITY = 60,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 1,
ABORT_REQUEST = 7,
PAUSE_REQUEST = 3;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !MACRO SET AT HOME I-O ;
3: ! ;
4: !Also runs Automatically when ;
5: ! robot goes from non-home pos ;
6: ! to home pos ;
7: ! ;
11: !***************************** ;
12: ;
15: ;
16: !CLR TO RET. TRANSFER ;
18: ;
19: !CLEAR TO UNCLAMP ;
21: ;
22: ;
23: !ROBOT USER DEFINE OFF ;
24: DO[41:UDEF RBT OUT 1]=OFF ;
32: ;
33: ;
34: !RESET FAULT RESET ;
35: DO[959:FAULTRESET]=OFF ;
36: ;
37: ;
38: !RESET ROBOT LOOP ;

Page 95 of 103
40: DO[977:WTRSVRPULSRST]=OFF ;
41: DO[963:PRGRM FLT]=OFF ;
42: ;
43: !AT REPAIR OFF ;
44: DO[587:RBT AT MINMAINT]=OFF ;
45: ;
46: ;
47: !RESET PICKUP POS ;
56: ;
57: ;
58: !RESET WRK POS ;
59: DO[177:MDL WRK POS 1]=OFF ;
67: ;
68: ;
69: !CLEAR EXIT ZONES ;
70: DO[900:CLROFZONE1]=ON ;
84: ;
85: !SET NUMBER RESET = ;
86: ! (3) RETRIES ;
87: CALL WELD1DIS ;
88: ;
89: !PEDESTAL APPLICATION ONLY ;
90: DO[971:PEDDMPAPP]=ON ;
86: !Reset Tip Dress Dump Advance;
86: !When not in dress macro;
86: IF (!DO[972:TPDMPINPRC1]),DO[440:TD DUMP ADV]=OFF;
91: ;
92: !RESET Weld Mode;
94: ;
95: ! Reset the register that holds ;
96: ! the program number to run ;
97: R[153:ProgSelNum]=0 ;
/POS
/END

Page 96 of 103
5 Software I/F Panels
The Software Interface Panels are located under MENU, using F1 – F5 buttons or by
pressing MENU, 0-Next, 8 Browser, F1-TYPE.
5.1 SPOT SWG Menu

Page 97 of 103
NOTE:
On a Servo Nut Weld Application – the MANUAL WELD PB is to RETRY to weld
the Nut again.
 On a Servo Nut Weld Application – the NUT WELD/REFEED PB is to
REFFED the nut with the lizard tongue and RETRY to weld the Nut again.
 On a Servo Nut Weld Application – on a Plunge Fault (the nut does NOT
collapse per the define tolerance setting in the robot servogun menu) - to
recover you must set the WELD/NOWELD SELECTOR SWITCH (SS) to
NOWELD, press the MANUAL WELD PB, the servo gun tries to weld in NO
Weld mode, causing the weld complete to be ON from the weld controller,
then moves on to the next weld point, before the next weld occurs you must
set the WELD/NOWELD SS back to WELD.

Page 98 of 103
5.2 Stud Menu

Page 99 of 103
NOTE:
SKIP REMAINING PB – Need to Turn “ON” STUD ENABLE Selector Switch (SS) in
order for this function to work. In a Stud Welder Fault Condition, when selecting this PB,
the Stud Gun will go in NO STROKE, the robot will finish up with its robot paths (in NO
Weld Mode), Go HOME, Go to Maintenance (PG08). Once the user, decides that the
situation is OK to continue by pressing the BLUE RESET PB on robot, the robot will go
HOME, start back into PG21 (or main program) in NO Weld Mode, until the actual weld
point error occurred, then in Weld Mode, RETRY to weld the same weld point, thus
continuing the reset of the program in Weld Mode.
REJECT PART PB – Need to Turn “ON” STUD ENABLE Selector Switch (SS) in order
for this function to work. In a Stud Welder Fault Condition, when selecting this PB, the
Stud Gun will go in NO STROKE, the robot will finish up with its robot paths (in NO
Weld Mode), Go HOME, Go to Maintenance (PG08). Once the user, decides that the
situation is OK to continue by pressing the BLUE RESET PB on robot, the robot will go
HOME, start back into PG21 (or main program) in NO Weld Mode, until the actual weld
point error occurred, SKIPPING that point, then continuing the reset of the program in
Weld Mode.
REJECT NO PG RECALL PB – Need to Turn “ON” STUD ENABLE Selector Switch

(SS) in order for this function to work. In a Stud Welder Fault Condition, when selecting
this PB, the Stud Gun will go in NO STROKE, the robot will finish up with its robot paths
(in NO Weld Mode), Go HOME, then ABORTING the program. (In a Pedestal
Application, the part will be in the gripper, where the user must remove part)
MANUAL WELD PB – Need to Turn “ON” STUD ENABLE Selector Switch (SS) in
order for this function to work. In a Stud Welder Fault Condition, when selecting this PB,
the robot will RETRY the weld.

Page 100 of 103
 MODE SELECT BITS
MODE SELECT BITS - DEFINITION
BIT 1 BIT 2 DESCRIPTION

Normal auto mode ( ford standard
1 1 interface - when in external weld mode
and NOT auto repeat)
Dry Cycle without part - Head strokes

forward then back; then sends weld
0 1
complete ( ford standard interface- when
in no weld selected and auto repeat mode )
Dry cycle with part- need part; Head

1 0 strokes forward to part, then back; then
sends weld complete
Manual Mode- start signal sends head

forward and allows it to retract when start
0 0 signal is off ( ford standard interface -
when in external No Weld mode and NOT
in auto repeat)

Page 101 of 103
6 PMC Logic (S-Logic)- Spot / Stud with Servo Tip Dress
for R-30iA Controllers

Page 102 of 103
[FORD_NEXTGEN_ENETSafe_(1)SWGSPOT_STUD_STD_2016_03_30]
Ladder Diagram 1
N00001 R0000.0 R0000.0

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

C 4 NO IMMEDIATE STOP
ALWAYS NO IMSTP
ON
N00003 X0000.0 R0100.5 K0004.5 G1000.1

D 6 NO HOLD
DI 1 EXT BREAK A EQUALENB NO HOLD
RNENBL NO HOLD L 1&2 SS
N00004 X1026.4 R0100.5

E 10 S BREAK A NO HOLD
SI12 HOL BREAK A
DSW NO HOLD
N00005 X1026.5 R0100.5

F 12 R BREAK A NO HOLD
SI13 RES BREAK A
ETSW NO HOLD
X1026.4 X1025.6
G
SI12 HOL CYCLE
DSW START
X0000.1 X1026.4
H
DI 2 EX SI12 HOL
RNEN RST DSW
N00006 R0000.0 G1000.2

I 20 SAFE SPEED
ALWAYS SFSPD
ON
N00007 X1000.3 G1000.3

J 22
O
Ladder Diagram 2
N00008 X1025.1 G1000.4

A 24 FAULT RESET
FAULT RB FAULT
RESET RESET
X0000.1 X0001.2
B
DI 2 EX DI 11
RNEN RST PLC AUTO
X1026.5
C
SI13 RES
ETSW
X0000.3
D
DI 4 EXT
CY STRT
X0000.2
E
DI 3 EXT
MTR ON
Y0119.6
F
DO 959 F
LT RESET
R0223.0
G
DI 976 M
AN WELD1
R0220.4
H
DI 956 R
EFEDWLD1
R0223.1
I
DI 977 M
AN WELD2
N00009 X1000.6 G1000.6

J 36 GO HOME
HOME
N00010 R0000.0 G1000.7

K 38 ENABLE
ALWAYS ENABLE
ON
N00011 F1000.0 Y1000.0

L 40
COMMAND
ENABLE
N00012 F1000.1 Y1000.1

M 42
SYSTEM
READY
Y1025.5
N MOTORS ENABLE
MOTORS
ENABLE
N00013 F1000.2 Y1000.2

O 45
PROGRAM
RUNNING
Ladder Diagram 3
N00014 F1000.3 Y1000.3

A 47
PAUSED
N00015 F1000.4 Y1000.4

B 49
HELD
Y0000.0
C ROBOT RUN ENABLE INTERRUPT ACK
DO 1 RUN
ENB ACK
N00016 F1000.5 ACT R0338.0

D 52 SUB 3 0031 INTERNAL FAULT DELAY
FAULT TMR INT FLT
DELAY
N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

E 56
FAULT RB FAULT FILTERED INT FLT
RESET FAULT DELAY
Y0120.2 Y0000.4
F ROBOT CONTROLLER FAULT
DO 963 DO 5 RBT
PRG FLT CNT FLT
Y0001.6
G
DO 15 CO
LL DTCT
N00018 F1000.6 Y1000.6

H 64
AT HOME
Y0002.0 Y0000.1
I ROBOT AT HOME
DO 17 RB DO 2 RBT
T @ HM1 @ HOME
Y0002.1
J
DO 18 RB
T @ HM2
Y0002.2
K
DO 19 RB
T @ HM3
Y0002.3
L
DO 20 RB
T @ HM4
Y0002.4
M
DO 21 RB
T @ HM5
Y0002.5
N
DO 22 RB
T @ HM6
Y0002.6
O
DO 23 RB
T @ HM7
Ladder Diagram 4
N00019 F1000.7 Y1000.7

A 74
TPENABLE
Y0119.7 Y0000.3
B ROBOT IN TEACH
DO 960 DO 4 RBT
AUTO KEY IN TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

C 78
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
FC1 FC2 FC4 FC8 FC16 FC32 FC64
1 R1402.7 R1405.0
D S
ECO24 FACILITY
FC128 CODE 11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

E 87
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

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

H 102 FENCE FAULT
FACILITY ERROR 4 RB FAULT FENCE
CODE 11 RESET FAULT
R1405.2
I
FENCE
FAULT
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

J 107 POWER FAIL RECOVERY
INT EXT FAULT BRK PWR COMMAND SYSTEM PWR FAIL
MTR ON FL RCVRY ENABLE READY RECVRY
R0000.2
K
INT EXT
CYC STRT
K0010.3
L
PWR FAIL
RECVRY
N00024 K0010.3 ACT R1466.0

M 115 SUB 3 0027 BREAK POWER FAIL RECOVERY
PWR FAIL TMR BRK PWR
RECVRY FL RCVRY
O
Ladder Diagram 5
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

A 119
DO 4 RBT COMMAND DO 5 RBT INT EXT INT EXT SYSTEM STEP
IN TCH ENABLE CNT FLT MTR ON CYC STRT READY
R1404.5 Y0000.2
B
DRP AUTO DO 3 RBT
FAULT IN AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

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

D 136 INPUT SIMULATED
DO 958 I DO 581 I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R0330.2 R0386.1 R1404.5

E 138 S DROP AUTO FAULT
FC AVAIL APPL FC ZERO FAULT RB FAULT SERVOGUN SVGN320& DRP AUTO
ALARMS RESET ALARM 326 LTCH FAULT
N00028 F1000.5 R1404.5

F 146 R DROP AUTO FAULT
FAULT DRP AUTO
FAULT
G1000.4
G
RB FAULT
RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

H 149
FAULT ECO33 ECO FC AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

I 153
FC AVAIL ECO17 ECO18 ECO19 ECO20 ECO21 ECO22
FC1 FC2 FC4 FC8 FC16 FC32
1 R1402.6 R1402.7 R1404.3

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

K 163
1 R1402.6 R1402.7 R0330.0

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

M 173
1 R1402.6 R1402.7 R0330.1

N S
ECO23 ECO24 SEALER
FC64 FC128 ALARM
O
Ladder Diagram 6
N00033 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 183
1 R1402.6 R1402.7 R0330.2

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

C 193
1 R1402.6 R1402.7 R0330.3

D S
ECO23 ECO24 TOOLCHNG
FC64 FC128 ALARM
N00035 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 203
1 R1402.6 R1402.7 R0330.4

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

G 213
1 R1402.6 R1402.7 R1406.0

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

I 223
1 R1402.6 R1402.7 R1404.2

J
ECO23 ECO24 FC ZERO
FC64 FC128
O
Ladder Diagram 7
N00038 R1404.1 ACT R1404.3

A 233 SUB57 0001 R
ECO DIFU SPOT
RETRIEVE ALARM
R0330.0
B R
ARC
ALARM
R0330.1
C R
SEALER
ALARM
R0330.2
D R
SERVOGUN
ALARM
R0330.3
E R
TOOLCHNG
ALARM
R0330.4
F R
SYSTEM
ALARM
R1405.0
G R
FACILITY
CODE 11
R1406.0
H R
FACILITY
CODE 15
N00039 R1404.4 ACT R1404.6

I 244 SUB 3 0006
FC AVAIL TMR RETRIEVE
DELAY
N00040 R1404.6 R1404.1

J 248 S
RETRIEVE ECO
DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

K 250 SUB 3 0007 R
ECO TMR ECO
RETRIEVE RETRIEVE
N00042 Y0015.5 Y0015.5

L 254 S WELD FAULT #1
DO 126 W DO 126 W
LD FLT 1 LD FLT 1
N00043 X0083.1 Y0015.5

M 256 R WELD FAULT #1
DI 666 W DO 126 W
ELD CMP1 LD FLT 1
N00044 K0010.1 K0010.0 Y1025.5 R0000.1

N 258 S
EXT MTR TEACH MOTORS INT EXT
ON MEMORY ENABLE MTR ON
N00045 Y1025.5 R0000.1

O 262 R
MOTORS INT EXT
ENABLE MTR ON
Ladder Diagram 8
N00046 X0000.2 K0010.0 K0010.5 K0010.1

A 264 EXTERNAL MOTORS ON
DI 3 EXT TEACH MAINT ME EXT MTR
MTR ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

B
SI13 RES DO 5 RBT FAULT
ETSW CNT FLT
X1025.1
C
FAULT
RESET
X0000.1 X0001.2
D
DI 2 EX DI 11
RNEN RST PLC AUTO
N00047 K0010.2 K0010.0 K0010.5 R0000.2

E 276
EXT CYC TEACH MAINT ME INT EXT
START MEMORY M CYC STRT
N00048 X0000.3 K0010.0 K0010.2

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

G
SI13 RES DO 5 RBT FAULT
ETSW CNT FLT
X1025.1
H
FAULT
RESET
X0000.1 X0001.2
I
DI 2 EX DI 11
RNEN RST PLC AUTO
R0340.0
J
MANUAL
WELD
N00049 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 292
DI 17 PG DI 18 PG DI 19 PG DI 20 PG DI 21 PG DI 22 PG DI 23 PG
SLCT 1 SLCT 2 SLCT 4 SLCT 8 SLCT 16 SLCT 32 SLCT 64
1 X0002.7 R0507.0
L PROGRAM 1
DI 24 PG PROGRAM
SLCT128 1
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 301
1 X0002.7 R0507.1
N PROGRAM 2
DI 24 PG PROGRAM
SLCT128 2
O
Ladder Diagram 9
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 310
1 X0002.7 R0507.2
B PROGRAM 3
DI 24 PG PROGRAM
SLCT128 3
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 319
1 X0002.7 R0507.3
D PROGRAM 4
DI 24 PG PROGRAM
SLCT128 4
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 328
1 X0002.7 R0507.4
F PROGRAM 5
DI 24 PG PROGRAM
SLCT128 5
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 337
1 X0002.7 R0507.5
H PROGRAM 6
DI 24 PG PROGRAM
SLCT128 6
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 346
1 X0002.7 R0507.6
J PROGRAM 7
DI 24 PG PROGRAM
SLCT128 7
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 355
1 X0002.7 R0507.7
L PROGRAM 8
DI 24 PG PROGRAM
SLCT128 8
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 364
1 X0002.7 R0508.0
N PROGRAM 9
DI 24 PG PROGRAM
SLCT128 9
O
Ladder Diagram 10
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 373
1 X0002.7 R0508.1
B PROGRAM 10
DI 24 PG PROGRAM
SLCT128 10
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 382
1 X0002.7 R0508.2
D PROGRAM 11
DI 24 PG PROGRAM
SLCT128 11
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 391
1 X0002.7 R0508.3
F PROGRAM 12
DI 24 PG PROGRAM
SLCT128 12
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 400
1 X0002.7 R0508.4
H PROGRAM 13
DI 24 PG PROGRAM
SLCT128 13
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 409
1 X0002.7 R0508.5
J PROGRAM 14
DI 24 PG PROGRAM
SLCT128 14
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 418
1 X0002.7 R0508.6
L PROGRAM 15
DI 24 PG PROGRAM
SLCT128 15
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 427
1 X0002.7 R0508.7
N PROGRAM 16
DI 24 PG PROGRAM
SLCT128 16
O
Ladder Diagram 11
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 436
1 X0002.7 R0509.0
B PROGRAM 17
DI 24 PG PROGRAM
SLCT128 17
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 445
1 X0002.7 R0509.1
D PROGRAM 18
DI 24 PG PROGRAM
SLCT128 18
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 454
1 X0002.7 R0509.2
F PROGRAM 19
DI 24 PG PROGRAM
SLCT128 19
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 463
1 X0002.7 R0509.3
H PROGRAM 20
DI 24 PG PROGRAM
SLCT128 20
O
Ladder Diagram 12
N00069 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 472
DI 5 MV DO 3 RBT PROGRAM PAUSED AT HOME DI 11 NO HOLD
TO POUNC IN AUTO RUNNING PLC AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

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

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

H
DO 3 RBT PAUSED PROGRAM DI 2 EX DI 11
IN AUTO RUNNING RNEN RST PLC AUTO
R0223.0
I
DI 976 M
AN WELD1
R0223.1
J
DI 977 M
AN WELD2
1 R0000.1 D0603.0 Y0000.4 R0100.5 F1000.5 G1000.5

K UOP CYCLE START
INT EXT CYCLE DO 5 RBT BREAK A FAULT UOP CYC
MTR ON STRT DLY CNT FLT NO HOLD START
N00070 G1000.5 F1000.2 ACT D0603.0

L 524 SUB 3 0008 S CYCLE START DELAY
UOP CYC PROGRAM TMR CYCLE
START RUNNING STRT DLY
N00071 D0603.0 ACT D0603.0

M 529 SUB 3 0009 R CYCLE START DELAY
CYCLE TMR CYCLE
STRT DLY STRT DLY
N00072 F1000.2 D0603.0

N 533 R CYCLE START DELAY
PROGRAM CYCLE
RUNNING STRT DLY
N00073
O 535 SUB 1
END1
Ladder Diagram 14
N00074 Y0119.7 ACT K0010.4

A 536 SUB 3 0011 TEACH MEMORY DELAY
DO 960 TMR TEACH ME
AUTO KEY M DELAY
N00075 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

B 540 TEACH MEMORY
DO 4 RBT SI13 RES FAULT CYCLE TEACH
IN TCH ETSW RESET START MEMORY
K0010.4
C
TEACH ME
M DELAY
K0010.0
D
TEACH
MEMORY
N00076 K0008.0 R0350.0

E 547 MAINTENANCE MODE
AUTO/MAI IN MAINT
NT SS
N00077 R0350.0 ACT D0610.0

F 549 SUB 3 0012 MAINTENANCE MODE DELAY
IN MAINT TMR MAINT
DELAY
N00078 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

G 553 MAINTENANCE MEMORY
MAINT DO 3 RBT DO 2 RBT SI13 RES FAULT MAINT ME
DELAY IN AUTO @ HOME ETSW RESET M
K0010.5 X0000.6
H
MAINT ME DI 7 MAI
M NT PSCLR
N00079 X0000.2 X0000.3 Y0000.2 K0010.6

I 562 EXTERNAL START ANTI-TIE DOWN
DI 3 EXT DI 4 EXT DO 3 RBT EXT STRT
MTR ON CY STRT IN AUTO ANTI TD
K0010.6
J
EXT STRT
ANTI TD
N00080 X0002.0 G1001.0

K 567
DI 17 PG PNS 1
SLCT 1
N00081 X0002.1 G1001.1

L 569
DI 18 PG PNS 2
SLCT 2
N00082 X0002.2 G1001.2

M 571
DI 19 PG PNS 3
SLCT 4
N00083 X0002.3 G1001.3

N 573
DI 20 PG PNS 4
SLCT 8
N00084 X0002.4 G1001.4

O 575
DI 21 PG PNS 5
SLCT 16
Ladder Diagram 15
N00085 X0002.5 G1001.5

A 577
DI 22 PG PNS 6
SLCT 32
N00086 X0002.6 G1001.6

B 579
DI 23 PG PNS 7
SLCT 64
N00087 X0002.7 G1001.7

C 581
DI 24 PG PNS 8
SLCT128
N00088 X0000.6 K0008.0 Y0120.5

D 583 MAINTNANCE POS CLEAR
DI 7 MAI AUTO/MAI DO 966
NT PSCLR NT SS MAINTCLR
N00089 K0008.0 Y0001.4

E 586 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO 13 SN
NT SS DRBT MNT
N00090 Y0112.3 Y0003.0

F 588 CLEAR OF ZONE #1
DO 900 DO 25 CL
CLR ZN 1 R ZON 1
N00091 Y0112.4 Y0003.1

G 590 CLEAR OF ZONE #2
DO 901 DO 26 CL
CLR ZN 2 R ZON 2
N00092 Y0112.5 Y0003.2

H 592 CLEAR OF ZONE #3
DO 902 DO 27 CL
CLR ZN 3 R ZON 3
N00093 Y0112.6 Y0003.3

I 594 CLEAR OF ZONE #4
DO 903 DO 28 CL
CLR ZN 4 R ZON 4
N00094 Y0112.7 Y0003.4

J 596 CLEAR OF ZONE #5
DO 904 DO 29 CL
CLR ZN 5 R ZON 5
N00095 Y0113.0 Y0003.5

K 598 CLEAR OF ZONE #6
DO 905 DO 30 CL
CLR ZN 6 R ZON 6
N00096 Y0113.1 Y0003.6

L 600 CLEAR OF ZONE #7
DO 906 DO 31 CL
CLR ZN 7 R ZON 7
N00097 Y0113.2 Y0003.7

M 602 CLEAR OF ZONE #8
DO 907 DO 32 CL
CLR ZN 8 R ZON 8
N00098 Y0113.3 Y0004.0

N 604 CLEAR OF ZONE #9
DO 908 DO 33 CL
CLR ZN 9 R ZON 9
N00099 Y0113.4 Y0004.1

O 606 CLEAR OF ZONE #10
DO 909 C DO 34 CL
LR ZN 10 R ZON 10
Ladder Diagram 16
N00100 Y0113.5 Y0004.2

A 608 CLEAR OF ZONE #11
DO 910 C DO 35 CL
LR ZN 11 R ZON 11
N00101 Y0113.6 Y0004.3

B 610 CLEAR OF ZONE #12
DO 911 C DO 36 CL
LR ZN 12 R ZON 12
N00102 Y0113.7 Y0004.4

C 612 CLEAR OF ZONE #13
DO 912 C DO 37 CL
LR ZN 13 R ZON 13
N00103 Y0116.4 Y0004.5

D 614 CLEAR OF ZONE #14
DO 933 C DO 38 CL
LR ZN 14 R ZON 14
N00104 Y0118.7 Y0004.6

E 616 CLR OF INDEPENDENT MOTION ZN1
DO952 CL DO 39 CL
RMOTZN1 R INDMOT
N00105 Y0119.0 Y0004.7

F 618 CLR OF INDEPENDENT MOTION ZN2
DO953 CL DO 40 CL
RMOTZN2 R INDMT2
N00106 Y0119.1 X0000.0 Y0000.6

G 620 CLEAR TO ADVANCE TRANSFER
DO 954 C DI 1 EXT DO 7 CLR
LRAV XFR RNENBL ADV
N00107 Y0119.2 X0000.0 Y0000.7

H 623 CLEAR TO RETURN TRANSFER
LRET XFR RNENBL RET XFR
N00108 Y0119.3 X0000.0 Y0001.0

I 626 CLEAR TO UNCLAMP
LR UNCLP RNENBL 2 UNCLP
N00109 Y0000.3 R1000.0 Y0073.0

J 629 PROMPT BOX
DO 4 RBT DO 19001 DO 585
IN TCH PRPTBX PRMPT BX
N00110 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

K 632
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
1 R1402.7 R1405.3
L SYSTEM FACILITY CODE (24)
ECO24 SYS FCLY
FC128 CODE
N00111 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 641
FACILITY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-001 OPERATOR PANEL E-STOP
ECO13 ECO14 ECO15 ECO16 SRVO-001
Ladder Diagram 17
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 659
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-002 TEACH PENDANT E-STOP
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 677
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-003 DEADMAN SWITCH RELEAS
N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 695
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SRVO-005 ROBOT OVERTRAVELL
N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 713
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-007 EXTERNAL EMERGENCY ST
N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 731
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-408 DCS SSO EXT EMERGSTOP
Ladder Diagram 18
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 749
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-50 COLLISION DETECT
N00118 R1406.3 X1025.1 Y0001.6

D 767 COLLISION DETECT
SRVO-50 FAULT DO 15 CO
RESET LL DTCT
Y0001.6
E
DO 15 CO
LL DTCT
N00119 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 771
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

H SRVO-65 LOW BATTERY
LOW BATT
N00120 F1001.0 Y0001.1

I 789 ROBOT BATTERY LOW
BATALM DO 10 RB
T BAT LW
N00121 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 791
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-101 ROBOT OVERATRAVEL
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 809
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE EXCE
Ladder Diagram 19
N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 827
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-199 CONTROL STOP
CONTROL
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 845
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-232 NTED INPUT
NTED IN
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 863
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SRVO-233 TP OFF IN T1,T2/DOOR
TP OFF
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 881
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-280 SVOFF INPUT
SVOFF I
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 899
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-378 OPSFTY11 STATUS ABNOR
OPSFT11
Ladder Diagram 20
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 917
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-379 OPSFTY12 STATUS ABNOR
OPSFT12
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 935
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-380 OPSFTY21 STATUS ABNOR
OPSFT21
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 953
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SRVO-381 OPSFTY22 STATUS ABNOR
OPSFT22
N00131 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 971
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-382 OPSFTY31 STATUS ABNOR
OPSFT31
N00132 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 989
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-383 OPSFTY32 STATUS ABNOR
OPSFT32
Ladder Diagram 21
N00133 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1007
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-384 OPSFTY41 STATUS ABNOR
OPSFT41
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1025
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-385 OPSFTY42 STATUS ABNOR
OPSFT42
N00135 R0387.0 R0388.0

G 1043 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 OPSFTY F
OPSFT11 LT LATCH
R0387.1
H
SRVO-379
OPSFT12
R0387.2
I
SRVO-380
OPSFT21
R0387.3
J
SRVO-381
OPSFT22
R0387.4
K
SRVO-382
OPSFT31
R0387.5
L
SRVO-383
OPSFT32
R0387.6
M
SRVO-384
OPSFT41
R0387.7
N
SRVO-385
OPSFT42
R0388.0 F1000.5
O
OPSFTY F FAULT
LT LATCH
Ladder Diagram 22
N00136 R0388.0 Y0073.1

A 1055 SAFETY CHAIN FAULT
OPSFTY F DO 586 S
LT LATCH FTY CHN
N00137 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

B 1057
SYS FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

D SYST-034 HOLD SIGNAL FROM SOP/
ECO13 ECO14 ECO15 ECO16 SYST-034
HOLD SI
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

E 1075
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

G SYST-038 OPERATION MODE T1 SEL
OPERATI
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

H 1093
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

J
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

K 1111
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

M SYST-040 OPERATION MODE AUTO S
OPERATI
O
Ladder Diagram 23
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1129
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SYST-042 DEADMAN DEFEATED
DEADMAN
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1147
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SYST-043 TP DISABLE IN T1/T2
TP DISA
N00143 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1165
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SYST-045 TP ENABLE IN AUTO MO
TP ENAB
N00144 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1183
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SYST-154 NO START IN ISOLATE/B
NO STAR
N00145 R0330.2 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1201
SERVOGUN EC01 EC02 ECO3 ECO4 ECO5 ECO6
ALARM
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0385.0

O SVGN-320 THCKNESS1 ERR REQ RES
ECO13 ECO14 ECO15 ECO16 SVGN-320
THK1ERR
Ladder Diagram 24
N00146 R0330.2 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1219
ALARM
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0386.0

C SVGN-326 THKNESS2 ERR REQ RES
THK2ERR
N00147 R0385.0 R0386.1

D 1237 SVGN 320 & 326 LATCH
SVGN-320 SVGN320&
THK1ERR 326 LTCH
R0386.0
E
SVGN-326
THK2ERR
R0386.1 G1000.4
F
SVGN320& RB FAULT
326 LTCH RESET
N00148 R0397.0 F1000.0 R0397.0

G 1243 FILTERED FAULT
FILTERED COMMAND FILTERED
FAULT ENABLE FAULT
R0398.0
H
FILTER
FLT GRP1
R0399.0
I
FILTER
FLT GRP2
O
Ladder Diagram 25
N00149 R0365.0 R0398.0

A 1248 FILTER FAULTS GROUP1
SRVO-001 FILTER
FLT GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0
RESERVED
R0373.0
I
SRVO-199
CONTROL
R0374.0
J
SRVO-232
NTED IN
R0375.0
K
SRVO-233
TP OFF
R0376.0
L
SRVO-280
SVOFF I
R0385.0
M
SVGN-320
THK1ERR
R0386.0
N
SVGN-326
THK2ERR
R0370.1
O
SRVO-408
Ladder Diagram 26
R1456.0
A
APPL
ALARMS
N00150 R0377.0 R0399.0

B 1265 FILTER FAULTS GROUP2
SYST-034 FILTER
HOLD SI FLT GRP2
R0378.0
C
SYST-038
OPERATI
R0379.0
D
SYST-039
R0380.0
E
SYST-040
OPERATI
R0381.0
F
SYST-042
DEADMAN
R0382.0
G
SYST-043
TP DISA
R0383.0
H
SYST-045
TP ENAB
R0384.0
I
SYST-154
NO STAR
X1025.0
J
FANUC
E-STOP
F1008.2
K
TP
E-STOP
X1026.1
L
SI9
AUTOMDSW
Y0000.3
M
DO 4 RBT
IN TCH
K0010.0
N
TEACH
MEMORY
R1405.2
O
FENCE
FAULT
Ladder Diagram 27
N00151 R0330.0 F1000.5 R1456.0

A 1280
ARC FAULT APPL
ALARM ALARMS
R0330.1
B
SEALER
ALARM
R0330.3
C
TOOLCHNG
ALARM
R0330.4
D
SYSTEM
ALARM
R1404.3
E
SPOT
ALARM
R1456.0
F
APPL
ALARMS
N00152 D0001.0 Y0079.0

G 1288 S TOOL CHANGER LOCK
TOOL CHA DO 633 T
NGE APP C LOCK
Y0079.1
H R TOOL CHANGER UNLOCK
DO 634 T
C UNLOCK
N00153 D0001.0 ACT

I 1291 SUB10 0000
TOOL CHA JMP
NGE APP
N00154
J 1294 SUB66 P0001
CALLU TOOL CHANGING
N00155
K 1296 SUB30
JMPE
N00156
L 1297 SUB66 P0002
CALLU WELDCONTROL1
N00157
M 1299 SUB66 P0003
CALLU TIPDRESSER1
N00158
N 1301 SUB66 P0004
CALLU WATERVALVE1
N00159
O 1303 SUB66 P0005
CALLU OVRTMP/NOSTRK1
Ladder Diagram 28
N00160
A 1305 SUB66 P0006
CALLU UALM
N00161
B 1307 SUB66 P0007
CALLU INTERFACE
N00162
C 1309 SUB66 P0008
CALLU MH
N00163
D 1311 SUB66 P0009
CALLU APPLICATION
N00164
E 1313 SUB66 P0020
CALLU AIR
N00165
F 1315 SUB66 P0014
CALLU STUD
N00166
G 1317 SUB66 P0025
CALLU TOUCHUP1
N00167
H 1319 SUB 2
END2
N00168 ### P0001 ###

I 1320 SUB71 P0001
SP TOOL CHANGING
N00169 X0080.0 R0347.0

J 1322 GUN ID NOT 0
DI 641 GUN ID
TOOL ID1 NOT 0
X0080.1
K
DI 642
TOOL ID2
X0080.2
L
DI 643
TOOL ID4
X0080.3
M
DI 644
TOOL ID8
N00170 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

N 1327
DI 641 DI 642 DI 643 DI 644 GUN 1 ON
TOOL ID1 TOOL ID2 TOOL ID4 TOOL ID8 ARM
N00171 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

O 1332
DI 641 DI 642 DI 643 DI 644 GUN 2 ON
Ladder Diagram 29
N00172 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

A 1337
DI 641 DI 642 DI 643 DI 644 GUN 3 ON
N00173 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

B 1342
DI 641 DI 642 DI 643 DI 644 GUN 4 ON
N00174 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

C 1347
DI 641 DI 642 DI 643 DI 644 GUN 5 ON
N00175 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

D 1352
DI 641 DI 642 DI 643 DI 644 GUN 6 ON
N00176 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

E 1357
DI 641 DI 642 DI 643 DI 644 GUN 7 ON
N00177 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

F 1362
DI 641 DI 642 DI 643 DI 644 GUN 8 ON
N00178 R0321.0 R0328.6

G 1367 TOOL ON ROBOT
GUN 1 ON TOOLONRO
ARM BOT
R0322.0
H
GUN 2 ON
ARM
R0323.0
I
GUN 3 ON
ARM
R0324.0
J
GUN 4 ON
ARM
R0325.0
K
GUN 5 ON
ARM
R0326.0
L
GUN 6 ON
ARM
R0326.1
M
GUN 7 ON
ARM
R0326.2
N
GUN 8 ON
ARM
O
Ladder Diagram 30
N00179 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

A 1376
GUN 1 ON GUN 2 ON GUN 3 ON GUN 4 ON GUN 5 ON GUN 6 ON GUN 7 ON
ARM ARM ARM ARM ARM ARM ARM
1 R0326.2 R0348.0
B ANY GEO TOOL PRESENT ON ROBOT
GUN 8 ON GEOTOOLP
ARM RSNT
N00180 X0080.0 Y0038.0

C 1385 STUD WLD BRACKET NOT PRESENT2
DI 641 DO 305
TOOL ID1 TOOL ID1
N00181 X0080.1 Y0038.1

D 1387
DI 642 DO 306
TOOL ID2 TOOL ID2
N00182 X0080.2 Y0038.2

E 1389
DI 643 DO 307
TOOL ID4 TOOL ID4
N00183 X0080.3 Y0038.3

F 1391
DI 644 DO 308
TOOL ID8 TOOL ID8
N00184 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

G 1393
DI 305 DI 306 DI 307 DI 308 DI 309 DI 310 DI 311
TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6 TCSTND7
1 X0038.7 R0327.0
H GUN 1-8 (ALL TOOLS IN STAND)
DI 312 GUN 1-8
TCSTND8
N00185 Y0117.4 K0011.1

I 1402 TOOL CHANGER RELEASE
DO 941 TC RE
TC UNLCK LEASED
N00186 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

J 1404 S TOOL CHANGER LOCK
DO 940 DO 3 RBT DI 637 DI 638 TOOLONRO DO 633 T
TC LOCK IN AUTO RDY2LCK1 RDY2LCK2 BOT C LOCK
F1000.7 Y0119.7 K0015.0 R0328.6

K
TPENABLE DO 960 TC LOCK TOOLONRO
AUTO KEY PB BOT
N00187 X0079.0 Y0040.6

L 1417
DI 633 DO 327 T
TC LOCKD CCOUPMON
N00188 Y0117.4 Y0117.3 Y0000.2 Y0079.0

M 1419 R TOOL CHANGER LOCK
DO 941 DO 940 DO 3 RBT DO 633 T
TC UNLCK TC LOCK IN AUTO C LOCK
F1000.7 Y0119.7 K0016.0

N
TPENABLE DO 960 TC UNLOC
AUTO KEY K PB
O
Ladder Diagram 31
N00189 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

A 1428
TC RE DO 633 T DO 3 RBT DI 645 T DI 646 T
LEASED C LOCK IN AUTO SIV SRV
F1000.7 Y0119.7 K0016.0 R0328.6 2

B
TPENABLE DO 960 TC UNLOC TOOLONRO
AUTO KEY K PB BOT
1 R0328.6 Y0079.1
C TOOL CHANGER UNLOCK
TOOLONRO DO 634 T
BOT C UNLOCK
2
D
N00190 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

E 1442 TC LOCK PUSH BUTTON
TC LOCK TC UNLOC TPENABLE DO 960 TC LOCK
PB K PB AUTO KEY PB
N00191 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

F 1447 TC UNLOCK PUSH BUTTON
TC UNLOC TC LOCK TPENABLE DO 960 TC UNLOC
K PB PB AUTO KEY K PB
N00192 X0079.1 Y0040.7

G 1452
DI 634 DO 328 T
TC ULCKD CRELMON
N00193 R0328.6 K0008.0 R0218.4

H 1454 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI 940 T
BOT NT SS C NOTOOL
N00194 Y0117.5 Y0117.6 Y0000.2 Y0038.5

I 1457 TOOL CHANGER OPEN COVERS
DO 942 DO 943 DO 3 RBT DO 310 T
TCOPNCVR TCCLSCVR IN AUTO C OPNCVR
K0011.4 K0011.5 Y0000.3

J
TC OPENG TC CLOS DO 4 RBT
UNCOVER GUNCOVER IN TCH
N00195 Y0117.5 Y0117.6 Y0000.2 Y0038.6

K 1465 TOOL CHANGER CLOSE COVERS
DO 942 DO 943 DO 3 RBT DO 311 T
TCOPNCVR TCCLSCVR IN AUTO C CLSCVR
K0011.5 K0011.4 Y0000.3

L
TC CLOS TC OPENG DO 4 RBT
GUNCOVER UNCOVER IN TCH
N00196 X0038.0 R0321.0 R0329.0

M 1473 GUN1 POSITION
DI 305 GUN 1 ON GUN1 POS
TCSTND1 ARM ITION
X0038.0 X0039.3
N
DI 305 DI 316 G
TCSTND1 EOTPDCK
O
Ladder Diagram 32
N00197 X0038.1 R0322.0 R0329.1

A 1479 GUN2 POSITION
TCSTND2 ARM ITION
X0038.1 X0039.3
B
DI 306 DI 316 G
TCSTND2 EOTPDCK
N00198 X0038.2 R0323.0 R0329.2

C 1485 GUN3 POSITION
TCSTND3 ARM ITION
X0038.2 X0039.3
D
DI 307 DI 316 G
TCSTND3 EOTPDCK
N00199 X0038.3 R0324.0 R0329.3

E 1491 GUN4 POSITION
TCSTND4 ARM ITION
X0038.3 X0039.3
F
DI 308 DI 316 G
TCSTND4 EOTPDCK
N00200 X0038.4 R0325.0 R0329.4

G 1497 GUN5 POSITION
TCSTND5 ARM ITION
X0038.4 X0039.3
H
DI 309 DI 316 G
TCSTND5 EOTPDCK
N00201 X0038.5 R0326.0 R0329.5

I 1503 GUN6 POSITION
TCSTND6 ARM ITION
X0038.5 X0039.3
J
DI 310 DI 316 G
TCSTND6 EOTPDCK
N00202 X0038.6 R0326.1 R0329.6

K 1509 GUN7 POSITION
TCSTND7 ARM ITION
X0038.6 X0039.3
L
DI 311 DI 316 G
TCSTND7 EOTPDCK
N00203 X0038.7 R0326.2 R0329.7

TCSTND8 ARM ITION
X0038.7 X0039.3
N
DI 312 DI 316 G
TCSTND8 EOTPDCK
O
Ladder Diagram 33
N00204 R0329.0 R0328.7

A 1521 ALL GUN1-8 POSITION
GUN1 POS GUN1-8 P
ITION OSITION
R0329.1
B
GUN2 POS
ITION
R0329.2
C
GUN3 POS
ITION
R0329.3
D
GUN4 POS
ITION
R0329.4
E
GUN5 POS
ITION
R0329.5
F
GUN6 POS
ITION
R0329.6
G
GUN7 POS
ITION
R0329.7
H
GUN8 POS
ITION
N00205 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1530
DI 316 G DI 305 DI 306 DI 307 DI 308 DI 309 DI 310
EOTPDCK TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6
1 X0038.6 X0038.7 R0320.0

J TOOL 1 IN OPDOCK
DI 311 DI 312 TOOL1INO
TCSTND7 TCSTND8 PDOCK
N00206 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1540
1 X0038.6 X0038.7 R0320.1

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

M 1550
1 X0038.6 X0038.7 R0320.2

N TOOL 3 IN OPDOCK
O
Ladder Diagram 34
N00208 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1560
1 X0038.6 X0038.7 R0320.3

B TOOL 4 IN OPDOCK
N00209 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1570
1 X0038.6 X0038.7 R0320.4

D TOOL 5 IN OPDOCK
N00210 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1580
1 X0038.6 X0038.7 R0320.5

F TOOL 6 IN OPDOCK
N00211 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1590
1 X0038.6 X0038.7 R0320.6

H TOOL 7 IN OPDOCK
N00212 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1600
1 X0038.6 X0038.7 R0320.7

J TOOL 8 IN OPDOCK
O
Ladder Diagram 35
N00213 R0320.0 R0319.0

A 1610 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00214 X0082.6 Y0038.7

I 1619
DI 663 T DO 312 T
CCOMMOK CCOMMOK
N00215 X0082.7 Y0039.2

J 1621
DI 664 T DO 315 T
CTLSLDPW LSLIDPWR
N00216 X0079.4 X0079.5 G1008.4

K 1623 RTL1&L2SWITCHMISMATCH
DI 637 DI 638 UALM 5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI 637 DI 638
RDY2LCK1 RDY2LCK2
N00217 R0328.6 G1008.5

M 1629 NOTOOLONARM
TOOLONRO UALM 6
BOT
N00218 K0013.1 R0000.7 Y0126.7

N 1631 NO TOOL ON EOAT SS
NOTOOLON PART PRE DO 1016
EOATSS SENT NOEOATSS
N00219 K0013.1 R0000.7 K0013.1

O 1634 R NO TOOL ON EOAT SS
NOTOOLON PART PRE NOTOOLON
EOATSS SENT EOATSS
Ladder Diagram 36
N00220 Y0039.3 Y0039.3

A 1637 S WRONG TOOL IN STAND
DO 316 W DO 316 W
RNGTLSTD RNGTLSTD
N00221 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1639 R WRONG TOOL IN STAND
DO 316 W FAULT DO 2 RBT DO 316 W
RNGTLSTD RESET @ HOME RNGTLSTD
N00222
C 1643 SUB72
SPE
N00223 ### P0002 ###

D 1644 SUB71 P0002
SP WELDCONTROL1
N00224 X0000.0 Y0083.0

E 1646 WELD CONTROLLER #1 ENABLE
DI 1 EXT DO 665 W
RNENBL C1 ENBLE
N00225 X0087.6 Y0014.4

F 1648 WELD CONTROLLER COMM OK #1
DI 703 W DO 117 W
1 COMMOK C1COM OK
N00226 Y0000.3 Y0083.1

G 1650 ROBOT IN TEACH TO WC #1
DO 4 RBT DO 666 R
IN TCH BTCH WC1
N00227 K0004.7 Y0014.2 D0004.3

H 1652 WELD MODE IN WELD WC1
WELD / N DO 115 W WELDMODE
O WELD1 D/NWD MD OK1
Y0014.1
I WELD/ NO WELD SS
DO 114 W
D/NWD SS
N00228 K0006.4 D0004.4

J 1656 WELD MODE IN WELD WC2
WELD / N WELDMODE
O WELD2 OK2
Y0034.0
K
DO 273 W
LDN0WLD1
N00229 D0004.3 D0004.4 R0221.0

L 1659 REMOTE WELD / NO WELD MODE
WELDMODE WELDMODE DI 960 R
OK1 OK2 EM WELD
N00230 X0086.1 Y0015.6

M 1662 I AVAILABLE WARNING #1
DI 690 I DO 127 I
HI/LO AVL WRN1
N00231 X0087.5 Y0017.3

N 1664 ADAPTIVE MODE ENABLE
DI 702 A DO 140 A
DP MODE DP MODE
N00232 X0083.0 Y0015.3

O 1666 IN WELD CYCLE #1
DI 665 I DO 124 I
NWLDCYC1 NWD CY 1
Ladder Diagram 37
N00233 X0083.1 Y0015.4

A 1668 HAS WELDED #1
DI 666 W DO 125 H
ELD CMP1 AS WLD 1
N00234 X0083.3 Y0014.3

B 1670 NO WELD TIMER FAULT #1
DI 668 W DO 116 N
ELD FLT1 OWLDFLT1
N00235 Y0084.6 Y0084.7 Y0085.0 Y0085.1 Y0085.2 Y0085.3 Y0085.4 1

C 1672
DO 679 DO 680 DO 681 DO 682 DO 683 DO 684 DO 685
BP 1 BP 2 BP 4 BP 8 BP 16 BP 32 BP 64
1 Y0085.5 R0306.0
D ROBOT WELD SCHEDULE WELD CTRL1
DO 686 ROBOT WS
BP 128 WC#1
N00236 Y0084.6 Y0084.7 Y0085.0 Y0085.1 Y0085.2 Y0085.3 Y0085.4 1

E 1681
DO 679 DO 680 DO 681 DO 682 DO 683 DO 684 DO 685
BP 1 BP 2 BP 4 BP 8 BP 16 BP 32 BP 64
1 Y0085.5 R0307.0
F
DO 686 WLD SCH
BP 128 39 WC1
N00237 Y0014.1 R0220.6 Y0083.4

G 1690 WELD / NO WELD
DO 114 W DI 958 P DO 669 W
D/NWD SS LDTIP 1 LD/NOWLD
N00238 X1020.2 X1020.0 X1020.1 D0004.0

H 1693 ALL WELD PARAMETER OK WC1
RI 3 WTR RI 1 XF RI 2 SRV LETSWELD
FL SW1 RMR OT1 OMTR OT1 WC1
O
Ladder Diagram 38
N00239 Y0109.7 D0004.0 K0000.0 ACT R0363.0

A 1697 SUB 3 0035 WELD BINARY WC1 TIMER
DO 880 LETSWELD DEBUG TMR BINARYTI
BP1 1 WC1 MER1
Y0110.0
B
DO 881
BP2 1
Y0110.1
C
DO 882
BP4 1
Y0110.2
D
DO 883
BP8 1
Y0110.3
E
DO 884
BP16 1
Y0110.4
F
DO 885
BP32 1
Y0110.5
G
DO 886
BP64 1
Y0110.6
H
DO 887
BP128 1
N00240 Y0109.7 D0004.0 R0363.0 Y0084.6

I 1710 BINARY PILOT 1 WC#1
DO 880 LETSWELD BINARYTI DO 679
BP1 1 WC1 MER1 BP 1
N00241 Y0110.0 D0004.0 R0363.0 Y0084.7

J 1714 BINARY PILOT 2 WC#1
BP2 1 WC1 MER1 BP 2
N00242 Y0110.1 D0004.0 R0363.0 Y0085.0

K 1718 BINARY PILOT 4 WC#1
BP4 1 WC1 MER1 BP 4
N00243 Y0110.2 D0004.0 R0363.0 Y0085.1

L 1722 BINARY PILOT 8 WC#1
BP8 1 WC1 MER1 BP 8
N00244 Y0110.3 D0004.0 R0363.0 Y0085.2

M 1726 BINARY PILOT 16 WC#1
BP16 1 WC1 MER1 BP 16
N00245 Y0110.4 D0004.0 R0363.0 Y0085.3

N 1730 BINARY PILOT 32 WC#1
N00246 Y0110.5 D0004.0 R0363.0 Y0085.4

O 1734 BINARY PILOT 64 WC#1
Ladder Diagram 39
N00247 Y0110.6 D0004.0 R0363.0 Y0085.5

A 1738 BINARY PILOT 128 WC#1
BP128 1 WC1 MER1 BP 128
N00248 Y0084.6 Y0084.7 Y0085.0 Y0085.1 Y0085.2 Y0085.3 Y0085.4 1

B 1742
DO 679 DO 680 DO 681 DO 682 DO 683 DO 684 DO 685
BP 1 BP 2 BP 4 BP 8 BP 16 BP 32 BP 64
1 Y0085.5 R0360.0
C NO WELD SCHEDULE WC1
DO 686 NOWLDSCH
BP 128 WC1
N00249 R0360.0 X0087.6 K0000.0 Y0083.5

D 1751 PRESSURE SWITCH INPUT
NOWLDSCH DI 703 W DEBUG DO 670
WC1 1 COMMOK PS INPUT
K0000.0 Y0116.5
E
DEBUG DO 934
RD SCHD1
N00250 Y0120.6 F1000.3 Y0000.1 R0223.0

F 1758
DO 967 M PAUSED DO 2 RBT DI 976 M
AN WELD1 @ HOME AN WELD1
X0015.0 K0008.0 Y0000.5 F1000.3 F1000.2

G
DI 121 R AUTO/MAI DO 6 RBT PAUSED PROGRAM
M MAN W1 NT SS @ MAINT RUNNING
Y0000.1 F1000.2 F1000.3

H
DO 2 RBT PROGRAM PAUSED
@ HOME RUNNING
N00251 Y0120.6 Y0000.1 F1000.2 F1000.3 R0213.6

I 1774 WELD AT HOME1
DO 967 M DO 2 RBT PROGRAM PAUSED DI 902 W
AN WELD1 @ HOME RUNNING ELDHOME1
X0015.0 K0008.0
J
DI 121 R AUTO/MAI
M MAN W1 NT SS
N00252 Y0048.3 Y0121.0 F1000.3 Y0000.1 R0220.4

K 1782 SWGNUT REFFED REWELD 1
DO 388 N DO 969 F PAUSED DO 2 RBT DI 956 R
UTFD APP EDWLD1PB @ HOME EFEDWLD1
N00253 K0008.6 D0612.0 K0008.6

L 1787 S DRESS TIP RESET PB 1
DTSR PB IF PB TO DTSR PB
1 1
N00254 K0008.6 D0612.0 K0008.6

M 1790 R DRESS TIP RESET PB 1
1 1
N00255 K0005.1 D0612.0 K0005.1

N 1793 S NEW TIP PUSH BUTTON1
NEW TIP IF PB TO NEW TIP
PB1 PB1
N00256 K0005.1 D0612.0 K0005.1

O 1796 R NEW TIP PUSH BUTTON1
PB1 PB1
Ladder Diagram 40
N00257 K0005.2 D0612.0 K0005.2

A 1799 S INITIATE AUTO TIP DRESS PB1
INIT AUT IF PB TO INIT AUT
O TD PB1 O TD PB1
N00258 K0005.2 D0612.0 K0005.2

B 1802 R INITIATE AUTO TIP DRESS PB1
O TD PB1 O TD PB1
N00259 K0005.5 D0612.0 K0005.5

C 1805 S TIP ALIGN CLOSE PB1
TIP ALGN IF PB TO TIP ALGN
CLS PB1 CLS PB1
N00260 K0005.5 D0612.0 K0005.5

D 1808 R TIP ALIGN CLOSE PB1
CLS PB1 CLS PB1
N00261 K0005.6 D0612.0 K0005.6

E 1811 S TIP ALIGNMENT OPEN PB1
OPN PB1 OPN PB1
N00262 K0005.6 D0612.0 K0005.6

F 1814 R TIP ALIGNMENT OPEN PB1
OPN PB1 OPN PB1
N00263 K0005.7 D0612.0 K0005.7

G 1817 S INITIATE AUTO TIP CHANGE PB1
INITAUTO IF PB TO INITAUTO
TCPB1 TCPB1
N00264 K0005.7 D0612.0 K0005.7

H 1820 R INITIATE AUTO TIP CHANGE PB1
TCPB1 TCPB1
N00265 K0006.0 D0612.0 K0006.0

I 1823 S AUTO TIP CHANGE FAULT ACK PB1
ATC FLT IF PB TO ATC FLT
ACK PB1 ACK PB1
N00266 K0006.0 D0612.0 K0006.0

J 1826 R AUTO TIP CHANGE FAULT ACK PB1
ACK PB1 ACK PB1
N00267 Y0120.6 D0612.0 Y0120.6

K 1829 S MANUAL WELD1
DO 967 M IF PB TO DO 967 M
AN WELD1 AN WELD1
N00268 Y0120.6 D0612.0 Y0120.6

L 1832 R MANUAL WELD1
AN WELD1 AN WELD1
N00269 Y0121.0 D0612.0 Y0121.0

M 1835 S SWGNUT WELD REFEED REWELD1 PB
DO 969 F IF PB TO DO 969 F
EDWLD1PB EDWLD1PB
N00270 Y0121.0 D0612.0 Y0121.0

N 1838 R SWGNUT WELD REFEED REWELD1 PB
EDWLD1PB EDWLD1PB
O
Ladder Diagram 41
N00271 Y1020.0 Y1020.0

A 1841 S RDO 1 EQUALIZATION VALVE 1
RO 1 RO 1
EQLZVLV1 EQLZVLV1
K0004.5 K0006.2
B
EQUALENB EQUALIZE
L 1&2 SS R 1 SS
N00272 Y1020.0 Y1020.0

C 1846 R RDO 1 EQUALIZATION VALVE 1
RO 1 RO 1
EQLZVLV1 EQLZVLV1
K0004.5 K0006.2
D
EQUALENB EQUALIZE
L 1&2 SS R 1 SS
N00273 K0004.5 K0006.2

E 1851 R EQUALIZER 1 SS
EQUALENB EQUALIZE
L 1&2 SS R 1 SS
N00274 K0004.5 X1026.1 G1000.1 ACT K0004.5

F 1853 SUB 3 0033 R EQUALIZATION ENABLE 1&2 SS
EQUALENB SI9 NO HOLD TMR EQUALENB
L 1&2 SS AUTOMDSW L 1&2 SS
N00275 K0000.0 Y0083.3 D0612.0 X1025.1 Y0083.3

G 1859 RESET WELDER
DEBUG DO 668 R IF PB TO FAULT DO 668 R
ST WLD RESET ST WLD
X1025.1
H
FAULT
RESET
N00276 K0015.1 D0612.0 K0015.1

I 1865 S ADVANCE TIP DRESS DUMP 1
ADVTIPDR IF PB TO ADVTIPDR
SSDUMP1 SSDUMP1
N00277 K0015.1 D0612.0 K0015.1

J 1868 R ADVANCE TIP DRESS DUMP 1
SSDUMP1 SSDUMP1
N00278 K0015.2 D0612.0 K0015.2

K 1871 S RETRACT TIP DRESS DUMP 1
RETTIPDR IF PB TO RETTIPDR
SSDUMP1 SSDUMP1
N00279 K0015.2 D0612.0 K0015.2

L 1874 R RETRACT TIP DRESS DUMP 1
SSDUMP1 SSDUMP1
N00280 K0015.1 Y0000.2 X1026.1 K0015.2 Y0017.5

M 1877
ADVTIPDR DO 3 RBT SI9 RETTIPDR DO 142 A
SSDUMP1 IN AUTO AUTOMDSW SSDUMP1 DVDUMP1
N00281 K0015.2 Y0000.2 X1026.1 K0015.1 Y0017.6

N 1882
RETTIPDR DO 3 RBT SI9 ADVTIPDR DO 143 R
SSDUMP1 IN AUTO AUTOMDSW SSDUMP1 ETDUMP1
O
Ladder Diagram 42
N00282 Y0120.6 K0000.3 D0610.1

A 1887 S CONSTANT CURRENT WELD TIMER
DO 967 M CCWLDMDE CCWELDMO
AN WELD1 NB1 DETIMR1
X0015.0 K0008.0 K0000.3

B
DI 121 R AUTO/MAI CCWLDMDE
M MAN W1 NT SS NB1
N00283 D0610.1 ACT D0610.1

C 1894 SUB 3 0037 R CONSTANT CURRENT WELD TIMER
CCWELDMO TMR CCWELDMO
DETIMR1 DETIMR1
N00284 X0054.5 Y0087.1

D 1898 CONSTANT CURRENT WELD MODE 1
DI 438 C DO 698 C
CWELDMOD CWELDMOD
D0610.1
E
CCWELDMO
DETIMR1
N00285
F 1901 SUB72
SPE
N00286 ### P0003 ###

G 1902 SUB71 P0003
SP TIPDRESSER1
N00287 X0087.1 Y0017.2

H 1904 TIP CHANGE REQUIRED #1
DI 698 T DO 139 T
PCHNGRQW PCHG RQ1
X0087.0
I
DI 697 T
PCHNGRQ
Y0110.7
J
DO 888 T
PWRMOV1
Y0111.0
K
DO 889 T
PWRFIX1
N00288 K0005.5 Y0000.5 R0222.6

L 1909 TIP ALIGNMENT CLOSED 1
TIP ALGN DO 6 RBT DI 974 T
CLS PB1 @ MAINT IP CLS1
N00289 K0005.6 Y0000.5 R0222.7

M 1912 TIP ALIGNMENT OPENED 1
OPN PB1 @ MAINT IP OPN1
N00290 X0083.4 Y0016.3

N 1915 NEW TIPS RESET #1
DI 669 N DO 132 N
EW TIP WTP RST1
O
Ladder Diagram 43
N00291 R0345.0 Y0084.5 X0001.2 K0008.0 R0345.0

A 1917 INITIATE AUTO TIP MEMORY 1
TIP MEM DO 678 D DI 11 AUTO/MAI TIP MEM
1 TSR PLC AUTO NT SS 1
Y0119.1 K0005.2
B
DO 954 C INIT AUT
LRAV XFR O TD PB1
N00292 R0334.0 Y0109.0 Y0000.5 X0083.1 R0333.0

C 1925 TIP DRESS MEMORY WC #1
DRESS CA DO 873 T DO 6 RBT DI 666 W TD MEM W
P TC1 D1 ENB @ MAINT ELD CMP1 C #1
R0333.0
D
TD MEM W
C #1
N00293 X0083.4 K0008.0 Y0000.5 X0014.7 R0333.0 R0334.0

E 1931 DRESS CAPS AFTER TIP CHNGE1
DI 669 N AUTO/MAI DO 6 RBT DI 120 T TD MEM W DRESS CA
EW TIP NT SS @ MAINT D BYPSS1 C #1 P TC1
R0334.0
F
DRESS CA
P TC1
N00294 X0083.2 Y0015.0

G 1938 AUTO TIP DRESS #1
DI 667 M DO 121 A
AINT REQ UTOTD 1
R0334.0 Y0048.3
H
DRESS CA DO 388 N
P TC1 UTFD APP
R0345.0
I
TIP MEM
1
N00295 K0005.0 Y0014.0

J 1944 PULLED TIP BYPASS SS ON I/F
PULLED T DO 113 P
IP BYPS1 LTPBY SS
K0006.5
K
PULLED T
IP BYPS2
N00296 Y0085.7 R0351.0

L 1947 PULLED TIP SEAL WC #1
DO 688 PULLDTIP
TIP WTR1 SEAL 1
N00297 R0351.0 ACT D0611.0

M 1949 SUB 3 0014 PULLED TIMER WC #1
PULLDTIP TMR PULLEDTI
SEAL 1 P TIMER
N00298 R0220.6 Y0017.4

N 1953 AUTO PULLED TIP BYPASS 1
DI 958 P DO 141 A
LDTIP 1 PTB 1
R0220.7
O
DI 959 P
LDTIP 2
Ladder Diagram 44
N00299 Y0014.5 X0001.2 Y0109.0

A 1956 TIP DRESSER #1 ENABLE
DO 118 D DI 11 DO 873 T
RSR ON 1 PLC AUTO D1 ENB
K0005.3 Y0000.3
B
TEACH TD DO 4 RBT
ENABLE1 IN TCH
N00300 R0000.0 Y0014.5 X0001.2 Y0086.6

C 1963 TIP DRESS MOTOR ON 1
ALWAYS DO 118 D DI 11 DO 695 T
ON RSR ON 1 PLC AUTO D MTR ON
K0005.3 Y0000.3
D
TEACH TD DO 4 RBT
ENABLE1 IN TCH
N00301 X1020.2 X0000.0 X0013.6 R0220.6

E 1971 PULLED TIP BYPASS 1
RI 3 WTR DI 1 EXT DI 111 A DI 958 P
FL SW1 RNENBL UTOTIPCH LDTIP 1
R0220.6 D0611.0
F
DI 958 P PULLEDTI
LDTIP 1 P TIMER
N00302 K0004.6 Y0014.7

G 1978 TIP DRESS MOTOR FLT BYPASS #1
TD MTR F DO 120 T
LT BYPS1 DMFL BY1
N00303 D0605.0 R0411.0 R0412.0

H 1980 TD FAULT1
TDMTROFF TDCURREN TDFAULT1
1TIM1 TOK1
N00304 Y0014.5 X0086.2 Y0109.2 K0004.6 Y0083.3 R0411.0

I 1983 TD CURRENT OK FROM WC1
DO 118 D DI 691 T DO 875 S TD MTR F DO 668 R TDCURREN
RSR ON 1 IP DR OK RVTPDROK LT BYPS1 ST WLD TOK1
R0411.0
J
TDCURREN
TOK1
N00305 R0412.0 ACT D0606.0

K 1990 SUB 3 0019 TD MOTOR OFF 2 FAULT TIMER 1
TDFAULT1 TMR TDMTROFF
2TIM1
N00306 Y0014.5 ACT D0605.0

L 1994 SUB 3 0020 TD MOTOR OFF 1 FAULT TIMER 1
DO 118 D TMR TDMTROFF
RSR ON 1 1TIM1
N00307 Y0083.3 R0411.0 D0606.0 R0415.0

M 1998 TD MOTOR FAULT 1
DO 668 R TDCURREN TDMTROFF TDMTRFLT
ST WLD TOK1 2TIM1 1
R0408.0
N
TPRESFLT
1
R0415.0
O
TDMTRFLT
1
Ladder Diagram 45
N00308 R0415.0 Y0014.6

A 2005 TIP DRESS MOTOR FLT #1
TDMTRFLT DO 119 T
1 DM FLT 1
N00309 Y0118.1 ACT D0604.0

B 2007 SUB 3 0021 TIP RESISTANCE FAULT TIMER 1
DO 946 R TMR TPRESFLT
ESCHKMD1 TIM1
N00310 D0604.0 R0409.0 R0408.0

C 2011 TIP RESISTANCE FAULT1
TPRESFLT TPRESFLT TPRESFLT
TIM1 LAT1 1
N00311 Y0118.1 X0086.3 K0005.4 Y0083.3 R0409.0

D 2014 TIP RESISTANCE FAULT LATCH1
DO 946 R DI 692 T TIP RESI DO 668 R TPRESFLT
ESCHKMD1 PDRRSOK1 ST BYPS1 ST WLD LAT1
R0409.0
E
TPRESFLT
LAT1
N00312 X0014.4 Y0121.2 Y0118.7 F1000.5 R0221.6

F 2020 RUNTIP DRESS DUMP MACRO1
DI 117 I DO 971 P DO952 CL FAULT DI 966 R
NIT TD 1 EDDMPAPP RMOTZN1 NTDDMP1
X0014.6 X0083.2 Y0015.0 Y0121.5

G
DI 119 T DI 667 M DO 121 A DO 974
D DMP R1 AINT REQ UTOTD 1 TPWRCMP1
N00313 K0008.5 K0008.5

H 2030 S NTSR ENABLE 1 SS
NTSR ENB NTSR ENB
1SS 1SS
N00314 K0008.5 X1025.1 K0008.5

I 2032 R NTSR ENABLE 1 SS
NTSR ENB FAULT NTSR ENB
1SS RESET 1SS
K0008.5 X0083.4
J
NTSR ENB DI 669 N
1SS EW TIP
N00315 K0015.6 K0015.6

K 2038 S DTSR ENABLE 1 SS
DTSRENB1 DTSRENB1
SS SS
N00316 K0015.6 X1025.1 K0015.6

L 2040 R DTSR ENABLE 1 SS
DTSRENB1 FAULT DTSRENB1
SS RESET SS
K0015.6 X0083.5
M
DTSRENB1 DI 670 D
SS RSSTIP1
N00317 K0008.5 K0005.1 Y0084.4

N 2046 NEW TIP STEPPER RESET
NTSR ENB NEW TIP DO 677 N
1SS PB1 TSR
X0015.3
O
DI 124 N
EWTPRST1
Ladder Diagram 46
N00318 K0015.6 K0008.6 Y0084.5

A 2050 DRESS TIP STEPPER RESET
DTSRENB1 DTSR PB DO 678 D
SS 1 TSR
Y0116.7 Y0054.2
B DRSSTIPSTPRST1
DO 936 DO 435 D
STP RST1 TSR1
N00319
C 2055 SUB72
SPE
N00320 ### P0004 ###

D 2056 SUB71 P0004
SP WATERVALVE1
N00321 X1020.2 X0001.6 Y0085.7

E 2058 TIP WATER FLOW 1
RI 3 WTR DI 15 SY DO 688
FL SW1 S WTR ON TIP WTR1
N00322 X0014.0 R0000.5 Y1020.3

F 2061 WATER RESET 1
DI 113 R WTR RST RO 4 WTR
ST WTRSV PULSE OP RESET1
Y1020.3 X1020.2
G
RO 4 WTR RI 3 WTR
RESET1 FL SW1
X1025.1
H
FAULT
RESET
N00323 Y1020.3 Y0122.0 ACT R0000.5

I 2068 SUB 3 0039 WATER RESET PULSE OPTION
RO 4 WTR DO 977 TMR WTR RST
RESET1 WS PLSOP PULSE OP
Y1020.5
J
RO 6 WTR
RESET2
N00324
K 2074 SUB72
SPE
N00325 ### P0005 ###

L 2075 SUB71 P0005
SP OVRTMP/NOSTRK1
N00326 X1020.0 Y0086.4

M 2077 TRANSFORMER OVERTEMP1
RI 1 XF DO 693 X
RMR OT1 FMR OT
N00327 X1020.1 Y0086.5

N 2079 SERVO MOTOR OVERTEMP1
RI 2 SRV DO 694 S
OMTR OT1 RVMTR OT
O
Ladder Diagram 47
N00328 X1020.0 X1025.1 R0500.0

A 2081 TRANSFORMER OVERTEMP SEAL1
RI 1 XF FAULT XFRMR OT
RMR OT1 RESET MP SEAL1
R0500.0
B
XFRMR OT
MP SEAL1
N00329 X1020.1 X1025.1 R0500.1

C 2085 SERVO MOTOR OVERTEMP SEAL1
RI 2 SRV FAULT SRVO MTR
OMTR OT1 RESET OTSEAL1
R0500.1
D
SRVO MTR
OTSEAL1
N00330 R0500.0 Y0016.2

E 2089 TRANSFORMER OVERTEMP FAULT #1
XFRMR OT DO 131 X
MP SEAL1 FMR OTF1
N00331 R0500.1 Y0016.1

F 2091 SG MOTOR OVERTEMP FAULT #1
SRVO MTR DO 130 S
OTSEAL1 GM OTF1
N00332 R0500.0 K0005.0 R0220.6 R0500.1 D0004.1

G 2093 REMOTE NO STROKE OK WC1
XFRMR OT PULLED T DI 958 P SRVO MTR REMSTROK
MP SEAL1 IP BYPS1 LDTIP 1 OTSEAL1 EOK1
Y0048.3 Y0048.2
H
DO 388 N DO 387 W
UTFD APP LD2 APP
Y0048.2 Y0050.5
I
DO 387 W DO 406 N
LD2 APP TFD 2APP
N00333 R0501.0 K0006.5 R0220.7 R0501.1 D0004.2

J 2105 REMOTE NO STROKE OK WC2
XFRMR OT PULLED T DI 959 P SRVOMTR REMSTROK
MP SEAL2 IP BYPS2 LDTIP 2 OT SEAL2 EOK2
Y0050.5
K
DO 406 N
TFD 2APP
Y0048.2
L
DO 387 W
LD2 APP
Y0048.1 Y0048.3 Y0048.2 Y0050.5

M
DO 386 DO 388 N DO 387 W DO 406 N
WLD1 APP UTFD APP LD2 APP TFD 2APP
N00334 D0004.1 D0004.2 R0221.1

N 2117 REMOTE STROKE
REMSTROK REMSTROK DI 961 R
EOK1 EOK2 EM STRK
N00335
O 2120 SUB72
SPE
Ladder Diagram 48
N00336 ### UALM ###

A 2121 SUB71 P0006
SP UALM
N00337 Y0120.2 X1025.1 Y0120.2

B 2123 PROGRAM FAULT
DO 963 FAULT DO 963
PRG FLT RESET PRG FLT
N00338 Y0120.2 G1008.0

C 2126 PROGRAM VERIFY FAULT
DO 963 UALM1
PRG FLT
N00339 X0083.2 G1008.1

D 2128 MAINTENANCE REQUIRED
DI 667 M UALM2
AINT REQ
N00340 X0083.2 X0087.0 G1008.2

E 2130 TIP CHANGE REQUESTED
DI 667 M DI 697 T UALM 3
AINT REQ PCHNGRQ
X0091.2 X0087.1
F
DI 731 M DI 698 T
ANT REQ2 PCHNGRQW
N00341 X0014.1 G1008.7

G 2136 PLCWELDTIMERFLT-PRSSWLDPB
DI 114 R UALM 8
STW TMR
N00342 X0083.3 G1009.1

H 2138 WELD FAULT WC#1
DI 668 W UALM 10
ELD FLT1
N00343 X0091.3 G1009.2

I 2140 WELD FAULT WC#2
DI 732 W UALM 11
ELD FLT2
N00344 Y0039.3 G1009.7

J 2142 TC PRESS FAULT RESET
DO 316 W UALM 16
RNGTLSTD
N00345 X0001.6 G1010.3

K 2144 SYSTEM WATER FLOW OFF
DI 15 SY UALM 20
S WTR ON
N00346 Y0014.7 G1010.4

L 2146 TIP DRESS MOTOR 1 FLT BYPASSED
DO 120 T UALM 21
DMFL BY1
N00347 Y0014.6 G1010.5

M 2148 TIP DRESS MOTOR 1 FAULT
DO 119 T UALM 22
DM FLT 1
N00348 K0010.0 Y0119.7 Y0000.3 G1010.6

N 2150 TEACH MEMORY ON
TEACH DO 960 DO 4 RBT UALM23
MEMORY AUTO KEY IN TCH
N00349 R0220.6 G1010.7

O 2154 PULLED TIP MEMORY
DI 958 P UALM 24
LDTIP 1
Ladder Diagram 49
N00350 R0000.0 G1011.0

A 2156 GUN DISABLED SELECTOR SWITCH
ALWAYS UALM 25
ON
N00351 K0004.5 G1011.1

B 2158 EQUALIZER ENABLED
EQUALENB UALM 26
L 1&2 SS
N00352 Y0120.6 G1011.2

C 2160 PLC/ MANUAL WELD PB DEPRESSED
DO 967 M UALM 27
AN WELD1
X0015.0
D
DI 121 R
M MAN W1
N00353 Y0017.2 G1011.3

E 2163 TIP CHANGE REQUIRED
DO 139 T UALM 28
PCHG RQ1
N00354 Y0002.7 G1011.4

F 2165 IN PROGRAM LOOP
DO 24 RB UALM 29
T LOOP
N00355 X1020.1 G1011.5

G 2167 SERVO MOTOR OVERTEMP FOR SG
RI 2 SRV UALM 30
OMTR OT1
N00356 X1020.0 G1011.6

H 2169 TRANSFORMER OVERTEMP
RI 1 XF UALM 31
RMR OT1
N00357 X0087.6 G1011.7

I 2171 WELD CONTROLLER 1 COMM LOST
DI 703 W UALM 32
1 COMMOK
N00358
J 2173 SUB72
SPE
N00359 ### INTERFACE ###

K 2174 SUB71 P0007
SP INTERFACE
O
Ladder Diagram 50
N00360 D0612.1 ACT D0612.0

A 2176 SUB 3 0040 INTERFACE PB TIMEOUT
MH IF PB TMR IF PB TO
TO
D0612.2
B
SEAL IF
PB TO
D0612.3
C
STUD IF
PB TO
D0612.4
D
SWG1 IF
PB TO
D0612.5
E
SWG2 IF
PB TO
O
Ladder Diagram 51
N00361 K0002.0 D0612.1

A 2184 MH IF PB TO
CLMP1CLS MH IF PB
TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
Ladder Diagram 52
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC 1 ON
PB
K0014.3
G
VAC 2 ON
PB
K0014.4
H
VAC 3 ON
PB
K0014.5
I
BLOWOFF
1 ON PB
K0014.6
J
BLOWOFF
2 ON PB
K0014.7
K
BLOWOFF
3 ON PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
Ladder Diagram 53
K0011.4
A
TC OPENG
UNCOVER
K0011.5
B
TC CLOS
GUNCOVER
K0016.1
C
VAC 4 ON
PB
K0016.2
D
BLOWOFF
4 ON PB
O
Ladder Diagram 54
N00362 Y0121.0 D0612.4

A 2219 SWG1 IF PB TO
DO 969 F SWG1 IF
EDWLD1PB PB TO
Y0120.6
B
DO 967 M
AN WELD1
Y0083.3
C
DO 668 R
ST WLD
K0005.1
D
NEW TIP
PB1
K0008.6
E
DTSR PB
1
K0005.2
F
INIT AUT
O TD PB1
K0005.5
G
TIP ALGN
CLS PB1
K0005.6
H
TIP ALGN
OPN PB1
K0005.7
I
INITAUTO
TCPB1
K0006.0
J
ATC FLT
ACK PB1
K0015.1
K
ADVTIPDR
SSDUMP1
K0015.2
L
RETTIPDR
SSDUMP1
O
Ladder Diagram 55
N00363 Y0121.1 D0612.5

DO 970 F SWG2 IF
EDWLD2PB PB TO
Y0120.7
B
DO 968 M
AN WELD2
Y0091.3
C
DO 732 R
ST WLD2
K0006.6
D
NEW TIP
PB2
K0009.2
E
DTSR PB
2
K0006.7
F
INIT AUT
O TD PB2
K0007.2
G
TIP ALGN
CLS PB2
K0007.3
H
TIP ALGN
OPN PB2
K0007.4
I
INITAUTO
TCPB2
K0007.5
J
ATC FLT
ACK PB2
K0015.3
K
ADVTIPDR
SSDUMP2
K0015.4
L
RETTIPDR
SSDUMP2
O
Ladder Diagram 56
N00364 K0011.7 D0612.3

A 2245 STUD IF PB TO
STUDSKPR STUD IF
EMSTDPB1 PB TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
N00365
L 2257 SUB72
SPE
N00366 ### MH ###

M 2258 SUB71 P0008
SP MH
N00367 Y0000.3 K0004.4 R1410.0

N 2260 MANUAL GRIP ENABLE
DO 4 RBT MAN GRP MAN GRP
IN TCH ENBLE SS ENABLE
N00368 R1410.0 ACT

O 2263 SUB10 0000
MAN GRP JMP
ENABLE
Ladder Diagram 57
N00369 R0000.0 Y0114.0

A 2266 OPEN CLAMP 1
ALWAYS DO 913
ON OPNCLMP1
N00370 R0000.0 Y0114.1

B 2268 CLOSE CLAMP 1
ALWAYS DO 914
ON CLSCLMP1
N00371 R0000.0 Y0114.2

C 2270 OPEN CLAMP 2
ALWAYS DO 915
ON OPNCLMP2
N00372 R0000.0 Y0114.3

D 2272 CLOSE CLAMP 2
ALWAYS DO 916
ON CLSCLMP2
N00373 R0000.0 Y0114.4

E 2274 OPEN CLAMP 3
ALWAYS DO 917
ON OPNCLMP3
N00374 R0000.0 Y0114.5

F 2276 CLOSE CLAMP 3
ALWAYS DO 918
ON CLSCLMP3
N00375 R0000.0 Y0114.6

G 2278 OPEN CLAMP 4
ALWAYS DO 919
ON OPNCLMP4
N00376 R0000.0 Y0114.7

H 2280 CLOSE CLAMP 4
ALWAYS DO 920
ON CLSCLMP4
N00377 R0000.0 Y0115.0

I 2282 OPEN CLAMP 5
ALWAYS DO 921
ON OPNCLMP5
N00378 R0000.0 Y0115.1

J 2284 CLOSE CLAMP 5
ALWAYS DO 922
ON CLSCLMP5
N00379 R0000.0 Y0115.2

K 2286 OPEN CLAMP 6
ALWAYS DO 923
ON OPNCLMP6
N00380 R0000.0 Y0115.3

L 2288 CLOSE CLAMP 6
ALWAYS DO 924
ON CLSCLMP6
N00381 R0000.0 Y0115.4

M 2290 OPEN CLAMP 7
ALWAYS DO 925
ON OPNCLMP7
N00382 R0000.0 Y0115.5

N 2292 CLOSE CLAMP 7
ALWAYS DO 926
ON CLSCLMP7
N00383 R0000.0 Y0115.6

O 2294 OPEN CLAMP 8
ALWAYS DO 927
ON OPNCLMP8
Ladder Diagram 58
N00384 R0000.0 Y0115.7

A 2296 CLOSE CLAMP 8
ALWAYS DO 928
ON CLSCLMP8
N00385 R0000.0 Y0116.0

B 2298 OPEN CLAMP 9
ALWAYS DO 929
ON OPNCLMP9
N00386 R0000.0 Y0116.1

C 2300 CLOSE CLAMP 9
ALWAYS DO 930
ON CLSCLMP9
N00387 R0000.0 Y0116.2

D 2302 OPEN CLAMP 10
ALWAYS DO 931
ON OPNCLP10
N00388 R0000.0 Y0116.3

E 2304 CLOSE CLAMP 10
ALWAYS DO 932
ON CLSCLP10
N00389 R0000.0 Y0127.2

F 2306 VACUUM 1 ON
ALWAYS DO1019 V
ON AC1ON
N00390 R0000.0 Y0127.3

G 2308 BLOWOFF 1 ON
ALWAYS DO1020 B
ON LWOF1ON
N00391 R0000.0 Y0127.4

H 2310 VACUUM 2 ON
ALWAYS DO1021 V
ON AC2ON
N00392 R0000.0 Y0127.5

I 2312 BLOWOFF 2 ON
ALWAYS DO1022 B
ON LWOF2ON
N00393 R0000.0 Y0127.6

J 2314 VACUUM 3 ON
ALWAYS DO1023 V
ON AC3ON
N00394 R0000.0 Y0127.7

K 2316 BLOWOFF 3 ON
ALWAYS DO1024 B
ON LWOF3ON
N00395 R0000.0 Y0118.5

L 2318 VACUUM 4 ON
ALWAYS DO 950 V
ON AC4ON
N00396 R0000.0 Y0118.6

M 2320 BLOWOFF 4 ON
ALWAYS DO 951 B
ON LWOF4ON
N00397
N 2322 SUB30
JMPE
N00398 R1410.0 ACT R0001.1

O 2323 SUB 3 0038
MAN GRP TMR MAN GRP
ENABLE TO
Ladder Diagram 59
N00399 R0001.1 ACT

A 2327 SUB10 0000
MAN GRP JMP
TO
N00400 K0002.1 X1026.1 Y0114.0

B 2330 OPEN CLAMP 1
CLMP1OPN SI9 DO 913
AUTOMDSW OPNCLMP1
N00401 Y0114.0 Y0009.0

C 2333 OPEN CLAMP #1
DO 913 DO 73 OP
OPNCLMP1 N CLMP1
N00402 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9 DO 914
AUTOMDSW CLSCLMP1
N00403 Y0114.1 Y0009.1

E 2338 CLOSE CLAMP #1
DO 914 DO 74 CL
CLSCLMP1 S CLMP1
N00404 K0002.3 X1026.1 Y0114.2

F 2340 OPEN CLAMP 2
CLMP2OPN SI9 DO 915
AUTOMDSW OPNCLMP2
N00405 Y0114.2 Y0009.2

G 2343 OPEN CLAMP #2
DO 915 DO 75 OP
OPNCLMP2 N CLMP2
N00406 K0002.2 X1026.1 Y0114.3

CLMP2CLS SI9 DO 916
AUTOMDSW CLSCLMP2
N00407 Y0114.3 Y0009.3

I 2348 CLOSE CLAMP #2
DO 916 DO 76 CL
CLSCLMP2 S CLMP2
N00408 K0002.5 X1026.1 Y0114.4

J 2350 OPEN CLAMP 3
CLMP3OPN SI9 DO 917
AUTOMDSW OPNCLMP3
N00409 Y0114.4 Y0009.4

K 2353 OPEN CLAMP #3
DO 917 DO 77 OP
OPNCLMP3 N CLMP 3
N00410 K0002.4 X1026.1 Y0114.5

CLMP3CLS SI9 DO 918
AUTOMDSW CLSCLMP3
N00411 Y0114.5 Y0009.5

M 2358 CLOSE CLAMP #3
DO 918 DO 78 CL
CLSCLMP3 S CLMP3
N00412 K0002.7 X1026.1 Y0114.6

N 2360 OPEN CLAMP 4
CLMP4OPN SI9 DO 919
AUTOMDSW OPNCLMP4
N00413 Y0114.6 Y0009.6

O 2363 OPEN CLAMP #4
DO 919 DO 79 OP
OPNCLMP4 N CLMP4
Ladder Diagram 60
N00414 K0002.6 X1026.1 Y0114.7

CLMP4CLS SI9 DO 920
AUTOMDSW CLSCLMP4
N00415 Y0114.7 Y0009.7

B 2368 CLOSE CLAMP #4
DO 920 DO 80 CL
CLSCLMP4 S CLMP4
N00416 K0003.1 X1026.1 Y0115.0

C 2370 OPEN CLAMP 5
CLMP5OPN SI9 DO 921
AUTOMDSW OPNCLMP5
N00417 Y0115.0 Y0010.0

D 2373 OPEN CLAMP #5
DO 921 DO 81 OP
OPNCLMP5 N CLMP5
N00418 K0003.0 X1026.1 Y0115.1

CLMP5CLS SI9 DO 922
AUTOMDSW CLSCLMP5
N00419 Y0115.1 Y0010.1

F 2378 CLOSE CLAMP #5
DO 922 DO 82 CL
CLSCLMP5 S CLMP5
N00420 K0003.3 X1026.1 Y0115.2

G 2380 OPEN CLAMP 6
CLMP6OPN SI9 DO 923
AUTOMDSW OPNCLMP6
N00421 Y0115.2 Y0010.2

H 2383 OPEN CLAMP #6
DO 923 DO 83 OP
OPNCLMP6 N CLMP6
N00422 K0003.2 X1026.1 Y0115.3

I 2385 CLOSE CLAMP 6
CLMP6CLS SI9 DO 924
AUTOMDSW CLSCLMP6
N00423 Y0115.3 Y0010.3

J 2388 CLOSE CLAMP #6
DO 924 DO 84 CL
CLSCLMP6 S CLMP 6
N00424 K0003.5 X1026.1 Y0115.4

K 2390 OPEN CLAMP 7
CLMP7OPN SI9 DO 925
AUTOMDSW OPNCLMP7
N00425 Y0115.4 Y0010.4

L 2393 OPEN CLAMP #7
DO 925 DO 85 OP
OPNCLMP7 N CLMP 7
N00426 K0003.4 X1026.1 Y0115.5

M 2395 CLOSE CLAMP 7
CLMP7CLS SI9 DO 926
AUTOMDSW CLSCLMP7
N00427 Y0115.5 Y0010.5

N 2398 CLOSE CLAMP #7
DO 926 DO 86 CL
CLSCLMP7 S CLAMP7
N00428 K0003.7 X1026.1 Y0115.6

O 2400 OPEN CLAMP 8
CLMP8OPN SI9 DO 927
AUTOMDSW OPNCLMP8
Ladder Diagram 61
N00429 Y0115.6 Y0010.6

A 2403 OPEN CLAMP #8
DO 927 DO 87 OP
OPNCLMP8 N CLMP8
N00430 K0003.6 X1026.1 Y0115.7

CLMP8CLS SI9 DO 928
AUTOMDSW CLSCLMP8
N00431 Y0115.7 Y0010.7

C 2408 CLOSE CLAMP #8
DO 928 DO 88 CL
CLSCLMP8 S CLAMP8
N00432 K0004.1 X1026.1 Y0116.0

D 2410 OPEN CLAMP 9
CLMP9OPN SI9 DO 929
AUTOMDSW OPNCLMP9
N00433 Y0116.0 Y0011.0

E 2413 OPEN CLAMP #9
DO 929 DO 89 OP
OPNCLMP9 N CLMP9
N00434 K0004.0 X1026.1 Y0116.1

CLMP9CLS SI9 DO 930
AUTOMDSW CLSCLMP9
N00435 Y0116.1 Y0011.1

G 2418 CLOSE CLAMP #9
DO 930 DO 90 CL
CLSCLMP9 S CLMP9
N00436 K0004.3 X1026.1 Y0116.2

H 2420 OPEN CLAMP 10
CLP10OPN SI9 DO 931
AUTOMDSW OPNCLP10
N00437 Y0116.2 Y0011.2

I 2423 OPEN CLAMP #10
DO 931 DO 91 OP
OPNCLP10 N CLMP10
N00438 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9 DO 932
AUTOMDSW CLSCLP10
N00439 Y0116.3 Y0011.3

K 2428 CLOSE CLAMP #10
DO 932 DO 92 CL
CLSCLP10 S CLMP10
N00440 K0014.2 X1026.1 K0014.1 Y0127.2

L 2430 VACUUM 1 ON
VAC 1 ON SI9 VAC/BLOW DO1019 V
PB AUTOMDSW OFFTIMER AC1ON
N00441 Y0127.2 Y0008.0

M 2434
DO1019 V DO 65 VA
AC1ON C 1 ON
N00442 K0014.5 X1026.1 K0014.1 Y0127.3

N 2436 BLOWOFF 1 ON
BLOWOFF SI9 VAC/BLOW DO1020 B
1 ON PB AUTOMDSW OFFTIMER LWOF1ON
N00443 Y0127.3 Y0008.1

O 2440
DO1020 B DO 66 BL
LWOF1ON WOFF1ON
Ladder Diagram 62
N00444 K0014.3 X1026.1 K0014.1 Y0127.4

A 2442 VACUUM 2 ON
N00445 Y0127.4 Y0008.2

B 2446
DO1021 V DO 67 VA
AC2ON C 2 ON
N00446 K0014.6 X1026.1 K0014.1 Y0127.5

C 2448 BLOWOFF 2 ON
N00447 Y0127.5 Y0008.3

D 2452
DO1022 B DO 68 BL
LWOF2ON WOFF2ON
N00448 K0014.4 X1026.1 K0014.1 Y0127.6

E 2454 VACUUM 3 ON
N00449 Y0127.6 Y0008.4

F 2458
DO1023 V DO 69 VA
AC3ON C 3 ON
N00450 K0014.7 X1026.1 K0014.1 Y0127.7

G 2460 BLOWOFF 3 ON
N00451 Y0127.7 Y0008.5

H 2464
DO1024 B DO 70 BL
LWOF3ON WOFF3ON
N00452 K0016.1 X1026.1 K0014.1 Y0118.5

I 2466 VACUUM 4 ON
VAC 4 ON SI9 VAC/BLOW DO 950 V
N00453 Y0118.5 Y0008.6

J 2470
DO 950 V DO 71 VA
AC4ON C 4 ON
N00454 K0016.2 X1026.1 K0014.1 Y0118.6

K 2472 BLOWOFF 4 ON
BLOWOFF SI9 VAC/BLOW DO 951 B
N00455 Y0118.6 Y0008.7

L 2476
DO 951 B DO 72 BL
LWOF4ON WOFF4ON
N00456
M 2478 SUB30
JMPE
O
Ladder Diagram 63
N00457 Y0008.0 ACT K0014.1

A 2479 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO 65 VA TMR VAC/BLOW
C 1 ON OFFTIMER
Y0008.1
B
DO 66 BL
WOFF1ON
Y0008.2
C
DO 67 VA
C 2 ON
Y0008.3
D
DO 68 BL
WOFF2ON
Y0008.4
E
DO 69 VA
C 3 ON
Y0008.5
F
DO 70 BL
WOFF3ON
Y0008.6
G
DO 71 VA
C 4 ON
Y0008.7
H
DO 72 BL
WOFF4ON
N00458 K0002.0 D0612.0 K0002.0

I 2490 CLMP1 CLOSE
CLMP1CLS IF PB TO CLMP1CLS
N00459 K0002.1 D0612.0 K0002.1

J 2493 CLMP1 OPEN
CLMP1OPN IF PB TO CLMP1OPN
N00460 K0002.2 D0612.0 K0002.2

K 2496 CLMP2 CLOSE
N00461 K0002.3 D0612.0 K0002.3

L 2499 CLMP2 OPEN
N00462 K0002.4 D0612.0 K0002.4

M 2502 CLMP3 CLOSE
N00463 K0002.5 D0612.0 K0002.5

N 2505 CLMP3 OPEN
N00464 K0002.6 D0612.0 K0002.6

O 2508 CLMP4 CLOSE
Ladder Diagram 64
N00465 K0002.7 D0612.0 K0002.7

A 2511 CLMP4 OPEN
N00466 K0003.0 D0612.0 K0003.0

B 2514 CLMP5 CLOSE
N00467 K0003.1 D0612.0 K0003.1

C 2517 CLMP5 OPEN
N00468 K0003.2 D0612.0 K0003.2

D 2520 CLMP6 CLOSE
N00469 K0003.3 D0612.0 K0003.3

E 2523 CLMP6 OPEN
N00470 K0003.4 D0612.0 K0003.4

F 2526 CLMP7 CLOSE
N00471 K0003.5 D0612.0 K0003.5

G 2529 CLMP7 OPEN
N00472 K0003.6 D0612.0 K0003.6

H 2532 CLMP8 CLOSE
N00473 K0003.7 D0612.0 K0003.7

I 2535 CLMP8 OPEN
N00474 K0004.0 D0612.0 K0004.0

J 2538 CLMP9 CLOSE
N00475 K0004.1 D0612.0 K0004.1

K 2541 CLMP9 OPEN
N00476 K0004.2 D0612.0 K0004.2

L 2544 CLMP10 CLOSE
CLP10CLS IF PB TO CLP10CLS
N00477 K0004.3 D0612.0 K0004.3

M 2547 CLMP10 OPEN
CLP10OPN IF PB TO CLP10OPN
N00478 K0014.2 D0612.0 K0014.2

N 2550
VAC 1 ON IF PB TO VAC 1 ON
PB PB
N00479 K0014.3 D0612.0 K0014.3

O 2553
PB PB
Ladder Diagram 65
N00480 K0014.4 D0612.0 K0014.4

A 2556
PB PB
N00481 K0016.1 D0612.0 K0016.1

B 2559
PB PB
N00482 K0014.5 D0612.0 K0014.5

C 2562
BLOWOFF IF PB TO BLOWOFF
1 ON PB 1 ON PB
N00483 K0014.6 D0612.0 K0014.6

D 2565
2 ON PB 2 ON PB
N00484 K0014.7 D0612.0 K0014.7

E 2568
3 ON PB 3 ON PB
N00485 K0016.2 D0612.0 K0016.2

F 2571
4 ON PB 4 ON PB
N00486 K0000.4 Y0012.6

G 2574 RERUN PROCESS
RERUNPRC DO 103 R
PB ERUNPRC
N00487 K0000.5 Y0012.7

H 2576 ACCEPT PROCESS
ACCPTPRC DO 104 A
PB CCPTPRC
N00488 K0000.6 Y0013.0

I 2578 REJECT PROCESS
REJCTPRC DO 105 R
PB EJCTPRC
N00489 K0000.7 Y0013.1

J 2580 INSPECTION SELECTED
INSPCTSE DO 106 I
LPB NSP SEL
K0001.3 K0001.5
K
VISIONIN ABORTPRO
TERVENSS CESS
N00490 K0000.4 D0612.0 K0000.4

L 2585 S RERUN PROCESS PB
RERUNPRC IF PB TO RERUNPRC
PB PB
N00491 K0000.4 D0612.0 K0000.4

M 2588 R RERUN PROCESS PB
RERUNPRC IF PB TO RERUNPRC
PB PB
N00492 K0000.5 D0612.0 K0000.5

N 2591 S ACCEPT PROCESS PB
ACCPTPRC IF PB TO ACCPTPRC
PB PB
N00493 K0000.5 D0612.0 K0000.5

O 2594 R ACCEPT PROCESS PB
ACCPTPRC IF PB TO ACCPTPRC
PB PB
Ladder Diagram 66
N00494 K0000.6 D0612.0 K0000.6

A 2597 S REJECT PROCESS PB
REJCTPRC IF PB TO REJCTPRC
PB PB
N00495 K0000.6 D0612.0 K0000.6

B 2600 R REJECT PROCESS PB
REJCTPRC IF PB TO REJCTPRC
PB PB
N00496 K0000.7 D0612.0 K0000.7

C 2603 S INSPECTION SELECTED PB
INSPCTSE IF PB TO INSPCTSE
LPB LPB
N00497 K0000.7 D0612.0 K0000.7

D 2606 R INSPECTION SELECTED PB
INSPCTSE IF PB TO INSPCTSE
LPB LPB
N00498 K0011.4 D0612.0 K0011.4

E 2609 TOOL CHANGER OPEN GUN COVER
TC OPENG IF PB TO TC OPENG
UNCOVER UNCOVER
N00499 K0011.5 D0612.0 K0011.5

F 2612 TOOL CHANGER CLOSE GUN COVER
TC CLOS IF PB TO TC CLOS
GUNCOVER GUNCOVER
N00500 X0008.2 R0000.7

G 2615 PART PRESENT ON EOAT
DI 67 PR PART PRE
T PRES1 SENT
X0008.3
H
DI 68 PR
T PRES2
X0008.4
I
DI 69 PR
T PRES3
X0008.5
J
DI 70 PR
T PRES4
X0008.6
K
DI 71 PR
T PRES5
X0008.7
L
DI 72 PR
T PRES6
N00501
M 2622 SUB72
SPE
N00502 ### APPLICATION ###

N 2623 SUB71 P0009
SP APPLICATION
N00503 D0000.0 Y0048.0

O 2625 MATERIAL HANLDING APPLICATION
MH APP DO 385 M
H APP
Ladder Diagram 67
N00504 D0000.1 Y0048.1

A 2627 WELD 1 APPLICATION
WELD 1 A DO 386
PP WLD1 APP
N00505 D0000.2 Y0048.2

B 2629 WELD 2 APPLICATION
WELD 2 A DO 387 W
PP LD2 APP
N00506 D0000.3 Y0048.3

C 2631 NUT FEED APPLICATION
NUT FEED DO 388 N
APP UTFD APP
N00507 D0000.4 Y0048.4

D 2633 SEALER 1 APPLICATION
SEAL 1 A DO 389 S
PP LR 1 APP
N00508 D0000.5 Y0048.5

E 2635 SEALER 2 APPLICATION
SEAL 2 DO 390 S
APP LR 2 APP
N00509 D0000.6 Y0048.6

F 2637 STUD WELD 1 APPLICATION
STUD 1 A DO 391 S
PP TDW 1APP
N00510 D0000.7 Y0048.7

G 2639 STUD WELD 2 APPLICATION
STUD 2 A DO 392 S
PP TDW 2APP
N00511 D0001.0 Y0049.0

H 2641 TOOL CHANGE APPLICATION
TOOL CHA DO 393 T
NGE APP C APP
N00512 D0001.1 Y0049.1

I 2643 RIVET 1 APPLICAYION
RIVET 1 DO 394 R
APP VT 1 APP
N00513 D0001.2 Y0049.2

J 2645 RIVET 2 APPLICATION
RIVET 2 DO 395 R
APP VT 2 APP
N00514 D0001.3 Y0049.3

K 2647 NUT RUNNER APPLICATION
NUT RUNN DO 396 N
ER APP UTR APP
N00515 D0001.4 Y0049.4

L 2649 MIG WELD APPLICATION
MIG WELD DO 397 M
APP IGW APP
N00516 D0001.5 Y0049.5

M 2651 ROLL HEMMER APPLICATION
ROLLER H DO 398 R
EMM APP LLHEM AP
N00517 D0001.6 Y0049.6

N 2653 LASER CUT APPLICATION
LASER CU DO 399 L
T APP SRCT APP
N00518 D0001.7 Y0049.7

O 2655 PLASMA CUT APPLICATION
PLASMA C DO 400 P
UT APP LSMA APP
Ladder Diagram 68
N00519 D0002.0 Y0050.0

A 2657 LASER WELD APPLICATION
LASER WE DO 401 L
LD APP SRWLDAPP
N00520 D0002.1 Y0050.1

B 2659 OPERATOR LOAD APPLICATION
OPER LOA DO 402 O
D APP P LD APP
N00521 D0002.2 Y0050.2

C 2661 VISION APPLICATION
VISION A DO 403 V
PP IS APP
N00522 D0002.3 Y0050.3

D 2663 PROGRAM LOCATOR APPLICATION
PROG LOC DO 404 P
APP RG LCAPP
N00523 D0002.4 Y0050.4

E 2665 INTERFACE DEFINITION BIT 21
IF DEF DO 405
21 INDEFB21
N00524 D0002.5 Y0050.5

F 2667 NUT FEEDER 2 APPLICATION
NUT FEED DO 406 N
ER 2 APP TFD 2APP
N00525 D0002.6 Y0050.6

G 2669 INTERFACE DEFINITION BIT 23
IF DEF DO 407 I
23 NDEF B23
N00526 D0002.7 Y0050.7

H 2671 INTERFACE DEFINITION BIT 24
IF DEF DO 408 I
24 NDEF B24
N00527 D0003.0 Y0051.0

I 2673 INTERFACE DEFINITION BIT 25
IF DEF DO 409 I
25 NDEF B25
N00528 D0003.1 Y0051.1

J 2675 INTERFACE DEFINITION BIT 26
IF DEF DO 410 I
26 NDEF B26
N00529 D0003.2 Y0051.2

K 2677 INTERFACE DEFINITION BIT 27
IF DEF DO 411 I
27 NDEF B27
N00530 D0003.3 Y0051.3

L 2679 INTERFACE DEFINITION BIT 28
IF DEF DO 412 I
28 NDEF B28
N00531 D0003.4 Y0051.4

M 2681 INTERFACE DEFINITION BIT 29
IF DEF DO 413 I
29 NDEF B29
N00532 D0003.5 Y0051.5

N 2683 INTERFACE DEFINITION BIT 30
IF DEF DO 414 I
30 NDEF B30
N00533 D0003.6 Y0051.6

O 2685 INTERFACE DEFINITION BIT 31
IF DEF DO 415 I
31 NDEF B31
Ladder Diagram 69
N00534 D0003.7 Y0051.7

A 2687 INTERFACE DEFINITION BIT 32
IF DEF DO 416 I
32 NDEF B32
N00535
B 2689 SUB72
SPE
N00536 ### P0014 ###

C 2690 SUB71 P0014
SP STUD
N00537 X0034.0 X0099.0 Y0034.6

D 2692
DI 273 S DI 793 DO 279 W
W1 GUN1 NOFLTHD1 LDFLT1
X0034.1 X0099.5
E
DI 274 S DI 798
W1GUN2 NOFLTHD2
N00538 X0099.1 X0099.0 X0099.2 X0034.0 Y0034.5

F 2698
DI 794 DI 793 DI 795 DI 273 S DO 278 W
WLDCMPH1 NOFLTHD1 HDBCKHD1 W1 GUN1 LDCOMP1
X0099.6 X0099.5 X0099.7 X0034.1

G
DI 799 DI 798 DI 800 DI 274 S
WLDCMPH2 NOFLTHD2 HDBCKHD2 W1GUN2
N00539 X0099.1 X0034.0 R0214.5

H 2708 STUD WELD COMP1&2
DI 794 DI 273 S DI 909 W
WLDCMPH1 W1 GUN1 LDCMP1&2
X0099.6 X0034.1
I
DI 799 DI 274 S
WLDCMPH2 W1GUN2
N00540 X0099.2 Y0099.0 Y0034.4

J 2714
DI 795 DO 793 DO 277 W
HDBCKHD1 STRWLDH1 LDCYC1
N00541 Y0034.7 Y0034.7

K 2717 S
DO 280 T DO 280 T
IMDLYEX1 IMDLYEX1
N00542 R0214.5 Y0034.7

L 2719 R
DI 909 W DO 280 T
LDCMP1&2 IMDLYEX1
Y0035.3
M
DO 284 R
JCTPRT1
Y0035.4
N
DO 285 S
KPREMST1
Y0035.2
O
DO 283 N
ORECALP1
Ladder Diagram 70
N00543 X0104.1 Y0034.2

A 2724
DI 834 DO 275 S
COMMOK TDCOMOK1
N00544 X0102.1 Y0035.0

B 2726
DI 818 DO 281 M
MAINTREQ AINTREQ1
N00545 K0006.4 Y0101.4

C 2728 STUD MODE SELECT 1
WELD / N DO 813
O WELD2 MODSEL1
N00546 K0006.4 Y0101.5

D 2730 STUD MODE SELECT 2
WELD / N DO 814
O WELD2 MODSEL2
K0006.4 X0001.1
E
WELD / N DI 10 AU
O WELD2 TO REPT
N00547 Y0100.2 Y0116.5 X0102.3 K0006.4 X0034.0 Y0099.0

F 2735 STUD START WELD CYCLE HEAD 1
DO 803 DO 934 DI 820 R WELD / N DI 273 S DO 793
WLDSELB1 RD SCHD1 DY4AUTO O WELD2 W1 GUN1 STRWLDH1
Y0100.3 X0001.1
G
DO 804 DI 10 AU
WLDSELB2 TO REPT
Y0100.4
H
DO 805
WLDSELB4
Y0100.5
I
DO 806
WLDSELB8
Y0100.6
J
DO 807
WLDSLB16
Y0100.7
K
DO 808
WLDSLB32
Y0101.0
L
DO 809
WLDSLB64
O
Ladder Diagram 71
N00548 Y0100.2 Y0116.6 X0102.3 K0006.4 X0034.1 Y0099.1

A 2749 STUD START WELD CYCLE HEAD 2
DO 803 DO 935 DI 820 R WELD / N DI 274 S DO 794
WLDSELB1 RD SCHD2 DY4AUTO O WELD2 W1GUN2 STRWLDH2
Y0100.3 X0001.1
B
DO 804 DI 10 AU
WLDSELB2 TO REPT
Y0100.4
C
DO 805
WLDSELB4
Y0100.5
D
DO 806
WLDSELB8
Y0100.6
E
DO 807
WLDSLB16
Y0100.7
F
DO 808
WLDSLB32
Y0101.0
G
DO 809
WLDSLB64
N00549 X0102.3 Y0034.3

H 2763
DI 820 R DO 276 R
DY4AUTO DY4AUTO1
N00550 X0102.2 Y0035.1

I 2765
DI 819 S DO 282 L
TUDSLO OWSTDWR1
N00551 K0011.6 Y0035.3 ACT D0614.0

J 2767 SUB 3 0029 STEPPER RESET ENABLE LATCH1
STUDENAB DO 284 R TMR STPRSTEN
LESS1 JCTPRT1 BLLATCH1
Y0035.4
K
DO 285 S
KPREMST1
Y0126.5
L
DO1014 M
ANWELD
Y0035.2
M
DO 283 N
ORECALP1
Y0101.2
N
DO 811 R
ESTRWLD
N00552 K0011.6 D0614.0 K0011.6

O 2777 STUD ENABLE SS 1
STUDENAB STPRSTEN STUDENAB
LESS1 BLLATCH1 LESS1
Ladder Diagram 72
N00553 Y0000.2 K0011.6 K0012.0 X0034.0 X0099.0 Y0035.3

A 2780
DO 3 RBT STUDENAB STUDREJE DI 273 S DI 793 DO 284 R
IN AUTO LESS1 CTPB1 W1 GUN1 NOFLTHD1 JCTPRT1
X0034.1 X0099.5
B
DI 274 S DI 798
W1GUN2 NOFLTHD2
F1000.3
C
PAUSED
Y0035.3
D
DO 284 R
JCTPRT1
N00554 Y0000.2 K0011.6 K0011.7 X0034.0 X0099.0 Y0035.4

E 2792
DO 3 RBT STUDENAB STUDSKPR DI 273 S DI 793 DO 285 S
IN AUTO LESS1 EMSTDPB1 W1 GUN1 NOFLTHD1 KPREMST1
X0034.1 X0099.5
F
DI 274 S DI 798
W1GUN2 NOFLTHD2
F1000.3
G
PAUSED
Y0035.4
H
DO 285 S
KPREMST1
N00555 Y0000.2 K0011.6 K0012.1 F1000.3 Y0126.5

I 2804 STUD MANUAL WELD
DO 3 RBT STUDENAB STUDMANU PAUSED DO1014 M
IN AUTO LESS1 ALPB1 ANWELD
Y0126.5
J
DO1014 M
ANWELD
N00556 Y0000.2 K0011.6 K0013.2 X0034.0 X0099.0 Y0035.2

K 2811
DO 3 RBT STUDENAB REJECTNO DI 273 S DI 793 DO 283 N
IN AUTO LESS1 PGRECLL1 W1 GUN1 NOFLTHD1 ORECALP1
X0034.1 X0099.5
L
DI 274 S DI 798
W1GUN2 NOFLTHD2
F1000.3
M
PAUSED
Y0035.2
N
DO 283 N
ORECALP1
O
Ladder Diagram 73
N00557 K0011.6 K0012.2 X0034.0 Y0099.0 Y0101.2

A 2823 STUD RESTART WELD
STUDENAB STUDFAUL DI 273 S DO 793 DO 811 R
LESS1 TRSTPB1 W1 GUN1 STRWLDH1 ESTRWLD
X0034.1 Y0099.1
B
DI 274 S DO 794
W1GUN2 STRWLDH2
F1000.3
C
PAUSED
Y0101.2
D
DO 811 R
ESTRWLD
N00558 Y0035.3 Y0101.3

E 2834 STUD FORCE WELD COMPLETE
DO 284 R DO 812
JCTPRT1 FRCWLDCM
Y0035.4 Y0101.1
F STUD INTERNAL RESET
DO 285 S DO 810 R
KPREMST1 ESET
Y0126.5
G
DO1014 M
ANWELD
Y0035.2
H
DO 283 N
ORECALP1
Y0101.2
I
DO 811 R
ESTRWLD
N00559 X0034.0 R0214.3

J 2841 STUD GUN WC 1 SELECTED
DI 273 S DI 907 S
W1 GUN1 TDGUN1SL
X0034.1
K
DI 274 S
W1GUN2
N00560 X0099.2 X0034.0 R0214.1

L 2844 STUD HEAD BACK WC 1
DI 795 DI 273 S DI 905 S
HDBCKHD1 W1 GUN1 TDHDBCK1
X0099.7 X0034.1
M
DI 800 DI 274 S
HDBCKHD2 W1GUN2
N00561 Y0035.2 Y0126.4

N 2850 S STUD ABORT FLAG
DO 283 N DO1013 S
ORECALP1 TUDABORT
N00562 Y0126.4 F1000.6 F1000.3 F1000.2 Y0126.4

O 2852 R STUD ABORT FLAG
DO1013 S AT HOME PAUSED PROGRAM DO1013 S
TUDABORT RUNNING TUDABORT
Ladder Diagram 74
N00563 K0012.0 D0612.0 K0012.0

A 2857 STUD REJECT PB 1
STUDREJE IF PB TO STUDREJE
CTPB1 CTPB1
N00564 K0011.7 D0612.0 K0011.7

B 2860 STUD SKIP REMAINING STUDS PB 1
STUDSKPR IF PB TO STUDSKPR
EMSTDPB1 EMSTDPB1
N00565 K0012.1 D0612.0 K0012.1

C 2863 STUD MANUAL PB 1
STUDMANU IF PB TO STUDMANU
ALPB1 ALPB1
N00566 K0013.2 D0612.0 K0013.2

D 2866 REJECT - NO PG RECALL1
REJECTNO IF PB TO REJECTNO
PGRECLL1 PGRECLL1
N00567 K0012.2 D0612.0 K0012.2

E 2869 STUD WELD FAULT RESET PB 1
STUDFAUL IF PB TO STUDFAUL
TRSTPB1 TRSTPB1
N00568 X1025.1 Y0000.5 R0224.7

F 2872 STUD MOVE OUT OF MAINTENANCE
FAULT DO 6 RBT DI1024 S
RESET @ MAINT TUDOMAIN
Y0073.2
G
DO587_@M
INMAINT
N00569 Y0099.5 D0612.0 Y0099.5

H 2877 STUD START FEED CYCLE HEAD 1
DO 798 IF PB TO DO 798
STRFEDH1 STRFEDH1
N00570 Y0099.6 D0612.0 Y0099.6

I 2880 STUD START FEED CYCLE HEAD 2
STRFEDH2 STRFEDH2
N00571 Y0099.7 D0612.0 Y0099.7

J 2883 STUD START FEED CYCLE HEAD 3
STRFEDH3 STRFEDH3
N00572 Y0100.0 D0612.0 Y0100.0

K 2886 STUD START FEED CYCLE HEAD 4
STRFEDH4 STRFEDH4
N00573 Y0100.1 D0612.0 Y0100.1

L 2889 STUD START FEED CYCLE HEAD 5
STRFEDH5 STRFEDH5
N00574 Y0126.6 Y0036.0

M 2892 STUD SKIP REMAINING ACTIVE
DO1015 F DO 289 S
FRECOVER RACTIVE1
N00575 R0214.1 Y0078.0

N 2894 HEAD BACK
DI 905 S DO 625 H
TDHDBCK1 EADBACK
N00576
O 2896 SUB72
SPE
Ladder Diagram 75
N00577 ### P0015 ###

A 2897 SUB71 P0015
SP WELDCONTROL2
N00578 X0000.0 Y0091.0

B 2899 WELD CONTROLLER #2 ENABLE
DI 1 EXT DO 729 W
RNENBL C2 ENBL
N00579 X0095.6 Y0018.4

C 2901 WELD CONTROLLER COMM OK #2
DI 767 W DO 149 W
2 COMMOK C2COM OK
N00580 Y0000.3 Y0091.1

D 2903 ROBOT IN TEACH TO WC #2
DO 4 RBT DO 730 R
IN TCH BTCH WC2
N00581 X0094.1 Y0019.6

E 2905 I AVAILABLE WARNING #2
DI 754 I DO 159 I
-HI/LO 2 AVL WRN2
N00582 X0095.5 Y0021.3

F 2907
DI 766 A DO 172 A
DP MODE2 DPMODEN2
N00583 X0091.0 Y0019.3

G 2909 IN WELD CYCLE #2
DI 729 I DO 156 I
NWLDCYC2 NWD CY 2
N00584 X0091.1 Y0019.4

H 2911 HAS WELDED #2
DI 730 W DO 157 H
ELD CMP2 AS WLD 2
N00585 X0091.3 Y0018.3

I 2913 NO WELD TIMER FAULT #2
DI 732 W DO 148 N
ELD FLT2 OWLDFLT2
N00586 Y0092.6 Y0092.7 Y0093.0 Y0093.1 Y0093.2 Y0093.3 Y0093.4 1

J 2915
DO 743 DO 744 DO 745 DO 746 DO 747 DO 748 DO 749
BP2 1 BP2 2 BP2 4 BP2 8 BP2 16 BP2 32 BP2 64
1 Y0093.5 R0306.1
K ROBOT WELD SCHEDULE WELD CTRL2
DO 750 ROBOT WS
BP2 128 WC#2
N00587 Y0092.6 Y0092.7 Y0093.0 Y0093.1 Y0093.2 Y0093.3 Y0093.4 1

L 2924
DO 743 DO 744 DO 745 DO 746 DO 747 DO 748 DO 749
BP2 1 BP2 2 BP2 4 BP2 8 BP2 16 BP2 32 BP2 64
1 Y0093.5 R0362.0
M
DO 750 WLD SCH
BP2 128 39 WC2
N00588 Y0014.1 R0220.7 Y0091.4

N 2933 WELD / NO WELD#2
DO 114 W DI 959 P DO 733 W
D/NWD SS LDTIP 2 LD/NWLD2
N00589 X1020.5 X1020.3 X1020.4 D0004.5

O 2936 ALL WELD PARAMETER OK WC2
RI 6 WTR RI 4 XF RI 5 SRV LETSWELD
FL SW2 RMR OT2 OMTR OT2 WC2
Ladder Diagram 76
N00590 Y0111.1 D0004.5 K0000.0 ACT R0364.0

DO 890 LETSWELD DEBUG TMR BINARYTI
BP1 2 WC2 MER2
Y0111.2
B
DO 891
BP2 2
Y0111.3
C
DO 892
BP4 2
Y0111.4
D
DO 893
BP8 2
Y0111.5
E
DO 894
BP16 2
Y0111.6
F
DO 895
BP32 2
Y0111.7
G
DO 896
BP64 2
Y0112.0
H
DO 897
BP128 2
N00591 Y0111.1 D0004.5 R0364.0 Y0092.6

BP1 2 WC2 MER2 BP2 1
N00592 Y0111.2 D0004.5 R0364.0 Y0092.7

N00593 Y0111.3 D0004.5 R0364.0 Y0093.0

N00594 Y0111.4 D0004.5 R0364.0 Y0093.1

N00595 Y0111.5 D0004.5 R0364.0 Y0093.2

N00596 Y0111.6 D0004.5 R0364.0 Y0093.3

N00597 Y0111.7 D0004.5 R0364.0 Y0093.4

Ladder Diagram 77
N00598 Y0112.0 D0004.5 R0364.0 Y0093.5

BP128 2 WC2 MER2 BP2 128
N00599 Y0092.6 Y0092.7 Y0093.0 Y0093.1 Y0093.2 Y0093.3 Y0093.4 1

B 2985
DO 743 DO 744 DO 745 DO 746 DO 747 DO 748 DO 749
BP2 1 BP2 2 BP2 4 BP2 8 BP2 16 BP2 32 BP2 64
1 Y0093.5 R0361.0
DO 750 NOWLDSCH
BP2 128 WC2
N00600 R0361.0 X0095.6 K0000.0 Y0091.5

D 2994 PRESSURE SWITCH INPUT#2
NOWLDSCH DI 767 W DEBUG DO 734
WC2 2 COMMOK PS INPUT
K0000.0 Y0116.6
E
DEBUG DO 935
RD SCHD2
N00601 Y0120.7 F1000.3 Y0000.1 R0223.1

F 3001
DO 968 M PAUSED DO 2 RBT DI 977 M
AN WELD2 @ HOME AN WELD2
X0019.0 K0008.0 Y0000.5 F1000.3 F1000.2

G
DI 153 R AUTO/MAI DO 6 RBT PAUSED PROGRAM
M MAN W2 NT SS @ MAINT RUNNING
Y0000.1 F1000.2 F1000.3

H
DO 2 RBT PROGRAM PAUSED
@ HOME RUNNING
N00602 Y0120.7 Y0000.1 F1000.2 F1000.3 R0213.7

DO 968 M DO 2 RBT PROGRAM PAUSED DI 903 W
AN WELD2 @ HOME RUNNING ELDHOME2
X0019.0 K0008.0
J
DI 153 R AUTO/MAI
M MAN W2 NT SS
N00603 Y0050.5 Y0121.1 F1000.3 Y0000.1 R0220.5

DO 406 N DO 970 F PAUSED DO 2 RBT DI 957 R
TFD 2APP EDWLD2PB @ HOME EFEDWLD2
N00604 K0009.2 D0612.0 K0009.2

2 2
N00605 K0009.2 D0612.0 K0009.2

2 2
N00606 K0006.6 D0612.0 K0006.6

PB2 PB2
N00607 K0006.6 D0612.0 K0006.6

PB2 PB2
Ladder Diagram 78
N00608 K0006.7 D0612.0 K0006.7

O TD PB2 O TD PB2
N00609 K0006.7 D0612.0 K0006.7

O TD PB2 O TD PB2
N00610 K0007.2 D0612.0 K0007.2

CLS PB2 CLS PB2
N00611 K0007.2 D0612.0 K0007.2

CLS PB2 CLS PB2
N00612 K0007.3 D0612.0 K0007.3

OPN PB2 OPN PB2
N00613 K0007.3 D0612.0 K0007.3

OPN PB2 OPN PB2
N00614 K0007.4 D0612.0 K0007.4

TCPB2 TCPB2
N00615 K0007.4 D0612.0 K0007.4

TCPB2 TCPB2
N00616 K0007.5 D0612.0 K0007.5

ACK PB2 ACK PB2
N00617 K0007.5 D0612.0 K0007.5

ACK PB2 ACK PB2
N00618 Y0120.7 D0612.0 Y0120.7

AN WELD2 AN WELD2
N00619 Y0120.7 D0612.0 Y0120.7

AN WELD2 AN WELD2
N00620 Y0121.1 D0612.0 Y0121.1

EDWLD2PB EDWLD2PB
N00621 Y0121.1 D0612.0 Y0121.1

EDWLD2PB EDWLD2PB
O
Ladder Diagram 79
N00622 Y1020.1 Y1020.1

A 3084 S RDO2 EQUALIZATION VALVE 2
RO 2 RO 2
EQLZVLV2 EQLZVLV2
K0004.5 K0007.7
B
EQUALENB EQUALIZE
L 1&2 SS R 2 SS
N00623 Y1020.1 Y1020.1

C 3089 R RDO2 EQUALIZATION VALVE 2
RO 2 RO 2
EQLZVLV2 EQLZVLV2
K0004.5 K0007.7
D
EQUALENB EQUALIZE
L 1&2 SS R 2 SS
N00624 K0004.5 K0007.7

EQUALENB EQUALIZE
L 1&2 SS R 2 SS
N00625 K0004.5 X1026.1 G1000.1 ACT K0004.5

F 3096 SUB 3 0033 R EQUALIZATION ENABLE 1&2 SS
EQUALENB SI9 NO HOLD TMR EQUALENB
L 1&2 SS AUTOMDSW L 1&2 SS
N00626 K0000.0 Y0091.3 D0612.0 X1025.1 Y0091.3

G 3102 RESET WELDER#2
DEBUG DO 732 R IF PB TO FAULT DO 732 R
ST WLD2 RESET ST WLD2
X1025.1
H
FAULT
RESET
N00627 K0015.3 D0612.0 K0015.3

SSDUMP2 SSDUMP2
N00628 K0015.3 D0612.0 K0015.3

SSDUMP2 SSDUMP2
N00629 K0015.4 D0612.0 K0015.4

SSDUMP2 SSDUMP2
N00630 K0015.4 D0612.0 K0015.4

SSDUMP2 SSDUMP2
N00631 K0015.3 Y0000.2 X1026.1 K0015.4 Y0021.5

M 3120
ADVTIPDR DO 3 RBT SI9 RETTIPDR DO 174 A
SSDUMP2 IN AUTO AUTOMDSW SSDUMP2 DVDUMP2
N00632 K0015.4 Y0000.2 X1026.1 K0015.3 Y0021.6

N 3125
RETTIPDR DO 3 RBT SI9 ADVTIPDR DO 175 R
SSDUMP2 IN AUTO AUTOMDSW SSDUMP2 ETDUMP2
N00633
O 3130 SUB72
SPE
Ladder Diagram 80
N00634 ### P0016 ###

A 3131 SUB71 P0016
SP TIPDRESSER2
N00635 X0095.1 Y0021.2

B 3133 TIP CHANGE REQUIRED #2
DI 762 T DO 171 T
PCHNGRQ2 PCHG RQ2
X0095.0
C
DI 761 T
PCNGREQ2
N00636 K0007.2 Y0000.5 R0222.4

D 3136 TIP ALIGNMENT CLOSED 2
CLS PB2 @ MAINT IP CLS2
N00637 K0007.3 Y0000.5 R0222.5

E 3139 TIP ALIGNMENT OPENED 2
OPN PB2 @ MAINT IP OPN2
N00638 X0091.4 Y0020.3

F 3142 NEW TIPS RESET #2
DI 733 N DO 164 N
EW TIP2 WTP RST2
N00639 R0346.0 Y0092.5 X0001.2 K0008.0 R0346.0

G 3144 INITIATE AUTO TIP MEMORY 2
TIP MEM DO 742 D DI 11 AUTO/MAI TIP MEM
2 TSR2 PLC AUTO NT SS 2
Y0119.1 K0006.7
H
DO 954 C INIT AUT
LRAV XFR O TD PB2
N00640 R0335.0 Y0094.6 Y0000.5 X0091.1 R0332.0

I 3152 TIP DRESS MEMORY WC #2
DRESS CA DO 759 T DO 6 RBT DI 730 W TD MEM W
P TC2 D MTRON2 @ MAINT ELD CMP2 C #2
R0332.0
J
TD MEM W
C #2
N00641 X0091.4 R0332.0 K0008.0 Y0000.5 X0018.7 R0335.0

K 3158 DRESS CAPS AFTER TIP CHNGE2
DI 733 N TD MEM W AUTO/MAI DO 6 RBT DI 152 T DRESS CA
EW TIP2 C #2 NT SS @ MAINT D BYPSS2 P TC2
N00642 X0091.2 Y0019.0

L 3164 AUTO TIP DRESS #2
DI 731 M DO 153 A
ANT REQ2 UTO TD 2
R0335.0 Y0050.5
M
DRESS CA DO 406 N
P TC2 TFD 2APP
R0346.0
N
TIP MEM
2
N00643 Y0093.7 Y0119.1 R0352.0

O 3170 PULLED TIP SEAL WC #2
DO 752 T DO 954 C PULLDTIP
IP WTR2 LRAV XFR SEAL 2
Ladder Diagram 81
N00644 R0352.0 ACT D0613.0

A 3173 SUB 3 0015 PULLED TIMER WC #2
SEAL 2 P TIMER2
N00645 Y0018.5 X0001.2 Y0094.6

B 3177 TIP DRESS MOTOR ON #2
DO 150 D DI 11 DO 759 T
RSR ON 2 PLC AUTO D MTRON2
K0007.0 Y0000.3 Y1020.6

C TIP DRESS VALVE 2
TEACH TD DO 4 RBT RO 7 TD
ENABLE2 IN TCH ENABLE 2
N00646 X1020.5 X0000.0 X0013.6 R0220.7

D 3185 PULLED TIP BYPASS 2
RI 6 WTR DI 1 EXT DI 111 A DI 959 P
FL SW2 RNENBL UTOTIPCH LDTIP 2
R0220.7 D0613.0
E
DI 959 P PULLEDTI
LDTIP 2 P TIMER2
N00647 K0006.3 Y0018.7

F 3192 TIP DRESS MTR FLT BYPASS #2
TD MTR F DO 152 T
LT BYPS2 DMFL BY2
N00648 D0608.0 R0410.0 R0413.0

G 3194 TD FAULT2
1TIM2 TOK2
N00649 Y0018.5 X0094.2 K0006.3 Y0091.3 R0410.0

H 3197 TD CURRENT OK FROM WC2
DO 150 D DI 755 T TD MTR F DO 732 R TDCURREN
RSR ON 2 IP DR OK LT BYPS2 ST WLD2 TOK2
R0410.0
I
TDCURREN
TOK2
N00650 R0413.0 ACT D0609.0

J 3203 SUB 3 0017 TD MOTOR OFF 2 FAULT TIMER 2
2TIM2
N00651 Y0018.5 ACT D0608.0

DO 150 D TMR TDMTROFF
RSR ON 2 1TIM2
N00652 Y0091.3 R0410.0 D0609.0 R0416.0

L 3211 TD MOTOR FAULT 2
DO 732 R TDCURREN TDMTROFF TDMTRFLT
ST WLD2 TOK2 2TIM2 2
R0406.0
M
TPRESFLT
2
R0416.0
N
TDMTRFLT
2
N00653 R0416.0 Y0018.6

O 3218 TIP DRESS MOTOR FAULT #2
TDMTRFLT DO 151 T
2 DM FLT 2
Ladder Diagram 82
N00654 Y0118.2 ACT D0607.0

A 3220 SUB 3 0022 TIP RESISTANCE FAULT TIMER 2
DO 947 R TMR TPRESFLT
ESCHKMD2 TIM2
N00655 D0607.0 R0407.0 R0406.0

B 3224 TIP RESISTANCE FAULT2
TIM2 LAT2 2
N00656 Y0118.2 X0094.3 K0007.1 Y0091.3 R0407.0

C 3227 TIP RESISTANCE FAULT LATCH2
DO 947 R DI 756 T TIP RESI DO 732 R TPRESFLT
ESCHKMD2 PDRRSOK2 ST BYPS2 ST WLD2 LAT2
R0407.0
D
TPRESFLT
LAT2
N00657 X0018.4 Y0121.2 Y0119.0 F1000.5 R0221.7

E 3233 RUNTIP DRESS DUMP MACRO2
DI 149 I DO 971 P DO953 CL FAULT DI 967 R
NITTPDR2 EDDMPAPP RMOTZN2 NTDDMP2
X0018.6 X0091.2 Y0019.0 Y0121.7

F
DI 151 T DI 731 M DO 153 A DO 976
D DMP R2 ANT REQ2 UTO TD 2 TPWRCMP2
N00658 K0009.1 K0009.1

G 3243 S NTSR ENABLE 2 SS
NTSRENB2 NTSRENB2
SS SS
N00659 K0009.1 X1025.1 K0009.1

H 3245 R NTSR ENABLE 2 SS
NTSRENB2 FAULT NTSRENB2
SS RESET SS
K0009.1 X0091.4
I
NTSRENB2 DI 733 N
SS EW TIP2
N00660 K0015.7 K0015.7

J 3251 S DTSR ENABLE 2 SS
DTSRENB2 DTSRENB2
SS SS
N00661 K0015.7 X1025.1 K0015.7

K 3253 R DTSR ENABLE 2 SS
DTSRENB2 FAULT DTSRENB2
SS RESET SS
K0015.7 X0091.5
L
DTSRENB2 DI 734 D
SS RSSTIP2
N00662 K0009.1 K0006.6 Y0092.4

M 3259 NEW TIP STEPPER RESET#2
NTSRENB2 NEW TIP DO 741 N
SS PB2 TSR2
X0019.3
N
DI 156 N
EWTPRST2
O
Ladder Diagram 83
N00663 K0015.7 K0009.2 Y0092.5

A 3263 DRESS TIP STEPPER RESET#2
DTSRENB2 DTSR PB DO 742 D
SS 2 TSR2
Y0117.0
B
DO 937
STP RST2
N00664
C 3267 SUB72
SPE
N00665 ### P0017 ###

D 3268 SUB71 P0017
SP WATERVALVE2
N00666 X1020.5 X0001.6 Y0093.7

E 3270 TIP WATER FLOW #2
RI 6 WTR DI 15 SY DO 752 T
FL SW2 S WTR ON IP WTR2
N00667 X0014.0 R0000.5 Y1020.5

DI 113 R WTR RST RO 6 WTR
ST WTRSV PULSE OP RESET2
Y1020.5 X1020.5
G
RO 6 WTR RI 6 WTR
RESET2 FL SW2
X1025.1
H
FAULT
RESET
N00668
I 3280 SUB72
SPE
N00669 ### P0018 ###

J 3281 SUB71 P0018
SP OVRTMP/NOSTRK2
N00670 X1020.3 Y0094.4

K 3283 TRANSFORMER OVERTEMP#2
RI 4 XF DO 757 X
RMR OT2 FMR OT2
N00671 X1020.4 Y0094.5

L 3285 SERVO MOTOR OVERTEMP#2
RI 5 SRV DO 758 S
OMTR OT2 RVMTROT2
N00672 X1020.3 X1025.1 R0501.0

M 3287 TRANSFORMER OVERTEMP SEAL2
RI 4 XF FAULT XFRMR OT
RMR OT2 RESET MP SEAL2
R0501.0
N
XFRMR OT
MP SEAL2
O
Ladder Diagram 84
N00673 X1020.4 X1025.1 R0501.1

A 3291 SERVO MOTOR OVERTEMP SEAL2
RI 5 SRV FAULT SRVOMTR
OMTR OT2 RESET OT SEAL2
R0501.1
B
SRVOMTR
OT SEAL2
N00674 R0501.0 Y0020.2

C 3295 TRANSFORMER OVERTEMP FAULT #2
XFRMR OT DO 131 X
MP SEAL2 FMR OTF2
N00675 R0501.1 Y0020.1

D 3297 SG MOTOR OTEMP FAULT#2
SRVOMTR DO 162 S
OT SEAL2 GM OTF2
N00676
E 3299 SUB72
SPE
N00677 ### P0020 ###

F 3300 SUB71 P0020
SP AIR
N00678 X1020.6 Y0001.5

G 3302 END OF ARM AIR ON
RI 7 AIR DO 14 EO
FL SW A AIR ON
N00679
H 3304 SUB72
SPE
N00680 ### P0025 ###

I 3305 SUB71 P0025
SP TOUCHUP1
N00681 K0000.1 Y0054.4

J 3307 PROGRAM TOUCHUP REQUEST
TOUCHUP1 DO 437 P
ENB RGTCHREQ
N00682
K 3309 SUB72
SPE
O
7 PMC Logic (S-Logic)- Spot / Stud with Servo Tip Dress
for R-30iB Controllers

Page 103 of 103
[f3l1sgstu1] Ladder Diagram 1
N00001 R0000.0 R0000.0

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

C 4 NO IMMEDIATE STOP
ALWAYS__ NO_IMSTP
ON
N00003 X0000.0 R0100.5 K0004.5 G1000.1

D 6 NO HOLD
DI_1_EXT BREAK_A_ EQUALENB NO_HOLD
_RNENBL NO_HOLD L_1_2_SS
N00004 X1026.4 R0100.5

E 10 S BREAK A NO HOLD
SI12_HOL BREAK_A_
DSW NO_HOLD
N00005 X1026.5 R0100.5

F 12 R BREAK A NO HOLD
SI13_RES BREAK_A_
ETSW NO_HOLD
X1026.4 X1025.6
G
SI12_HOL CYCLE___
DSW START
X0000.1 X1026.4
H
DI_2_EX_ SI12_HOL
RNEN_RST DSW
N00006 R0000.0 G1000.2

I 20 SAFE SPEED
ALWAYS__ SFSPD
ON
N00007 X1000.3 G1000.3

J 22
O
N00008 X1025.1 G1000.4

A 24 FAULT RESET
FAULT___ RB_FAULT
RESET _RESET
X0000.1 X0001.2
B
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
X1026.5
C
SI13_RES
ETSW
X0000.3
D
DI_4_EXT
_CY_STRT
X0000.2
E
DI_3_EXT
MTR_ON
Y0119.6
F
DO_959_F
LT_RESET
R0223.0
G
DI_976_M
AN_WELD1
R0220.4
H
DI_956_R
EFEDWLD1
R0223.1
I
DI_977_M
AN_WELD2
N00009 X1000.6 G1000.6

J 36 GO HOME
HOME
N00010 R0000.0 G1000.7

K 38 ENABLE
ALWAYS__ ENABLE
ON
N00011 F1000.0 Y1000.0

L 40
COMMAND_
ENABLE
N00012 F1000.1 Y1000.1

M 42
SYSTEM__
READY
Y1025.5
N MOTORS ENABLE
MOTORS__
ENABLE
N00013 F1000.2 Y1000.2

O 45
PROGRAM_
RUNNING
N00014 F1000.3 Y1000.3

A 47
PAUSED
N00015 F1000.4 Y1000.4

B 49
HELD
Y0000.0
C ROBOT RUN ENABLE INTERRUPT ACK
DO_1_RUN
_ENB_ACK
N00016 F1000.5 ACT R0338.0

D 52 SUB 3 0031 INTERNAL FAULT DELAY
FAULT TMR INT_FLT_
__DELAY
N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

E 56
FAULT RB_FAULT FILTERED INT_FLT_
_RESET _FAULT __DELAY
Y0120.2 Y0000.4
F ROBOT CONTROLLER FAULT
DO_963__ DO_5_RBT
PRG_FLT _CNT_FLT
Y0001.6
G
DO_15_CO
LL_DTCT
N00018 F1000.6 Y1000.6

H 64
AT_HOME
Y0002.0 Y0000.1
I ROBOT AT HOME
DO_17_RB DO_2_RBT
T_@_HM1 _@_HOME
Y0002.1
J
DO_18_RB
T_@_HM2
Y0002.2
K
DO_19_RB
T_@_HM3
Y0002.3
L
DO_20_RB
T_@_HM4
Y0002.4
M
DO_21_RB
T_@_HM5
Y0002.5
N
DO_22_RB
T_@_HM6
Y0002.6
O
DO_23_RB
T_@_HM7
N00019 F1000.7 Y1000.7

A 74
TPENABLE
Y0119.7 Y0000.3
B ROBOT IN TEACH
DO_960__ DO_4_RBT
AUTO_KEY _IN_TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

C 78
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.0
D S
ECO24___ FACILITY
FC128 _CODE_11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

E 87
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

F
2 R1401.7 R1405.1
G
ECO16 ERROR_4
N00022 R1405.0 R1405.1 G1000.4 R1405.2

H 102 FENCE FAULT
FACILITY ERROR_4 RB_FAULT FENCE___
_CODE_11 _RESET FAULT
R1405.2
I
FENCE___
FAULT
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

J 107 POWER FAIL RECOVERY
INT_EXT_ FAULT BRK_PWR_ COMMAND_ SYSTEM__ PWR_FAIL
MTR_ON FL_RCVRY ENABLE READY _RECVRY
R0000.2
K
INT_EXT_
CYC_STRT
K0010.3
L
PWR_FAIL
_RECVRY
N00024 K0010.3 ACT R1466.0

M 115 SUB 3 0027 BREAK POWER FAIL RECOVERY
PWR_FAIL TMR BRK_PWR_
_RECVRY FL_RCVRY
O
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

A 119
DO_4_RBT COMMAND_ DO_5_RBT INT_EXT_ INT_EXT_ SYSTEM__ STEP
_IN_TCH ENABLE _CNT_FLT MTR_ON CYC_STRT READY
R1404.5 Y0000.2
B
DRP_AUTO DO_3_RBT
_FAULT _IN_AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

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

D 136 INPUT SIMULATED
DO_958_I DO_581_I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R0330.2 R0386.1 R1404.5

E 138 S DROP AUTO FAULT
FC_AVAIL APPL____ FC_ZERO FAULT RB_FAULT SERVOGUN SVGN320_ DRP_AUTO
ALARMS _RESET _ALARM 326_LTCH _FAULT
N00028 F1000.5 R1404.5

F 146 R DROP AUTO FAULT
FAULT DRP_AUTO
_FAULT
G1000.4
G
RB_FAULT
_RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

H 149
FAULT ECO33___ ECO_____ FC_AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

I 153
FC_AVAIL ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___
1 R1402.6 R1402.7 R1404.3

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

K 163
1 R1402.6 R1402.7 R0330.0

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

M 173
1 R1402.6 R1402.7 R0330.1

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

A 183
1 R1402.6 R1402.7 R0330.2

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

C 193
1 R1402.6 R1402.7 R0330.3

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

E 203
1 R1402.6 R1402.7 R0330.4

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

G 213
1 R1402.6 R1402.7 R1406.0

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

I 223
1 R1402.6 R1402.7 R1404.2

J
ECO23___ ECO24___ FC_ZERO
FC64 FC128
O
N00038 R1404.1 ACT R1404.3

A 233 SUB57 0001 R
ECO_____ DIFU SPOT____
RETRIEVE ALARM
R0330.0
B R
ARC_____
ALARM
R0330.1
C R
SEALER__
ALARM
R0330.2
D R
SERVOGUN
_ALARM
R0330.3
E R
TOOLCHNG
__ALARM
R0330.4
F R
SYSTEM__
_ALARM
R1405.0
G R
FACILITY
_CODE_11
R1406.0
H R
FACILITY
_CODE_15
N00039 R1404.4 ACT R1404.6

I 244 SUB 3 0006
FC_AVAIL TMR RETRIEVE
_DELAY
N00040 R1404.6 R1404.1

J 248 S
RETRIEVE ECO_____
_DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

K 250 SUB 3 0007 R
ECO_____ TMR ECO_____
RETRIEVE RETRIEVE
N00042 Y0015.5 Y0015.5

L 254 S WELD FAULT #1
DO_126_W DO_126_W
LD_FLT_1 LD_FLT_1
N00043 X0083.1 Y0015.5

M 256 R WELD FAULT #1
DI_666_W DO_126_W
ELD_CMP1 LD_FLT_1
N00044 K0010.1 K0010.0 Y1025.5 R0000.1

N 258 S
EXT_MTR_ TEACH___ MOTORS__ INT_EXT_
ON MEMORY ENABLE MTR_ON
N00045 Y1025.5 R0000.1

O 262 R
MOTORS__ INT_EXT_
ENABLE MTR_ON
N00046 X0000.2 K0010.0 K0010.5 K0010.1

A 264 EXTERNAL MOTORS ON
DI_3_EXT TEACH___ MAINT_ME EXT_MTR_
MTR_ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

B
SI13_RES DO_5_RBT FAULT
ETSW _CNT_FLT
X1025.1
C
FAULT___
RESET
X0000.1 X0001.2
D
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
N00047 K0010.2 K0010.0 K0010.5 R0000.2

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

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

G
SI13_RES DO_5_RBT FAULT
ETSW _CNT_FLT
X1025.1
H
FAULT___
RESET
X0000.1 X0001.2
I
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
R0340.0
J
MANUAL__
WELD
N00049 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 292
DI_17_PG DI_18_PG DI_19_PG DI_20_PG DI_21_PG DI_22_PG DI_23_PG
_SLCT_1 _SLCT_2 _SLCT_4 _SLCT_8 _SLCT_16 _SLCT_32 _SLCT_64
1 X0002.7 R0507.0
L PROGRAM 1
DI_24_PG PROGRAM_
_SLCT128 1
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 301
1 X0002.7 R0507.1
N PROGRAM 2
DI_24_PG PROGRAM_
_SLCT128 2
O
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 310
1 X0002.7 R0507.2
B PROGRAM 3
DI_24_PG PROGRAM_
_SLCT128 3
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 319
1 X0002.7 R0507.3
D PROGRAM 4
DI_24_PG PROGRAM_
_SLCT128 4
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 328
1 X0002.7 R0507.4
F PROGRAM 5
DI_24_PG PROGRAM_
_SLCT128 5
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 337
1 X0002.7 R0507.5
H PROGRAM 6
DI_24_PG PROGRAM_
_SLCT128 6
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 346
1 X0002.7 R0507.6
J PROGRAM 7
DI_24_PG PROGRAM_
_SLCT128 7
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 355
1 X0002.7 R0507.7
L PROGRAM 8
DI_24_PG PROGRAM_
_SLCT128 8
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 364
1 X0002.7 R0508.0
N PROGRAM 9
DI_24_PG PROGRAM_
_SLCT128 9
O
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 373
1 X0002.7 R0508.1
B PROGRAM 10
DI_24_PG PROGRAM_
_SLCT128 10
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 382
1 X0002.7 R0508.2
D PROGRAM 11
DI_24_PG PROGRAM_
_SLCT128 11
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 391
1 X0002.7 R0508.3
F PROGRAM 12
DI_24_PG PROGRAM_
_SLCT128 12
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 400
1 X0002.7 R0508.4
H PROGRAM 13
DI_24_PG PROGRAM_
_SLCT128 13
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 409
1 X0002.7 R0508.5
J PROGRAM 14
DI_24_PG PROGRAM_
_SLCT128 14
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 418
1 X0002.7 R0508.6
L PROGRAM 15
DI_24_PG PROGRAM_
_SLCT128 15
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 427
1 X0002.7 R0508.7
N PROGRAM 16
DI_24_PG PROGRAM_
_SLCT128 16
O
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 436
1 X0002.7 R0509.0
B PROGRAM 17
DI_24_PG PROGRAM_
_SLCT128 17
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 445
1 X0002.7 R0509.1
D PROGRAM 18
DI_24_PG PROGRAM_
_SLCT128 18
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 454
1 X0002.7 R0509.2
F PROGRAM 19
DI_24_PG PROGRAM_
_SLCT128 19
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 463
1 X0002.7 R0509.3
H PROGRAM 20
DI_24_PG PROGRAM_
_SLCT128 20
O
N00069 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 472
DI_5_MV_ DO_3_RBT PROGRAM_ PAUSED AT_HOME DI_11___ NO_HOLD
TO_POUNC _IN_AUTO RUNNING PLC_AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

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

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

H
DO_3_RBT PAUSED PROGRAM_ DI_2_EX_ DI_11___
_IN_AUTO RUNNING RNEN_RST PLC_AUTO
R0223.0
I
DI_976_M
AN_WELD1
R0223.1
J
DI_977_M
AN_WELD2
1 R0000.1 D0603.0 Y0000.4 R0100.5 F1000.5 G1000.5

K UOP CYCLE START
INT_EXT_ CYCLE___ DO_5_RBT BREAK_A_ FAULT UOP_CYC_
MTR_ON STRT_DLY _CNT_FLT NO_HOLD START
N00070 G1000.5 F1000.2 ACT D0603.0

L 524 SUB 3 0008 S CYCLE START DELAY
UOP_CYC_ PROGRAM_ TMR CYCLE___
START RUNNING STRT_DLY
N00071 D0603.0 ACT D0603.0

M 529 SUB 3 0009 R CYCLE START DELAY
CYCLE___ TMR CYCLE___
STRT_DLY STRT_DLY
N00072 F1000.2 D0603.0

N 533 R CYCLE START DELAY
PROGRAM_ CYCLE___
RUNNING STRT_DLY
N00073
O 535 SUB 1
END1
N00074 Y0119.7 ACT K0010.4

A 536 SUB 3 0011 TEACH MEMORY DELAY
DO_960__ TMR TEACH_ME
AUTO_KEY M_DELAY
N00075 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

B 540 TEACH MEMORY
DO_4_RBT SI13_RES FAULT___ CYCLE___ TEACH___
_IN_TCH ETSW RESET START MEMORY
K0010.4
C
TEACH_ME
M_DELAY
K0010.0
D
TEACH___
MEMORY
N00076 K0008.0 R0350.0

E 547 MAINTENANCE MODE
AUTO/MAI IN_MAINT
NT_SS
N00077 R0350.0 ACT D0610.0

F 549 SUB 3 0012 MAINTENANCE MODE DELAY
IN_MAINT TMR MAINT___
DELAY
N00078 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

G 553 MAINTENANCE MEMORY
MAINT___ DO_3_RBT DO_2_RBT SI13_RES FAULT___ MAINT_ME
DELAY _IN_AUTO _@_HOME ETSW RESET M
K0010.5 X0000.6
H
MAINT_ME DI_7_MAI
M NT_PSCLR
N00079 X0000.2 X0000.3 Y0000.2 K0010.6

I 562 EXTERNAL START ANTI-TIE DOWN
DI_3_EXT DI_4_EXT DO_3_RBT EXT_STRT
MTR_ON _CY_STRT _IN_AUTO _ANTI_TD
K0010.6
J
EXT_STRT
_ANTI_TD
N00080 X0002.0 G1001.0

K 567
DI_17_PG PNS_1
_SLCT_1
N00081 X0002.1 G1001.1

L 569
DI_18_PG PNS_2
_SLCT_2
N00082 X0002.2 G1001.2

M 571
DI_19_PG PNS_3
_SLCT_4
N00083 X0002.3 G1001.3

N 573
DI_20_PG PNS_4
_SLCT_8
N00084 X0002.4 G1001.4

O 575
DI_21_PG PNS_5
_SLCT_16
N00085 X0002.5 G1001.5

A 577
DI_22_PG PNS_6
_SLCT_32
N00086 X0002.6 G1001.6

B 579
DI_23_PG PNS_7
_SLCT_64
N00087 X0002.7 G1001.7

C 581
DI_24_PG PNS_8
_SLCT128
N00088 X0000.6 K0008.0 Y0120.5

D 583 MAINTNANCE POS CLEAR
DI_7_MAI AUTO/MAI DO_966__
NT_PSCLR NT_SS MAINTCLR
N00089 K0008.0 Y0001.4

E 586 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO_13_SN
NT_SS DRBT_MNT
N00090 Y0112.3 Y0003.0

F 588 CLEAR OF ZONE #1
DO_900__ DO_25_CL
CLR_ZN_1 R_ZON_1
N00091 Y0112.4 Y0003.1

G 590 CLEAR OF ZONE #2
DO_901__ DO_26_CL
CLR_ZN_2 R_ZON_2
N00092 Y0112.5 Y0003.2

H 592 CLEAR OF ZONE #3
DO_902__ DO_27_CL
CLR_ZN_3 R_ZON_3
N00093 Y0112.6 Y0003.3

I 594 CLEAR OF ZONE #4
DO_903__ DO_28_CL
CLR_ZN_4 R_ZON_4
N00094 Y0112.7 Y0003.4

J 596 CLEAR OF ZONE #5
DO_904__ DO_29_CL
CLR_ZN_5 R_ZON_5
N00095 Y0113.0 Y0003.5

K 598 CLEAR OF ZONE #6
DO_905__ DO_30_CL
CLR_ZN_6 R_ZON_6
N00096 Y0113.1 Y0003.6

L 600 CLEAR OF ZONE #7
DO_906__ DO_31_CL
CLR_ZN_7 R_ZON_7
N00097 Y0113.2 Y0003.7

M 602 CLEAR OF ZONE #8
DO_907__ DO_32_CL
CLR_ZN_8 R_ZON_8
N00098 Y0113.3 Y0004.0

N 604 CLEAR OF ZONE #9
DO_908__ DO_33_CL
CLR_ZN_9 R_ZON_9
N00099 Y0113.4 Y0004.1

O 606 CLEAR OF ZONE #10
DO_909_C DO_34_CL
LR_ZN_10 R_ZON_10
N00100 Y0113.5 Y0004.2

A 608 CLEAR OF ZONE #11
DO_910_C DO_35_CL
LR_ZN_11 R_ZON_11
N00101 Y0113.6 Y0004.3

B 610 CLEAR OF ZONE #12
DO_911_C DO_36_CL
LR_ZN_12 R_ZON_12
N00102 Y0113.7 Y0004.4

C 612 CLEAR OF ZONE #13
DO_912_C DO_37_CL
LR_ZN_13 R_ZON_13
N00103 Y0116.4 Y0004.5

D 614 CLEAR OF ZONE #14
DO_933_C DO_38_CL
LR_ZN_14 R_ZON_14
N00104 Y0118.7 Y0004.6

E 616 CLR OF INDEPENDENT MOTION ZN1
DO952_CL DO_39_CL
RMOTZN1 R_INDMOT
N00105 Y0119.0 Y0004.7

F 618 CLR OF INDEPENDENT MOTION ZN2
DO953_CL DO_40_CL
RMOTZN2 R_INDMT2
N00106 Y0119.1 X0000.0 Y0000.6

G 620 CLEAR TO ADVANCE TRANSFER
DO_954_C DI_1_EXT DO_7_CLR
LRAV_XFR _RNENBL _ADV
N00107 Y0119.2 X0000.0 Y0000.7

H 623 CLEAR TO RETURN TRANSFER
LRET_XFR _RNENBL _RET_XFR
N00108 Y0119.3 X0000.0 Y0001.0

I 626 CLEAR TO UNCLAMP
LR_UNCLP _RNENBL _2_UNCLP
N00109 Y0000.3 R1000.0 Y0073.0

J 629 PROMPT BOX
DO_4_RBT DO_19001 DO_585__
_IN_TCH _PRPTBX PRMPT_BX
N00110 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

K 632
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.3
L SYSTEM FACILITY CODE (24)
ECO24___ SYS_FCLY
FC128 CODE
N00111 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 641
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-001 OPERATOR PANEL E-STOP
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 659
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-002 TEACH PENDANT E-STOP
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 677
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-003 DEADMAN SWITCH RELEAS
N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 695
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SRVO-005 ROBOT OVERTRAVELL
N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 713
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-007 EXTERNAL EMERGENCY ST
N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 731
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-408 DCS SSO EXT EMERGSTOP
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 749
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-50 COLLISION DETECT
N00118 R1406.3 X1025.1 Y0001.6

D 767 COLLISION DETECT
SRVO-50 FAULT___ DO_15_CO
RESET LL_DTCT
Y0001.6
E
DO_15_CO
LL_DTCT
N00119 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 771
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

H SRVO-65 LOW BATTERY
ECO13 ECO14 ECO15 ECO16 SRVO-65_
LOW_BATT
N00120 F1001.0 Y0001.1

I 789 ROBOT BATTERY LOW
BATALM DO_10_RB
T_BAT_LW
N00121 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 791
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-101 ROBOT OVERATRAVEL
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 809
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE_EXCE
N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 827
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-199 CONTROL STOP
_CONTROL
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 845
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-232 NTED INPUT
_NTED_IN
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 863
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SRVO-233 TP OFF IN T1,T2/DOOR
_TP_OFF
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 881
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-280 SVOFF INPUT
_SVOFF_I
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 899
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-378 SFDIxx STATUS ABNOR
_SFDIxx
N00128 F1008.1 ACT R0388.1

A 917 SUB24 0001 F1008.1 SYSRST DELAY ON
SYSRST TMRB F1008.1_
DELAY ON
B 0000000124
N00129 R0387.0 R0388.1 R0388.0

C 922 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 F1008.1_ OPSFTY_F
_SFDIxx DELAY ON LT_LATCH
R0388.0 F1000.5
D
OPSFTY_F FAULT
LT_LATCH
N00130 R0388.0 Y0073.1

E 928 SAFETY CHAIN FAULT
OPSFTY_F DO_586_S
LT_LATCH FTY_CHN
N00131 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 930
SYS_FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

H SYST-034 HOLD SIGNAL FROM SOP/
_HOLD_SI
N00132 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

I 948
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

K SYST-038 OPERATION MODE T1 SEL
_OPERATI
N00133 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 966
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

N
O
N00134 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 984
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SYST-040 OPERATION MODE AUTO S
_OPERATI
N00135 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1002
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SYST-042 DEADMAN DEFEATED
_DEADMAN
N00136 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1020
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SYST-043 TP DISABLE IN T1/T2
_TP_DISA
N00137 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1038
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SYST-045 TP ENABLE IN AUTO MO
_TP_ENAB
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1056
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SYST-154 NO START IN ISOLATE/B
_NO_STAR
N00139 R0330.2 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1074
_ALARM
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0385.0

C SVGN-320 THCKNESS1 ERR REQ RES
_THK1ERR
N00140 R0330.2 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1092
_ALARM
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0386.0

F SVGN-326 THKNESS2 ERR REQ RES
_THK2ERR
N00141 R0385.0 R0386.1

G 1110 SVGN 320 AND 326 LATCH
SVGN-320 SVGN320_
_THK1ERR 326_LTCH
R0386.0
H
SVGN-326
_THK2ERR
R0386.1 G1000.4
I
SVGN320_ RB_FAULT
326_LTCH _RESET
N00142 R0397.0 F1000.0 R0397.0

J 1116 FILTERED FAULT
FILTERED COMMAND_ FILTERED
_FAULT ENABLE _FAULT
R0398.0
K
FILTER__
FLT_GRP1
R0399.0
L
FILTER__
FLT_GRP2
O
N00143 R0365.0 R0398.0

A 1121 FILTER FAULTS GROUP1
SRVO-001 FILTER__
FLT_GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0__
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0__
RESERVED
R0373.0
I
SRVO-199
_CONTROL
R0374.0
J
SRVO-232
_NTED_IN
R0375.0
K
SRVO-233
_TP_OFF
R0376.0
L
SRVO-280
_SVOFF_I
R0385.0
M
SVGN-320
_THK1ERR
R0386.0
N
SVGN-326
_THK2ERR
R0370.1
O
SRVO-408
R1456.0
A
APPL____
ALARMS
N00144 R0377.0 R0399.0

B 1138 FILTER FAULTS GROUP2
SYST-034 FILTER__
_HOLD_SI FLT_GRP2
R0378.0
C
SYST-038
_OPERATI
R0379.0
D
SYST-039
R0380.0
E
SYST-040
_OPERATI
R0381.0
F
SYST-042
_DEADMAN
R0382.0
G
SYST-043
N00145 R0330.0 F1000.5 R1456.0

A 1153
ARC_____ FAULT APPL____
ALARM ALARMS
R0330.1
B
SEALER__
ALARM
R0330.3
C
TOOLCHNG
__ALARM
R0330.4
D
SYSTEM__
_ALARM
R1404.3
E
SPOT____
ALARM
R1456.0
F
APPL____
ALARMS
N00146 D0001.0 Y0079.0

G 1161 S TOOL CHANGER LOCK
TOOL_CHA DO_633_T
NGE_APP C_LOCK
Y0079.1
H R TOOL CHANGER UNLOCK
DO_634_T
C_UNLOCK
N00147 D0001.0 ACT

I 1164 SUB10 0000
TOOL_CHA JMP
NGE_APP
N00148
J 1167 SUB66 P0001
CALLU TOOL_CHANGING
N00149
K 1169 SUB30
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

A 1210
DI_641__ DI_642__ DI_643__ DI_644__ GUN_3_ON
TOOL_ID1 TOOL_ID2 TOOL_ID4 TOOL_ID8 _ARM
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

B 1215
DI_641__ DI_642__ DI_643__ DI_644__ GUN_4_ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

C 1220
DI_641__ DI_642__ DI_643__ DI_644__ GUN_5_ON
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

D 1225
DI_641__ DI_642__ DI_643__ DI_644__ GUN_6_ON
N00170 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

E 1230
DI_641__ DI_642__ DI_643__ DI_644__ GUN_7_ON
N00171 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

F 1235
DI_641__ DI_642__ DI_643__ DI_644__ GUN_8_ON
N00172 R0321.0 R0328.6

GUN_1_ON TOOLONRO
_ARM BOT
R0322.0
H
GUN_2_ON
_ARM
R0323.0
I
GUN_3_ON
_ARM
R0324.0
J
GUN_4_ON
_ARM
R0325.0
K
GUN_5_ON
_ARM
R0326.0
L
GUN_6_ON
_ARM
R0326.1
M
GUN_7_ON
_ARM
R0326.2
N
GUN_8_ON
_ARM
O
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

A 1210
DI_641__ DI_642__ DI_643__ DI_644__ GUN_3_ON
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

B 1215
DI_641__ DI_642__ DI_643__ DI_644__ GUN_4_ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

C 1220
DI_641__ DI_642__ DI_643__ DI_644__ GUN_5_ON
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

D 1225
DI_641__ DI_642__ DI_643__ DI_644__ GUN_6_ON
N00170 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

E 1230
DI_641__ DI_642__ DI_643__ DI_644__ GUN_7_ON
N00171 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

F 1235
DI_641__ DI_642__ DI_643__ DI_644__ GUN_8_ON
N00172 R0321.0 R0328.6

GUN_1_ON TOOLONRO
_ARM BOT
R0322.0
H
GUN_2_ON
_ARM
R0323.0
I
GUN_3_ON
_ARM
R0324.0
J
GUN_4_ON
_ARM
R0325.0
K
GUN_5_ON
_ARM
R0326.0
L
GUN_6_ON
_ARM
R0326.1
M
GUN_7_ON
_ARM
R0326.2
N
GUN_8_ON
_ARM
O
N00173 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

A 1249
GUN_1_ON GUN_2_ON GUN_3_ON GUN_4_ON GUN_5_ON GUN_6_ON GUN_7_ON
_ARM _ARM _ARM _ARM _ARM _ARM _ARM
1 R0326.2 R0348.0
B ANY GEO TOOL PRESENT ON ROBOT
GUN_8_ON GEOTOOLP
_ARM RSNT
N00174 X0080.0 Y0038.0

C 1258 STUD WLD BRACKET NOT PRESENT2
DI_641__ DO_305__
TOOL_ID1 TOOL_ID1
N00175 X0080.1 Y0038.1

D 1260
DI_642__ DO_306__
TOOL_ID2 TOOL_ID2
N00176 X0080.2 Y0038.2

E 1262
DI_643__ DO_307__
TOOL_ID4 TOOL_ID4
N00177 X0080.3 Y0038.3

F 1264
DI_644__ DO_308__
TOOL_ID8 TOOL_ID8
N00178 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

G 1266
DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__ DI_311__
TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6 TCSTND7
1 X0038.7 R0327.0
H GUN 1-8 (ALL TOOLS IN STAND)
DI_312__ GUN_1-8
TCSTND8
N00179 Y0117.4 K0011.1

I 1275 TOOL CHANGER RELEASE
DO_941__ TC____RE
TC_UNLCK LEASED
N00180 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

J 1277 S TOOL CHANGER LOCK
DO_940__ DO_3_RBT DI_637__ DI_638__ TOOLONRO DO_633_T
TC_LOCK _IN_AUTO RDY2LCK1 RDY2LCK2 BOT C_LOCK
F1000.7 Y0119.7 K0015.0 R0328.6

K
TPENABLE DO_960__ TC_LOCK_ TOOLONRO
AUTO_KEY PB BOT
N00181 Y0117.4 Y0117.3 Y0000.2 Y0079.0

L 1290 R TOOL CHANGER LOCK
DO_941__ DO_940__ DO_3_RBT DO_633_T
TC_UNLCK TC_LOCK _IN_AUTO C_LOCK
F1000.7 Y0119.7 K0016.0

M
TPENABLE DO_960__ TC_UNLOC
AUTO_KEY K_PB
N00182 X0079.0 Y0040.6

N 1299
DI_633__ DO_327_T
TC_LOCKD CCOUPMON
O
N00183 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

A 1301
TC____RE DO_633_T DO_3_RBT DI_645_T DI_646_T
LEASED C_LOCK _IN_AUTO SIV SRV
F1000.7 Y0119.7 K0016.0 R0328.6 2

B
TPENABLE DO_960__ TC_UNLOC TOOLONRO
AUTO_KEY K_PB BOT
1 R0328.6 Y0079.1
C TOOL CHANGER UNLOCK
TOOLONRO DO_634_T
BOT C_UNLOCK
2
D
N00184 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

E 1315 TC LOCK PUSH BUTTON
TC_LOCK_ TC_UNLOC TPENABLE DO_960__ TC_LOCK_
PB K_PB AUTO_KEY PB
N00185 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

F 1320 TC UNLOCK PUSH BUTTON
TC_UNLOC TC_LOCK_ TPENABLE DO_960__ TC_UNLOC
K_PB PB AUTO_KEY K_PB
N00186 X0079.1 Y0040.7

G 1325
DI_634__ DO_328_T
TC_ULCKD CRELMON
N00187 R0328.6 K0008.0 R0218.4

H 1327 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI_940_T
BOT NT_SS C_NOTOOL
N00188 Y0117.5 Y0117.6 Y0000.2 Y0038.5

I 1330 TOOL CHANGER OPEN COVERS
DO_942__ DO_943__ DO_3_RBT DO_310_T
TCOPNCVR TCCLSCVR _IN_AUTO C_OPNCVR
K0011.4 K0011.5 Y0000.3

J
TC_OPENG TC__CLOS DO_4_RBT
UNCOVER GUNCOVER _IN_TCH
N00189 Y0117.5 Y0117.6 Y0000.2 Y0038.6

K 1338 TOOL CHANGER CLOSE COVERS
DO_942__ DO_943__ DO_3_RBT DO_311_T
TCOPNCVR TCCLSCVR _IN_AUTO C_CLSCVR
K0011.5 K0011.4 Y0000.3

L
TC__CLOS TC_OPENG DO_4_RBT
GUNCOVER UNCOVER _IN_TCH
N00190 X0038.0 R0321.0 R0329.0

DI_305__ GUN_1_ON GUN1_POS
TCSTND1 _ARM ITION
X0038.0 X0039.3
N
DI_305__ DI_316_G
TCSTND1 EOTPDCK
O
N00191 X0038.1 R0322.0 R0329.1

A 1352 GUN2 POSITION
TCSTND2 _ARM ITION
X0038.1 X0039.3
B
DI_306__ DI_316_G
TCSTND2 EOTPDCK
N00192 X0038.2 R0323.0 R0329.2

C 1358 GUN3 POSITION
TCSTND3 _ARM ITION
X0038.2 X0039.3
D
DI_307__ DI_316_G
TCSTND3 EOTPDCK
N00193 X0038.3 R0324.0 R0329.3

E 1364 GUN4 POSITION
TCSTND4 _ARM ITION
X0038.3 X0039.3
F
DI_308__ DI_316_G
TCSTND4 EOTPDCK
N00194 X0038.4 R0325.0 R0329.4

G 1370 GUN5 POSITION
TCSTND5 _ARM ITION
X0038.4 X0039.3
H
DI_309__ DI_316_G
TCSTND5 EOTPDCK
N00195 X0038.5 R0326.0 R0329.5

I 1376 GUN6 POSITION
TCSTND6 _ARM ITION
X0038.5 X0039.3
J
DI_310__ DI_316_G
TCSTND6 EOTPDCK
N00196 X0038.6 R0326.1 R0329.6

K 1382 GUN7 POSITION
TCSTND7 _ARM ITION
X0038.6 X0039.3
L
DI_311__ DI_316_G
TCSTND7 EOTPDCK
N00197 X0038.7 R0326.2 R0329.7

TCSTND8 _ARM ITION
X0038.7 X0039.3
N
DI_312__ DI_316_G
TCSTND8 EOTPDCK
O
N00198 R0329.0 R0328.7

A 1394 ALL GUN1-8 POSITION
GUN1_POS GUN1-8_P
ITION OSITION
R0329.1
B
GUN2_POS
ITION
R0329.2
C
GUN3_POS
ITION
R0329.3
D
GUN4_POS
ITION
R0329.4
E
GUN5_POS
ITION
R0329.5
F
GUN6_POS
ITION
R0329.6
G
GUN7_POS
ITION
R0329.7
H
GUN8_POS
ITION
N00199 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1403
DI_316_G DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__
1 X0038.6 X0038.7 R0320.0

J TOOL 1 IN OPDOCK
DI_311__ DI_312__ TOOL1INO
N00200 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1413
1 X0038.6 X0038.7 R0320.1

L TOOL 2 IN OPDOCK
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1423
1 X0038.6 X0038.7 R0320.2

N TOOL 3 IN OPDOCK
O
N00202 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1433
1 X0038.6 X0038.7 R0320.3

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

C 1443
1 X0038.6 X0038.7 R0320.4

D TOOL 5 IN OPDOCK
N00204 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1453
1 X0038.6 X0038.7 R0320.5

F TOOL 6 IN OPDOCK
N00205 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1463
1 X0038.6 X0038.7 R0320.6

H TOOL 7 IN OPDOCK
N00206 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1473
1 X0038.6 X0038.7 R0320.7

J TOOL 8 IN OPDOCK
O
N00207 R0320.0 R0319.0

A 1483 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00208 X0082.6 Y0038.7

I 1492
DI_663_T DO_312_T
CCOMMOK CCOMMOK
N00209 X0082.7 Y0039.2

J 1494
DI_664_T DO_315_T
CTLSLDPW LSLIDPWR
N00210 X0079.4 X0079.5 G1008.4

K 1496 RTL1_L2SWITCHMISMATCH
DI_637__ DI_638__ UALM_5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI_637__ DI_638__
RDY2LCK1 RDY2LCK2
N00211 R0328.6 G1008.5

M 1502 NOTOOLONARM
TOOLONRO UALM_6
BOT
N00212 K0013.1 R0000.7 Y0126.7

N 1504 NO TOOL ON EOAT SS
NOTOOLON PART_PRE DO_1016_
EOATSS SENT NOEOATSS
N00213 K0013.1 R0000.7 K0013.1

O 1507 R NO TOOL ON EOAT SS
NOTOOLON PART_PRE NOTOOLON
EOATSS SENT EOATSS
N00214 Y0039.3 Y0039.3

A 1510 S WRONG TOOL IN STAND
DO_316_W DO_316_W
RNGTLSTD RNGTLSTD
N00215 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1512 R WRONG TOOL IN STAND
DO_316_W FAULT___ DO_2_RBT DO_316_W
RNGTLSTD RESET _@_HOME RNGTLSTD
N00216
C 1516 SUB72
SPE
N00217 ### WELDCONTROL1 ###

D 1517 SUB71 P0002
SP WELDCONTROL1
N00218 X0000.0 Y0083.0

E 1519 WELD CONTROLLER #1 ENABLE
DI_1_EXT DO_665_W
_RNENBL C1_ENBLE
N00219 X0087.6 Y0014.4

F 1521 WELD CONTROLLER COMM OK #1
DI_703_W DO_117_W
1_COMMOK C1COM_OK
N00220 Y0000.3 Y0083.1

G 1523 ROBOT IN TEACH TO WC #1
DO_4_RBT DO_666_R
_IN_TCH BTCH_WC1
N00221 K0004.7 Y0014.2 D0004.3

H 1525 WELD MODE IN WELD WC1
WELD_/_N DO_115_W WELDMODE
O_WELD1 D/NWD_MD OK1
Y0014.1
I WELD/ NO WELD SS
DO_114_W
D/NWD_SS
N00222 K0006.4 D0004.4

J 1529 WELD MODE IN WELD WC2
WELD_/_N WELDMODE
O_WELD2 OK2
Y0034.0
K
DO_273_W
LDN0WLD1
N00223 D0004.3 D0004.4 R0221.0

L 1532 REMOTE WELD / NO WELD MODE
WELDMODE WELDMODE DI_960_R
OK1 OK2 EM_WELD
N00224 X0086.1 Y0015.6

M 1535 I AVAILABLE WARNING #1
DI_690_I DO_127_I
_HI/LO AVL_WRN1
N00225 X0087.5 Y0017.3

N 1537 ADAPTIVE MODE ENABLE
DI_702_A DO_140_A
DP_MODE DP_MODE
N00226 X0083.0 Y0015.3

O 1539 IN WELD CYCLE #1
DI_665_I DO_124_I
NWLDCYC1 NWD_CY_1
N00227 X0083.1 Y0015.4

A 1541 HAS WELDED #1
DI_666_W DO_125_H
ELD_CMP1 AS_WLD_1
N00228 X0083.3 Y0014.3

B 1543 NO WELD TIMER FAULT #1
DI_668_W DO_116_N
ELD_FLT1 OWLDFLT1
N00229 Y0084.6 Y0084.7 Y0085.0 Y0085.1 Y0085.2 Y0085.3 Y0085.4 1

C 1545
DO_679__ DO_680__ DO_681__ DO_682__ DO_683__ DO_684__ DO_685__
BP_1 BP_2 BP_4 BP_8 BP_16 BP_32 BP_64
1 Y0085.5 R0306.0
D ROBOT WELD SCHEDULE WELD CTRL1
DO_686__ ROBOT_WS
BP_128 _WC#1
N00230 Y0084.6 Y0084.7 Y0085.0 Y0085.1 Y0085.2 Y0085.3 Y0085.4 1

E 1554
DO_679__ DO_680__ DO_681__ DO_682__ DO_683__ DO_684__ DO_685__
BP_1 BP_2 BP_4 BP_8 BP_16 BP_32 BP_64
1 Y0085.5 R0307.0
F
DO_686__ WLD_SCH_
BP_128 39_WC1
N00231 Y0014.1 R0220.6 Y0083.4

G 1563 WELD / NO WELD
DO_114_W DI_958_P DO_669_W
D/NWD_SS LDTIP_1 LD/NOWLD
N00232 X1020.2 X1020.0 X1020.1 D0004.0

H 1566 ALL WELD PARAMETER OK WC1
RI_3_WTR RI_1__XF RI_2_SRV LETSWELD
_FL_SW1 RMR_OT1 OMTR_OT1 WC1
O
N00233 Y0109.7 D0004.0 K0000.0 ACT R0363.0

DO_880__ LETSWELD DEBUG TMR BINARYTI
BP1_1 WC1 MER1
Y0110.0
B
DO_881__
BP2_1
Y0110.1
C
DO_882__
BP4_1
Y0110.2
D
DO_883__
BP8_1
Y0110.3
E
DO_884__
BP16_1
Y0110.4
F
DO_885__
BP32_1
Y0110.5
G
DO_886__
BP64_1
Y0110.6
H
DO_887__
BP128_1
N00234 Y0109.7 D0004.0 R0363.0 Y0084.6

DO_880__ LETSWELD BINARYTI DO_679__
BP1_1 WC1 MER1 BP_1
N00235 Y0110.0 D0004.0 R0363.0 Y0084.7

BP2_1 WC1 MER1 BP_2
N00236 Y0110.1 D0004.0 R0363.0 Y0085.0

BP4_1 WC1 MER1 BP_4
N00237 Y0110.2 D0004.0 R0363.0 Y0085.1

BP8_1 WC1 MER1 BP_8
N00238 Y0110.3 D0004.0 R0363.0 Y0085.2

BP16_1 WC1 MER1 BP_16
N00239 Y0110.4 D0004.0 R0363.0 Y0085.3

N00240 Y0110.5 D0004.0 R0363.0 Y0085.4

N00241 Y0110.6 D0004.0 R0363.0 Y0085.5

BP128_1 WC1 MER1 BP_128
N00242 Y0084.6 Y0084.7 Y0085.0 Y0085.1 Y0085.2 Y0085.3 Y0085.4 1

B 1615
DO_679__ DO_680__ DO_681__ DO_682__ DO_683__ DO_684__ DO_685__
BP_1 BP_2 BP_4 BP_8 BP_16 BP_32 BP_64
1 Y0085.5 R0360.0
DO_686__ NOWLDSCH
BP_128 WC1
N00243 R0360.0 X0087.6 K0000.0 Y0083.5

D 1624 PRESSURE SWITCH INPUT
NOWLDSCH DI_703_W DEBUG DO_670__
WC1 1_COMMOK PS_INPUT
K0000.0 Y0116.5
E
DEBUG DO_934__
RD_SCHD1
N00244 Y0120.6 F1000.3 Y0000.1 R0223.0

F 1631
DO_967_M PAUSED DO_2_RBT DI_976_M
AN_WELD1 _@_HOME AN_WELD1
X0015.0 K0008.0 Y0000.5 F1000.3 F1000.2

G
DI_121_R AUTO/MAI DO_6_RBT PAUSED PROGRAM_
M_MAN_W1 NT_SS _@_MAINT RUNNING
Y0000.1 F1000.2 F1000.3

H
DO_2_RBT PROGRAM_ PAUSED
_@_HOME RUNNING
N00245 Y0120.6 Y0000.1 F1000.2 F1000.3 R0213.6

DO_967_M DO_2_RBT PROGRAM_ PAUSED DI_902_W
AN_WELD1 _@_HOME RUNNING ELDHOME1
X0015.0 K0008.0
J
DI_121_R AUTO/MAI
M_MAN_W1 NT_SS
N00246 Y0048.3 Y0121.0 F1000.3 Y0000.1 R0220.4

DO_388_N DO_969_F PAUSED DO_2_RBT DI_956_R
UTFD_APP EDWLD1PB _@_HOME EFEDWLD1
N00247 K0008.6 D0612.0 K0008.6

DTSR_PB_ IF_PB_TO DTSR_PB_
1 1
N00248 K0008.6 D0612.0 K0008.6

1 1
N00249 K0005.1 D0612.0 K0005.1

NEW_TIP_ IF_PB_TO NEW_TIP_
PB1 PB1
N00250 K0005.1 D0612.0 K0005.1

PB1 PB1
N00251 K0005.2 D0612.0 K0005.2

INIT_AUT IF_PB_TO INIT_AUT
O_TD_PB1 O_TD_PB1
N00252 K0005.2 D0612.0 K0005.2

O_TD_PB1 O_TD_PB1
N00253 K0005.5 D0612.0 K0005.5

TIP_ALGN IF_PB_TO TIP_ALGN
_CLS_PB1 _CLS_PB1
N00254 K0005.5 D0612.0 K0005.5

_CLS_PB1 _CLS_PB1
N00255 K0005.6 D0612.0 K0005.6

_OPN_PB1 _OPN_PB1
N00256 K0005.6 D0612.0 K0005.6

_OPN_PB1 _OPN_PB1
N00257 K0005.7 D0612.0 K0005.7

INITAUTO IF_PB_TO INITAUTO
TCPB1 TCPB1
N00258 K0005.7 D0612.0 K0005.7

TCPB1 TCPB1
N00259 K0006.0 D0612.0 K0006.0

ATC_FLT_ IF_PB_TO ATC_FLT_
ACK_PB1 ACK_PB1
N00260 K0006.0 D0612.0 K0006.0

ACK_PB1 ACK_PB1
N00261 Y0120.6 D0612.0 Y0120.6

DO_967_M IF_PB_TO DO_967_M
AN_WELD1 AN_WELD1
N00262 Y0120.6 D0612.0 Y0120.6

AN_WELD1 AN_WELD1
N00263 Y0121.0 D0612.0 Y0121.0

DO_969_F IF_PB_TO DO_969_F
EDWLD1PB EDWLD1PB
N00264 Y0121.0 D0612.0 Y0121.0

EDWLD1PB EDWLD1PB
O
N00265 Y1020.0 Y1020.0

A 1714 S RDO 1 EQUALIZATION VALVE 1
RO__1___ RO__1___
EQLZVLV1 EQLZVLV1
K0004.5 K0006.2
B
EQUALENB EQUALIZE
L_1_2_SS R_1_SS
N00266 Y1020.0 Y1020.0

C 1719 R RDO 1 EQUALIZATION VALVE 1
RO__1___ RO__1___
EQLZVLV1 EQLZVLV1
K0004.5 K0006.2
D
EQUALENB EQUALIZE
L_1_2_SS R_1_SS
N00267 K0004.5 K0006.2

EQUALENB EQUALIZE
L_1_2_SS R_1_SS
N00268 K0004.5 X1026.1 G1000.1 ACT K0004.5

F 1726 SUB 3 0033 R EQUALIZATION ENABLE 1AND2 SS
EQUALENB SI9_____ NO_HOLD TMR EQUALENB
L_1_2_SS AUTOMDSW L_1_2_SS
N00269 K0000.0 Y0083.3 D0612.0 X1025.1 Y0083.3

G 1732 RESET WELDER
DEBUG DO_668_R IF_PB_TO FAULT___ DO_668_R
ST_WLD RESET ST_WLD
X1025.1
H
FAULT___
RESET
N00270 K0015.1 D0612.0 K0015.1

ADVTIPDR IF_PB_TO ADVTIPDR
SSDUMP1 SSDUMP1
N00271 K0015.1 D0612.0 K0015.1

SSDUMP1 SSDUMP1
N00272 K0015.2 D0612.0 K0015.2

RETTIPDR IF_PB_TO RETTIPDR
SSDUMP1 SSDUMP1
N00273 K0015.2 D0612.0 K0015.2

SSDUMP1 SSDUMP1
N00274 K0015.1 Y0000.2 X1026.1 K0015.2 Y0017.5

M 1750
ADVTIPDR DO_3_RBT SI9_____ RETTIPDR DO_142_A
SSDUMP1 _IN_AUTO AUTOMDSW SSDUMP1 DVDUMP1
N00275 K0015.2 Y0000.2 X1026.1 K0015.1 Y0017.6

N 1755
RETTIPDR DO_3_RBT SI9_____ ADVTIPDR DO_143_R
SSDUMP1 _IN_AUTO AUTOMDSW SSDUMP1 ETDUMP1
O
N00276 Y0120.6 K0000.3 D0610.1

A 1760 S CONSTANT CURRENT WELD TIMER
DO_967_M CCWLDMDE CCWELDMO
AN_WELD1 NB1 DETIMR1
X0015.0 K0008.0 K0000.3

B
DI_121_R AUTO/MAI CCWLDMDE
M_MAN_W1 NT_SS NB1
N00277 D0610.1 ACT D0610.1

C 1767 SUB 3 0037 R CONSTANT CURRENT WELD TIMER
CCWELDMO TMR CCWELDMO
DETIMR1 DETIMR1
N00278 X0054.5 Y0087.1

D 1771 CONSTANT CURRENT WELD MODE 1
DI_438_C DO_698_C
CWELDMOD CWELDMOD
D0610.1
E
CCWELDMO
DETIMR1
N00279
F 1774 SUB72
SPE
N00280 ### TIPDRESSER1 ###

G 1775 SUB71 P0003
SP TIPDRESSER1
N00281 X0087.1 Y0017.2

H 1777 TIP CHANGE REQUIRED #1
DI_698_T DO_139_T
PCHNGRQW PCHG_RQ1
X0087.0
I
DI_697_T
PCHNGRQ
Y0110.7
J
DO_888_T
PWRMOV1
Y0111.0
K
DO_889_T
PWRFIX1
N00282 K0005.5 Y0000.5 R0222.6

L 1782 TIP ALIGNMENT CLOSED 1
TIP_ALGN DO_6_RBT DI_974_T
_CLS_PB1 _@_MAINT IP_CLS1
N00283 K0005.6 Y0000.5 R0222.7

M 1785 TIP ALIGNMENT OPENED 1
_OPN_PB1 _@_MAINT IP_OPN1
N00284 X0083.4 Y0016.3

N 1788 NEW TIPS RESET #1
DI_669_N DO_132_N
EW_TIP WTP_RST1
O
N00285 R0345.0 Y0084.5 X0001.2 K0008.0 R0345.0

A 1790 INITIATE AUTO TIP MEMORY 1
TIP_MEM_ DO_678_D DI_11___ AUTO/MAI TIP_MEM_
___1 TSR PLC_AUTO NT_SS ___1
Y0119.1 K0005.2
B
DO_954_C INIT_AUT
LRAV_XFR O_TD_PB1
N00286 R0334.0 Y0109.0 Y0000.5 X0083.1 R0333.0

C 1798 TIP DRESS MEMORY WC #1
DRESS_CA DO_873_T DO_6_RBT DI_666_W TD_MEM_W
P_TC1 D1_ENB _@_MAINT ELD_CMP1 C_#1
R0333.0
D
TD_MEM_W
C_#1
N00287 X0083.4 K0008.0 Y0000.5 X0014.7 R0333.0 R0334.0

E 1804 DRESS CAPS AFTER TIP CHNGE1
DI_669_N AUTO/MAI DO_6_RBT DI_120_T TD_MEM_W DRESS_CA
EW_TIP NT_SS _@_MAINT D_BYPSS1 C_#1 P_TC1
R0334.0
F
DRESS_CA
P_TC1
N00288 X0083.2 Y0015.0

G 1811 AUTO TIP DRESS #1
DI_667_M DO_121_A
AINT_REQ UTOTD_1
R0334.0 Y0048.3
H
DRESS_CA DO_388_N
P_TC1 UTFD_APP
R0345.0
I
TIP_MEM_
___1
N00289 K0005.0 Y0014.0

J 1817 PULLED TIP BYPASS SS ON I/F
PULLED_T DO_113_P
IP_BYPS1 LTPBY_SS
K0006.5
K
PULLED_T
IP_BYPS2
N00290 Y0085.7 R0351.0

L 1820 PULLED TIP SEAL WC #1
DO_688__ PULLDTIP
TIP_WTR1 _SEAL_1
N00291 R0351.0 ACT D0611.0

M 1822 SUB 3 0014 PULLED TIMER WC #1
_SEAL_1 P_TIMER
N00292 R0220.6 Y0017.4

N 1826 AUTO PULLED TIP BYPASS 1
DI_958_P DO_141_A
LDTIP_1 PTB_1
R0220.7
O
DI_959_P
LDTIP_2
N00293 Y0014.5 X0001.2 Y0109.0

A 1829 TIP DRESSER #1 ENABLE
DO_118_D DI_11___ DO_873_T
RSR_ON_1 PLC_AUTO D1_ENB
K0005.3 Y0000.3
B
TEACH_TD DO_4_RBT
_ENABLE1 _IN_TCH
N00294 R0000.0 Y0014.5 X0001.2 Y0086.6

C 1836 TIP DRESS MOTOR ON 1
ALWAYS__ DO_118_D DI_11___ DO_695_T
ON RSR_ON_1 PLC_AUTO D_MTR_ON
K0005.3 Y0000.3
D
TEACH_TD DO_4_RBT
_ENABLE1 _IN_TCH
N00295 X1020.2 X0000.0 X0013.6 R0220.6

E 1844 PULLED TIP BYPASS 1
RI_3_WTR DI_1_EXT DI 111 A DI_958_P
_FL_SW1 _RNENBL UTOTIPCH LDTIP_1
R0220.6 D0611.0
F
DI_958_P PULLEDTI
LDTIP_1 P_TIMER
N00296 K0004.6 Y0014.7

G 1851 TIP DRESS MOTOR FLT BYPASS #1
TD_MTR_F DO_120_T
LT_BYPS1 DMFL_BY1
N00297 D0605.0 R0411.0 R0412.0

H 1853 TD FAULT1
1TIM1 TOK1
N00298 Y0014.5 X0086.2 Y0109.2 K0004.6 Y0083.3 R0411.0

I 1856 TD CURRENT OK FROM WC1
DO_118_D DI_691_T DO_875_S TD_MTR_F DO_668_R TDCURREN
RSR_ON_1 IP_DR_OK RVTPDROK LT_BYPS1 ST_WLD TOK1
R0411.0
J
TDCURREN
TOK1
N00299 R0412.0 ACT D0606.0

2TIM1
N00300 Y0014.5 ACT D0605.0

L 1867 SUB 3 0020 TD MOTOR OFF 1 FAULT TIMER 1
DO_118_D TMR TDMTROFF
RSR_ON_1 1TIM1
N00301 Y0083.3 R0411.0 D0606.0 R0415.0

M 1871 TD MOTOR FAULT 1
DO_668_R TDCURREN TDMTROFF TDMTRFLT
ST_WLD TOK1 2TIM1 1
R0408.0
N
TPRESFLT
1
R0415.0
O
TDMTRFLT
1
N00302 R0415.0 Y0014.6

A 1878 TIP DRESS MOTOR FLT #1
TDMTRFLT DO_119_T
1 DM_FLT_1
N00303 Y0118.1 ACT D0604.0

B 1880 SUB 3 0021 TIP RESISTANCE FAULT TIMER 1
DO_946_R TMR TPRESFLT
ESCHKMD1 TIM1
N00304 D0604.0 R0409.0 R0408.0

C 1884 TIP RESISTANCE FAULT1
TIM1 LAT1 1
N00305 Y0118.1 X0086.3 K0005.4 Y0083.3 R0409.0

D 1887 TIP RESISTANCE FAULT LATCH1
DO_946_R DI_692_T TIP_RESI DO_668_R TPRESFLT
ESCHKMD1 PDRRSOK1 ST_BYPS1 ST_WLD LAT1
R0409.0
E
TPRESFLT
LAT1
N00306 X0014.4 Y0121.2 Y0118.7 F1000.5 R0221.6

F 1893 RUNTIP DRESS DUMP MACRO1
DI_117_I DO_971_P DO952_CL FAULT DI_966_R
NIT_TD_1 EDDMPAPP RMOTZN1 NTDDMP1
X0014.6 X0083.2 Y0015.0 Y0121.5

G
DI_119_T DI_667_M DO_121_A DO_974__
D_DMP_R1 AINT_REQ UTOTD_1 TPWRCMP1
N00307 K0008.5 K0008.5

H 1903 S NTSR ENABLE 1 SS
NTSR_ENB NTSR_ENB
1SS 1SS
N00308 K0008.5 X1025.1 K0008.5

I 1905 R NTSR ENABLE 1 SS
NTSR_ENB FAULT___ NTSR_ENB
1SS RESET 1SS
K0008.5 X0083.4
J
NTSR_ENB DI_669_N
1SS EW_TIP
N00309 K0015.6 K0015.6

K 1911 S DTSR ENABLE 1 SS
DTSRENB1 DTSRENB1
SS SS
N00310 K0015.6 X1025.1 K0015.6

L 1913 R DTSR ENABLE 1 SS
DTSRENB1 FAULT___ DTSRENB1
SS RESET SS
K0015.6 X0083.5
M
DTSRENB1 DI_670_D
SS RSSTIP1
N00311 K0008.5 K0005.1 Y0084.4

N 1919 NEW TIP STEPPER RESET
NTSR_ENB NEW_TIP_ DO_677_N
1SS PB1 TSR
X0015.3
O
DI_124_N
EWTPRST1
N00312 K0015.6 K0008.6 Y0084.5

A 1923 DRESS TIP STEPPER RESET
DTSRENB1 DTSR_PB_ DO_678_D
SS 1 TSR
Y0116.7 Y0054.2
B DRSSTIPSTPRST1
DO_936__ DO_435_D
STP_RST1 TSR1
N00313
C 1928 SUB72
SPE
N00314 ### WATERVALVE1 ###

D 1929 SUB71 P0004
SP WATERVALVE1
N00315 X1020.2 X0001.6 Y0085.7

E 1931 TIP WATER FLOW 1
RI_3_WTR DI_15_SY DO_688__
F32 1 mLOSY1c363SF32 1 m
N00330 ### UALM ###

A 1994 SUB71 P0006
SP UALM
N00331 Y0120.2 X1025.1 Y0120.2

DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00332 Y0120.2 G1008.0

DO_963__ UALM1
PRG_FLT
N00333 X0083.2 G1008.1

DI_667_M UALM2
AINT_REQ
N00334 X0083.2 X0087.0 G1008.2

DI_667_M DI_697_T UALM_3
AINT_REQ PCHNGRQ
X0091.2 X0087.1
F
DI_731_M DI_698_T
ANT_REQ2 PCHNGRQW
N00335 X0014.1 G1008.7

DI_114_R UALM_8
STW_TMR
N00336 X0083.3 G1009.1

DI_668_W UALM_10
ELD_FLT1
N00337 X0091.3 G1009.2

DI_732_W UALM_11
ELD_FLT2
N00338 Y0039.3 G1009.7

DO_316_W UALM_16
RNGTLSTD
N00339 X0001.6 G1010.3

DI_15_SY UALM_20
S_WTR_ON
N00340 Y0014.7 G1010.4

DO_120_T UALM_21
DMFL_BY1
N00341 Y0014.6 G1010.5

DO_119_T UALM_22
DM_FLT_1
N00342 K0010.0 Y0119.7 Y0000.3 G1010.6

TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00343 R0220.6 G1010.7

DI_958_P UALM_24
LDTIP_1
N00330 ### UALM ###

A 1994 SUB71 P0006
SP UALM
N00331 Y0120.2 X1025.1 Y0120.2

DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00332 Y0120.2 G1008.0

DO_963__ UALM1
PRG_FLT
N00333 X0083.2 G1008.1

DI_667_M UALM2
AINT_REQ
N00334 X0083.2 X0087.0 G1008.2

DI_667_M DI_697_T UALM_3
AINT_REQ PCHNGRQ
X0091.2 X0087.1
F
DI_731_M DI_698_T
ANT_REQ2 PCHNGRQW
N00335 X0014.1 G1008.7

DI_114_R UALM_8
STW_TMR
N00336 X0083.3 G1009.1

DI_668_W UALM_10
ELD_FLT1
N00337 X0091.3 G1009.2

DI_732_W UALM_11
ELD_FLT2
N00338 Y0039.3 G1009.7

DO_316_W UALM_16
RNGTLSTD
N00339 X0001.6 G1010.3

DI_15_SY UALM_20
S_WTR_ON
N00340 Y0014.7 G1010.4

DO_120_T UALM_21
DMFL_BY1
N00341 Y0014.6 G1010.5

DO_119_T UALM_22
DM_FLT_1
N00342 K0010.0 Y0119.7 Y0000.3 G1010.6

TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00343 R0220.6 G1010.7

DI_958_P UALM_24
LDTIP_1
N00344 R0000.0 G1011.0

A 2029 GUN DISABLED SELECTOR SWITCH
ALWAYS__ UALM_25
ON
N00345 K0004.5 G1011.1

B 2031 EQUALIZER ENABLED
EQUALENB UALM_26
L_1_2_SS
N00346 Y0120.6 G1011.2

C 2033 PLC/ MANUAL WELD PB DEPRESSED
DO_967_M UALM_27
AN_WELD1
X0015.0
D
DI_121_R
M_MAN_W1
N00347 Y0017.2 G1011.3

E 2036 TIP CHANGE REQUIRED
DO_139_T UALM_28
PCHG_RQ1
N00348 Y0002.7 G1011.4

F 2038 IN PROGRAM LOOP
DO_24_RB UALM_29
T_LOOP
N00349 X1020.1 G1011.5

G 2040 SERVO MOTOR OVERTEMP FOR SG
RI_2_SRV UALM_30
OMTR_OT1
N00350 X1020.0 G1011.6

H 2042 TRANSFORMER OVERTEMP
RI_1__XF UALM_31
RMR_OT1
N00351 X0087.6 G1011.7

I 2044 WELD CONTROLLER 1 COMM LOST
DI_703_W UALM_32
1_COMMOK
N00352
J 2046 SUB72
SPE
N00353 ### INTERFACE ###

K 2047 SUB71 P0007
SP INTERFACE
O
N00354 D0612.1 ACT D0612.0

A 2049 SUB 3 0040 INTERFACE PB TIMEOUT
MH_IF_PB TMR IF_PB_TO
_TO
D0612.2
B
SEAL_IF_
PB_TO
D0612.3
C
STUD_IF_
PB_TO
D0612.4
D
SWG1_IF_
PB_TO
D0612.5
E
SWG2_IF_
PB_TO
O
N00355 K0002.0 D0612.1

A 2057 MH IF PB TO
CLMP1CLS MH_IF_PB
_TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC_1_ON
_PB
K0014.3
G
VAC_2_ON
_PB
K0014.4
H
VAC_3_ON
_PB
K0014.5
I
BLOWOFF_
1_ON_PB
K0014.6
J
BLOWOFF_
2_ON_PB
K0014.7
K
BLOWOFF_
3_ON_PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
K0011.4
A
TC_OPENG
UNCOVER
K0011.5
B
TC__CLOS
GUNCOVER
K0016.1
C
VAC_4_ON
_PB
K0016.2
D
BLOWOFF_
4_ON_PB
O
N00356 Y0121.0 D0612.4

DO_969_F SWG1_IF_
EDWLD1PB PB_TO
Y0120.6
B
DO_967_M
AN_WELD1
Y0083.3
C
DO_668_R
ST_WLD
K0005.1
D
NEW_TIP_
PB1
K0008.6
E
DTSR_PB_
1
K0005.2
F
INIT_AUT
O_TD_PB1
K0005.5
G
TIP_ALGN
_CLS_PB1
K0005.6
H
TIP_ALGN
_OPN_PB1
K0005.7
I
INITAUTO
TCPB1
K0006.0
J
ATC_FLT_
ACK_PB1
K0015.1
K
ADVTIPDR
SSDUMP1
K0015.2
L
RETTIPDR
SSDUMP1
O
N00357 Y0121.1 D0612.5

DO_970_F SWG2_IF_
EDWLD2PB PB_TO
Y0120.7
B
DO_968_M
AN_WELD2
Y0091.3
C
DO_732_R
ST_WLD2
K0006.6
D
NEW_TIP_
PB2
K0009.2
E
DTSR_PB_
2
K0006.7
F
INIT_AUT
O_TD_PB2
K0007.2
G
TIP_ALGN
_CLS_PB2
K0007.3
H
TIP_ALGN
_OPN_PB2
K0007.4
I
INITAUTO
TCPB2
K0007.5
J
ATC_FLT_
ACK_PB2
K0015.3
K
ADVTIPDR
SSDUMP2
K0015.4
L
RETTIPDR
SSDUMP2
O
N00358 K0011.7 D0612.3

A 2118 STUD IF PB TO
STUDSKPR STUD_IF_
EMSTDPB1 PB_TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
N00359
L 2130 SUB72
SPE
N00360 ### MH ###

M 2131 SUB71 P0008
SP MH
N00361 Y0000.3 K0004.4 R1410.0

N 2133 MANUAL GRIP ENABLE
DO_4_RBT MAN_GRP_ MAN_GRP_
_IN_TCH ENBLE_SS ENABLE
N00362 R1410.0 ACT

O 2136 SUB10 0000
MAN_GRP_ JMP
ENABLE
N00363 R0000.0 Y0114.0

A 2139 OPEN CLAMP 1
ALWAYS__ DO_913__
ON OPNCLMP1
N00364 R0000.0 Y0114.1

ALWAYS__ DO_914__
ON CLSCLMP1
N00365 R0000.0 Y0114.2

C 2143 OPEN CLAMP 2
ALWAYS__ DO_915__
ON OPNCLMP2
N00366 R0000.0 Y0114.3

ALWAYS__ DO_916__
ON CLSCLMP2
N00367 R0000.0 Y0114.4

E 2147 OPEN CLAMP 3
ALWAYS__ DO_917__
ON OPNCLMP3
N00368 R0000.0 Y0114.5

ALWAYS__ DO_918__
ON CLSCLMP3
N00369 R0000.0 Y0114.6

G 2151 OPEN CLAMP 4
ALWAYS__ DO_919__
ON OPNCLMP4
N00370 R0000.0 Y0114.7

ALWAYS__ DO_920__
ON CLSCLMP4
N00371 R0000.0 Y0115.0

I 2155 OPEN CLAMP 5
ALWAYS__ DO_921__
ON OPNCLMP5
N00372 R0000.0 Y0115.1

ALWAYS__ DO_922__
ON CLSCLMP5
N00373 R0000.0 Y0115.2

K 2159 OPEN CLAMP 6
ALWAYS__ DO_923__
ON OPNCLMP6
N00374 R0000.0 Y0115.3

ALWAYS__ DO_924__
ON CLSCLMP6
N00375 R0000.0 Y0115.4

M 2163 OPEN CLAMP 7
ALWAYS__ DO_925__
ON OPNCLMP7
N00376 R0000.0 Y0115.5

N 2165 CLOSE CLAMP 7
ALWAYS__ DO_926__
ON CLSCLMP7
N00377 R0000.0 Y0115.6

O 2167 OPEN CLAMP 8
ALWAYS__ DO_927__
ON OPNCLMP8
N00378 R0000.0 Y0115.7

ALWAYS__ DO_928__
ON CLSCLMP8
N00379 R0000.0 Y0116.0

B 2171 OPEN CLAMP 9
ALWAYS__ DO_929__
ON OPNCLMP9
N00380 R0000.0 Y0116.1

C 2173 CLOSE CLAMP 9
ALWAYS__ DO_930__
ON CLSCLMP9
N00381 R0000.0 Y0116.2

D 2175 OPEN CLAMP 10
ALWAYS__ DO_931__
ON OPNCLP10
N00382 R0000.0 Y0116.3

ALWAYS__ DO_932__
ON CLSCLP10
N00383 R0000.0 Y0127.2

F 2179 VACUUM 1 ON
ALWAYS__ DO1019_V
ON AC1ON
N00384 R0000.0 Y0127.3

G 2181 BLOWOFF 1 ON
ALWAYS__ DO1020_B
ON LWOF1ON
N00385 R0000.0 Y0127.4

H 2183 VACUUM 2 ON
ALWAYS__ DO1021_V
ON AC2ON
N00386 R0000.0 Y0127.5

I 2185 BLOWOFF 2 ON
ALWAYS__ DO1022_B
ON LWOF2ON
N00387 R0000.0 Y0127.6

J 2187 VACUUM 3 ON
ALWAYS__ DO1023_V
ON AC3ON
N00388 R0000.0 Y0127.7

K 2189 BLOWOFF 3 ON
ALWAYS__ DO1024_B
ON LWOF3ON
N00389 R0000.0 Y0118.5

L 2191 VACUUM 4 ON
ALWAYS__ DO_950_V
ON AC4ON
N00390 R0000.0 Y0118.6

M 2193 BLOWOFF 4 ON
ALWAYS__ DO_951_B
ON LWOF4ON
N00391
N 2195 SUB30
JMPE
N00392 R1410.0 ACT R0001.1

O 2196 SUB 3 0038
MAN_GRP_ TMR MAN_GRP_
ENABLE TO
N00393 R0001.1 ACT

A 2200 SUB10 0000
MAN_GRP_ JMP
TO
N00394 K0002.1 X1026.1 Y0114.0

B 2203 OPEN CLAMP 1
CLMP1OPN SI9_____ DO_913__
AUTOMDSW OPNCLMP1
N00395 Y0114.0 Y0009.0

C 2206 OPEN CLAMP #1
DO_913__ DO_73_OP
OPNCLMP1 N_CLMP1
N00396 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9_____ DO_914__
AUTOMDSW CLSCLMP1
N00397 Y0114.1 Y0009.1

E 2211 CLOSE CLAMP #1
DO_914__ DO_74_CL
CLSCLMP1 S_CLMP1
N00398 K0002.3 X1026.1 Y0114.2

F 2213 OPEN CLAMP 2
AUTOMDSW OPNCLMP2
N00399 Y0114.2 Y0009.2

G 2216 OPEN CLAMP #2
DO_915__ DO_75_OP
OPNCLMP2 N_CLMP2
N00400 K0002.2 X1026.1 Y0114.3

AUTOMDSW CLSCLMP2
N00401 Y0114.3 Y0009.3

I 2221 CLOSE CLAMP #2
DO_916__ DO_76_CL
CLSCLMP2 S_CLMP2
N00402 K0002.5 X1026.1 Y0114.4

J 2223 OPEN CLAMP 3
AUTOMDSW OPNCLMP3
N00403 Y0114.4 Y0009.4

K 2226 OPEN CLAMP #3
DO_917__ DO_77_OP
OPNCLMP3 N_CLMP_3
N00404 K0002.4 X1026.1 Y0114.5

AUTOMDSW CLSCLMP3
N00405 Y0114.5 Y0009.5

M 2231 CLOSE CLAMP #3
DO_918__ DO_78_CL
CLSCLMP3 S_CLMP3
N00406 K0002.7 X1026.1 Y0114.6

N 2233 OPEN CLAMP 4
AUTOMDSW OPNCLMP4
N00407 Y0114.6 Y0009.6

O 2236 OPEN CLAMP #4
DO_919__ DO_79_OP
OPNCLMP4 N_CLMP4
N00408 K0002.6 X1026.1 Y0114.7

AUTOMDSW CLSCLMP4
N00409 Y0114.7 Y0009.7

B 2241 CLOSE CLAMP #4
DO_920__ DO_80_CL
CLSCLMP4 S_CLMP4
N00410 K0003.1 X1026.1 Y0115.0

C 2243 OPEN CLAMP 5
AUTOMDSW OPNCLMP5
N00411 Y0115.0 Y0010.0

D 2246 OPEN CLAMP #5
DO_921__ DO_81_OP
OPNCLMP5 N_CLMP5
N00412 K0003.0 X1026.1 Y0115.1

AUTOMDSW CLSCLMP5
N00413 Y0115.1 Y0010.1

F 2251 CLOSE CLAMP #5
DO_922__ DO_82_CL
CLSCLMP5 S_CLMP5
N00414 K0003.3 X1026.1 Y0115.2

G 2253 OPEN CLAMP 6
AUTOMDSW OPNCLMP6
N00415 Y0115.2 Y0010.2

H 2256 OPEN CLAMP #6
DO_923__ DO_83_OP
OPNCLMP6 N_CLMP6
N00416 K0003.2 X1026.1 Y0115.3

I 2258 CLOSE CLAMP 6
AUTOMDSW CLSCLMP6
N00417 Y0115.3 Y0010.3

J 2261 CLOSE CLAMP #6
DO_924__ DO_84_CL
CLSCLMP6 S_CLMP_6
N00418 K0003.5 X1026.1 Y0115.4

K 2263 OPEN CLAMP 7
AUTOMDSW OPNCLMP7
N00419 Y0115.4 Y0010.4

L 2266 OPEN CLAMP #7
DO_925__ DO_85_OP
OPNCLMP7 N_CLMP_7
N00420 K0003.4 X1026.1 Y0115.5

M 2268 CLOSE CLAMP 7
AUTOMDSW CLSCLMP7
N00421 Y0115.5 Y0010.5

N 2271 CLOSE CLAMP #7
DO_926__ DO_86_CL
CLSCLMP7 S_CLAMP7
N00422 K0003.7 X1026.1 Y0115.6

O 2273 OPEN CLAMP 8
AUTOMDSW OPNCLMP8
N00423 Y0115.6 Y0010.6

A 2276 OPEN CLAMP #8
DO_927__ DO_87_OP
OPNCLMP8 N_CLMP8
N00424 K0003.6 X1026.1 Y0115.7

AUTOMDSW CLSCLMP8
N00425 Y0115.7 Y0010.7

C 2281 CLOSE CLAMP #8
DO_928__ DO_88_CL
CLSCLMP8 S_CLAMP8
N00426 K0004.1 X1026.1 Y0116.0

D 2283 OPEN CLAMP 9
AUTOMDSW OPNCLMP9
N00427 Y0116.0 Y0011.0

E 2286 OPEN CLAMP #9
DO_929__ DO_89_OP
OPNCLMP9 N_CLMP9
N00428 K0004.0 X1026.1 Y0116.1

AUTOMDSW CLSCLMP9
N00429 Y0116.1 Y0011.1

G 2291 CLOSE CLAMP #9
DO_930__ DO_90_CL
CLSCLMP9 S_CLMP9
N00430 K0004.3 X1026.1 Y0116.2

H 2293 OPEN CLAMP 10
CLP10OPN SI9_____ DO_931__
AUTOMDSW OPNCLP10
N00431 Y0116.2 Y0011.2

I 2296 OPEN CLAMP #10
DO_931__ DO_91_OP
OPNCLP10 N_CLMP10
N00432 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9_____ DO_932__
AUTOMDSW CLSCLP10
N00433 Y0116.3 Y0011.3

K 2301 CLOSE CLAMP #10
DO_932__ DO_92_CL
CLSCLP10 S_CLMP10
N00434 K0014.2 X1026.1 K0014.1 Y0127.2

L 2303 VACUUM 1 ON
VAC_1_ON SI9_____ VAC/BLOW DO1019_V
_PB AUTOMDSW OFFTIMER AC1ON
N00435 Y0127.2 Y0008.0

M 2307
DO1019_V DO_65_VA
AC1ON C_1_ON
N00436 K0014.5 X1026.1 K0014.1 Y0127.3

N 2309 BLOWOFF 1 ON
BLOWOFF_ SI9_____ VAC/BLOW DO1020_B
1_ON_PB AUTOMDSW OFFTIMER LWOF1ON
N00437 Y0127.3 Y0008.1

O 2313
DO1020_B DO_66_BL
LWOF1ON WOFF1ON
N00438 K0014.3 X1026.1 K0014.1 Y0127.4

A 2315 VACUUM 2 ON
N00439 Y0127.4 Y0008.2

B 2319
DO1021_V DO_67_VA
AC2ON C_2_ON
N00440 K0014.6 X1026.1 K0014.1 Y0127.5

C 2321 BLOWOFF 2 ON
N00441 Y0127.5 Y0008.3

D 2325
DO1022_B DO_68_BL
LWOF2ON WOFF2ON
N00442 K0014.4 X1026.1 K0014.1 Y0127.6

E 2327 VACUUM 3 ON
N00443 Y0127.6 Y0008.4

F 2331
DO1023_V DO_69_VA
AC3ON C_3_ON
N00444 K0014.7 X1026.1 K0014.1 Y0127.7

G 2333 BLOWOFF 3 ON
N00445 Y0127.7 Y0008.5

H 2337
DO1024_B DO_70_BL
LWOF3ON WOFF3ON
N00446 K0016.1 X1026.1 K0014.1 Y0118.5

I 2339 VACUUM 4 ON
VAC_4_ON SI9_____ VAC/BLOW DO_950_V
N00447 Y0118.5 Y0008.6

J 2343
DO_950_V DO_71_VA
AC4ON C_4_ON
N00448 K0016.2 X1026.1 K0014.1 Y0118.6

K 2345 BLOWOFF 4 ON
BLOWOFF_ SI9_____ VAC/BLOW DO_951_B
N00449 Y0118.6 Y0008.7

L 2349
DO_951_B DO_72_BL
LWOF4ON WOFF4ON
N00450
M 2351 SUB30
JMPE
O
N00451 Y0008.0 ACT K0014.1

A 2352 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO_65_VA TMR VAC/BLOW
C_1_ON OFFTIMER
Y0008.1
B
DO_66_BL
WOFF1ON
Y0008.2
C
DO_67_VA
C_2_ON
Y0008.3
D
DO_68_BL
WOFF2ON
Y0008.4
E
DO_69_VA
C_3_ON
Y0008.5
F
DO_70_BL
WOFF3ON
Y0008.6
G
DO_71_VA
C_4_ON
Y0008.7
H
DO_72_BL
WOFF4ON
N00452 K0002.0 D0612.0 K0002.0

I 2363 CLMP1 CLOSE
CLMP1CLS IF_PB_TO CLMP1CLS
N00453 K0002.1 D0612.0 K0002.1

J 2366 CLMP1 OPEN
CLMP1OPN IF_PB_TO CLMP1OPN
N00454 K0002.2 D0612.0 K0002.2

K 2369 CLMP2 CLOSE
N00455 K0002.3 D0612.0 K0002.3

L 2372 CLMP2 OPEN
N00456 K0002.4 D0612.0 K0002.4

M 2375 CLMP3 CLOSE
N00457 K0002.5 D0612.0 K0002.5

N 2378 CLMP3 OPEN
N00458 K0002.6 D0612.0 K0002.6

O 2381 CLMP4 CLOSE
N00459 K0002.7 D0612.0 K0002.7

A 2384 CLMP4 OPEN
N00460 K0003.0 D0612.0 K0003.0

B 2387 CLMP5 CLOSE
N00461 K0003.1 D0612.0 K0003.1

C 2390 CLMP5 OPEN
N00462 K0003.2 D0612.0 K0003.2

D 2393 CLMP6 CLOSE
N00463 K0003.3 D0612.0 K0003.3

E 2396 CLMP6 OPEN
N00464 K0003.4 D0612.0 K0003.4

F 2399 CLMP7 CLOSE
N00465 K0003.5 D0612.0 K0003.5

G 2402 CLMP7 OPEN
N00466 K0003.6 D0612.0 K0003.6

H 2405 CLMP8 CLOSE
N00467 K0003.7 D0612.0 K0003.7

I 2408 CLMP8 OPEN
N00468 K0004.0 D0612.0 K0004.0

J 2411 CLMP9 CLOSE
N00469 K0004.1 D0612.0 K0004.1

K 2414 CLMP9 OPEN
N00470 K0004.2 D0612.0 K0004.2

L 2417 CLMP10 CLOSE
CLP10CLS IF_PB_TO CLP10CLS
N00471 K0004.3 D0612.0 K0004.3

M 2420 CLMP10 OPEN
CLP10OPN IF_PB_TO CLP10OPN
N00472 K0014.2 D0612.0 K0014.2

N 2423
VAC_1_ON IF_PB_TO VAC_1_ON
_PB _PB
N00473 K0014.3 D0612.0 K0014.3

O 2426
_PB _PB
N00474 K0014.4 D0612.0 K0014.4

A 2429
_PB _PB
N00475 K0016.1 D0612.0 K0016.1

B 2432
_PB _PB
N00476 K0014.5 D0612.0 K0014.5

C 2435
BLOWOFF_ IF_PB_TO BLOWOFF_
1_ON_PB 1_ON_PB
N00477 K0014.6 D0612.0 K0014.6

D 2438
2_ON_PB 2_ON_PB
N00478 K0014.7 D0612.0 K0014.7

E 2441
3_ON_PB 3_ON_PB
N00479 K0016.2 D0612.0 K0016.2

F 2444
4_ON_PB 4_ON_PB
N00480 K0000.4 Y0012.6

G 2447 RERUN PROCESS
RERUNPRC DO_103_R
PB ERUNPRC
N00481 K0000.5 Y0012.7

H 2449 ACCEPT PROCESS
ACCPTPRC DO_104_A
PB CCPTPRC
N00482 K0000.6 Y0013.0

I 2451 REJECT PROCESS
REJCTPRC DO_105_R
PB EJCTPRC
N00483 K0000.7 Y0013.1

J 2453 INSPECTION SELECTED
INSPCTSE DO_106_I
LPB NSP_SEL
K0001.3 K0001.5
K
VISIONIN ABORTPRO
TERVENSS CESS
N00484 K0000.4 D0612.0 K0000.4

L 2458 S RERUN PROCESS PB
RERUNPRC IF_PB_TO RERUNPRC
PB PB
N00485 K0000.4 D0612.0 K0000.4

M 2461 R RERUN PROCESS PB
RERUNPRC IF_PB_TO RERUNPRC
PB PB
N00486 K0000.5 D0612.0 K0000.5

N 2464 S ACCEPT PROCESS PB
ACCPTPRC IF_PB_TO ACCPTPRC
PB PB
N00487 K0000.5 D0612.0 K0000.5

O 2467 R ACCEPT PROCESS PB
ACCPTPRC IF_PB_TO ACCPTPRC
PB PB
N00488 K0000.6 D0612.0 K0000.6

A 2470 S REJECT PROCESS PB
REJCTPRC IF_PB_TO REJCTPRC
PB PB
N00489 K0000.6 D0612.0 K0000.6

B 2473 R REJECT PROCESS PB
REJCTPRC IF_PB_TO REJCTPRC
PB PB
N00490 K0000.7 D0612.0 K0000.7

C 2476 S INSPECTION SELECTED PB
INSPCTSE IF_PB_TO INSPCTSE
LPB LPB
N00491 K0000.7 D0612.0 K0000.7

D 2479 R INSPECTION SELECTED PB
INSPCTSE IF_PB_TO INSPCTSE
LPB LPB
N00492 K0011.4 D0612.0 K0011.4

E 2482 TOOL CHANGER OPEN GUN COVER
TC_OPENG IF_PB_TO TC_OPENG
UNCOVER UNCOVER
N00493 K0011.5 D0612.0 K0011.5

F 2485 TOOL CHANGER CLOSE GUN COVER
TC__CLOS IF_PB_TO TC__CLOS
GUNCOVER GUNCOVER
N00494 X0008.2 R0000.7

G 2488 PART PRESENT ON EOAT
DI_67_PR PART_PRE
T_PRES1 SENT
X0008.3
H
DI_68_PR
T_PRES2
X0008.4
I
DI_69_PR
T_PRES3
X0008.5
J
DI_70_PR
T_PRES4
X0008.6
K
DI_71_PR
T_PRES5
X0008.7
L
DI_72_PR
T_PRES6
N00495
M 2495 SUB72
SPE
N00496 ### APPLICATION ###

N 2496 SUB71 P0009
SP APPLICATION
N00497 D0000.0 Y0048.0

O 2498 MATERIAL HANLDING APPLICATION
MH_APP DO_385_M
H_APP
N00498 D0000.1 Y0048.1

A 2500 WELD 1 APPLICATION
WELD_1_A DO_386__
PP WLD1_APP
N00499 D0000.2 Y0048.2

B 2502 WELD 2 APPLICATION
WELD_2_A DO_387_W
PP LD2_APP
N00500 D0000.3 Y0048.3

C 2504 NUT FEED APPLICATION
NUT_FEED DO_388_N
_APP UTFD_APP
N00501 D0000.4 Y0048.4

D 2506 SEALER 1 APPLICATION
SEAL_1_A DO_389_S
PP LR_1_APP
N00502 D0000.5 Y0048.5

E 2508 SEALER 2 APPLICATION
SEAL_2__ DO_390_S
APP LR_2_APP
N00503 D0000.6 Y0048.6

F 2510 STUD WELD 1 APPLICATION
STUD_1_A DO_391_S
PP TDW_1APP
N00504 D0000.7 Y0048.7

G 2512 STUD WELD 2 APPLICATION
STUD_2_A DO_392_S
PP TDW_2APP
N00505 D0001.0 Y0049.0

H 2514 TOOL CHANGE APPLICATION
TOOL_CHA DO_393_T
NGE_APP C_APP
N00506 D0001.1 Y0049.1

I 2516 RIVET 1 APPLICAYION
RIVET_1_ DO_394_R
APP VT_1_APP
N00507 D0001.2 Y0049.2

J 2518 RIVET 2 APPLICATION
RIVET_2_ DO_395_R
APP VT_2_APP
N00508 D0001.3 Y0049.3

K 2520 NUT RUNNER APPLICATION
NUT_RUNN DO_396_N
ER_APP UTR_APP
N00509 D0001.4 Y0049.4

L 2522 MIG WELD APPLICATION
MIG_WELD DO_397_M
_APP IGW_APP
N00510 D0001.5 Y0049.5

M 2524 ROLL HEMMER APPLICATION
ROLLER_H DO_398_R
EMM_APP LLHEM_AP
N00511 D0001.6 Y0049.6

N 2526 LASER CUT APPLICATION
LASER_CU DO_399_L
T_APP SRCT_APP
N00512 D0001.7 Y0049.7

O 2528 PLASMA CUT APPLICATION
PLASMA_C DO_400_P
UT_APP LSMA_APP
N00513 D0002.0 Y0050.0

A 2530 LASER WELD APPLICATION
LASER_WE DO_401_L
LD_APP SRWLDAPP
N00514 D0002.1 Y0050.1

B 2532 OPERATOR LOAD APPLICATION
OPER_LOA DO_402_O
D_APP P_LD_APP
N00515 D0002.2 Y0050.2

C 2534 VISION APPLICATION
VISION_A DO_403_V
PP IS_APP
N00516 D0002.3 Y0050.3

D 2536 PROGRAM LOCATOR APPLICATION
PROG_LOC DO_404_P
_APP RG_LCAPP
N00517 D0002.4 Y0050.4

E 2538 INTERFACE DEFINITION BIT 21
IF_DEF__ DO_405__
21 INDEFB21
N00518 D0002.5 Y0050.5

F 2540 NUT FEEDER 2 APPLICATION
NUT_FEED DO_406_N
ER_2_APP TFD_2APP
N00519 D0002.6 Y0050.6

G 2542 INTERFACE DEFINITION BIT 23
IF_DEF__ DO_407_I
23 NDEF_B23
N00520 D0002.7 Y0050.7

H 2544 INTERFACE DEFINITION BIT 24
IF_DEF__ DO_408_I
24 NDEF_B24
N00521 D0003.0 Y0051.0

I 2546 INTERFACE DEFINITION BIT 25
IF_DEF__ DO_409_I
25 NDEF_B25
N00522 D0003.1 Y0051.1

J 2548 INTERFACE DEFINITION BIT 26
IF_DEF__ DO_410_I
26 NDEF_B26
N00523 D0003.2 Y0051.2

K 2550 INTERFACE DEFINITION BIT 27
IF_DEF__ DO_411_I
27 NDEF_B27
N00524 D0003.3 Y0051.3

L 2552 INTERFACE DEFINITION BIT 28
IF_DEF__ DO_412_I
28 NDEF_B28
N00525 D0003.4 Y0051.4

M 2554 INTERFACE DEFINITION BIT 29
IF_DEF__ DO_413_I
29 NDEF_B29
N00542 Y0100.2 Y0116.6 X0102.3 K0006.4 X0034.1 Y0099.1

DO_803__ DO_935__ DI_820_R WELD_/_N DI_274_S DO_794__
WLDSELB1 RD_SCHD2 DY4AUTO O_WELD2 W1GUN2 STRWLDH2
Y0100.3 X0001.1
B
DO_804__ DI_10_AU
WLDSELB2 TO_REPT
Y0100.4
C
DO_805__
WLDSELB4
Y0100.5
D
DO_806__
WLDSELB8
Y0100.6
E
DO_807__
WLDSLB16
Y0100.7
F
DO_808__
WLDSLB32
Y0101.0
G
DO_809__
WLDSLB64
N00543 X0102.3 Y0034.3

H 2636
DI_820_R DO_276_R
DY4AUTO DY4AUTO1
N00544 X0102.2 Y0035.1

I 2638
DI_819_S DO_282_L
TUDSLO OWSTDWR1
N00545 K0011.6 Y0035.3 ACT D0614.0

STUDENAB DO_284_R TMR STPRSTEN
Y0035.4
K
DO_285_S
KPREMST1
Y0126.5
L
DO1014_M
ANWELD
Y0035.2
M
DO_283_N
ORECALP1
Y0101.2
N
DO_811_R
ESTRWLD
N00546 K0011.6 D0614.0 K0011.6

N00537
N00542 Y0100.2 Y0116.6 X0102.3 K0006.4 X0034.1 Y0099.1

DO_803__ DO_935__ DI_820_R WELD_/_N DI_274_S DO_794__
WLDSELB1 RD_SCHD2 DY4AUTO O_WELD2 W1GUN2 STRWLDH2
Y0100.3 X0001.1
B
DO_804__ DI_10_AU
WLDSELB2 TO_REPT
Y0100.4
C
DO_805__
WLDSELB4
Y0100.5
D
DO_806__
WLDSELB8
Y0100.6
E
DO_807__
WLDSLB16
Y0100.7
F
DO_808__
WLDSLB32
Y0101.0
G
DO_809__
WLDSLB64
N00543 X0102.3 Y0034.3

H 2636
DI_820_R DO_276_R
DY4AUTO DY4AUTO1
N00544 X0102.2 Y0035.1

I 2638
DI_819_S DO_282_L
TUDSLO OWSTDWR1
N00545 K0011.6 Y0035.3 ACT D0614.0

STUDENAB DO_284_R TMR STPRSTEN
Y0035.4
K
DO_285_S
KPREMST1
Y0126.5
L
DO1014_M
ANWELD
Y0035.2
M
DO_283_N
ORECALP1
Y0101.2
N
DO_811_R
ESTRWLD
N00546 K0011.6 D0614.0 K0011.6

N00547 Y0000.2 K0011.6 K0012.0 X0034.0 X0099.0 Y0035.3

A 2653
DO_3_RBT STUDENAB STUDREJE DI_273_S DI_793__ DO_284_R
_IN_AUTO LESS1 CTPB1 W1_GUN1 NOFLTHD1 JCTPRT1
X0034.1 X0099.5
B
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
C
PAUSED
Y0035.3
D
DO_284_R
JCTPRT1
N00548 Y0000.2 K0011.6 K0011.7 X0034.0 X0099.0 Y0035.4

E 2665
DO_3_RBT STUDENAB STUDSKPR DI_273_S DI_793__ DO_285_S
_IN_AUTO LESS1 EMSTDPB1 W1_GUN1 NOFLTHD1 KPREMST1
X0034.1 X0099.5
F
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
G
PAUSED
Y0035.4
H
DO_285_S
KPREMST1
N00549 Y0000.2 K0011.6 K0012.1 F1000.3 Y0126.5

I 2677 STUD MANUAL WELD
DO_3_RBT STUDENAB STUDMANU PAUSED DO1014_M
_IN_AUTO LESS1 ALPB1 ANWELD
Y0126.5
J
DO1014_M
ANWELD
N00550 Y0000.2 K0011.6 K0013.2 X0034.0 X0099.0 Y0035.2

K 2684
DO_3_RBT STUDENAB REJECTNO DI_273_S DI_793__ DO_283_N
_IN_AUTO LESS1 PGRECLL1 W1_GUN1 NOFLTHD1 ORECALP1
X0034.1 X0099.5
L
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
M
PAUSED
Y0035.2
N
DO_283_N
ORECALP1
O
N00551 K0011.6 K0012.2 X0034.0 Y0099.0 Y0101.2

A 2696 STUD RESTART WELD
STUDENAB STUDFAUL DI_273_S DO_793__ DO_811_R
LESS1 TRSTPB1 W1_GUN1 STRWLDH1 ESTRWLD
X0034.1 Y0099.1
B
DI_274_S DO_794__
W1GUN2 STRWLDH2
F1000.3
C
PAUSED
Y0101.2
D
DO_811_R
ESTRWLD
N00552 Y0035.3 Y0101.3

E 2707 STUD FORCE WELD COMPLETE
DO_284_R DO_812__
JCTPRT1 FRCWLDCM
Y0035.4 Y0101.1
F STUD INTERNAL RESET
DO_285_S DO_810_R
KPREMST1 ESET
Y0126.5
G
DO1014_M
ANWELD
Y0035.2
H
DO_283_N
ORECALP1
Y0101.2
I
DO_811_R
ESTRWLD
N00553 X0034.0 R0214.3

J 2714 STUD GUN WC 1 SELECTED
DI_273_S DI_907_S
W1_GUN1 TDGUN1SL
X0034.1
K
DI_274_S
W1GUN2
N00554 X0099.2 X0034.0 R0214.1

L 2717 STUD HEAD BACK WC 1
DI_795__ DI_273_S DI_905_S
HDBCKHD1 W1_GUN1 TDHDBCK1
X0099.7 X0034.1
M
DI_800__ DI_274_S
HDBCKHD2 W1GUN2
N00555 Y0035.2 Y0126.4

N 2723 S STUD ABORT FLAG
DO_283_N DO1013_S
ORECALP1 TUDABORT
N00556 Y0126.4 F1000.6 F1000.3 F1000.2 Y0126.4

O 2725 R STUD ABORT FLAG
DO1013_S AT_HOME PAUSED PROGRAM_ DO1013_S
TUDABORT RUNNING TUDABORT
N00557 K0012.0 D0612.0 K0012.0

A 2730 STUD REJECT PB 1
STUDREJE IF_PB_TO STUDREJE
CTPB1 CTPB1
N00558 K0011.7 D0612.0 K0011.7

B 2733 STUD SKIP REMAINING STUDS PB 1
STUDSKPR IF_PB_TO STUDSKPR
EMSTDPB1 EMSTDPB1
N00559 K0012.1 D0612.0 K0012.1

C 2736 STUD MANUAL PB 1
STUDMANU IF_PB_TO STUDMANU
ALPB1 ALPB1
N00560 K0013.2 D0612.0 K0013.2

D 2739 REJECT - NO PG RECALL1
REJECTNO IF_PB_TO REJECTNO
PGRECLL1 PGRECLL1
N00561 K0012.2 D0612.0 K0012.2

E 2742 STUD WELD FAULT RESET PB 1
STUDFAUL IF_PB_TO STUDFAUL
TRSTPB1 TRSTPB1
N00562 X1025.1 Y0000.5 R0224.7

F 2745 STUD MOVE OUT OF MAINTENANCE
FAULT___ DO_6_RBT DI1024_S
RESET _@_MAINT TUDOMAIN
Y0073.2
G
DO587_@M
INMAINT
N00563 Y0099.5 D0612.0 Y0099.5

H 2750 STUD START FEED CYCLE HEAD 1
DO_798__ IF_PB_TO DO_798__
STRFEDH1 STRFEDH1
N00564 Y0099.6 D0612.0 Y0099.6

I 2753 STUD START FEED CYCLE HEAD 2
DO_799__ IF_PB_TO DO_799__
STRFEDH2 STRFEDH2
N00565 Y0099.7 D0612.0 Y0099.7

J 2756 STUD START FEED CYCLE HEAD 3
DO_800__ IF_PB_TO DO_800__
STRFEDH3 STRFEDH3
N00566 Y0100.0 D0612.0 Y0100.0

K 2759 STUD START FEED CYCLE HEAD 4
DO_801__ IF_PB_TO DO_801__
STRFEDH4 STRFEDH4
N00567 Y0100.1 D0612.0 Y0100.1

L 2762 STUD START FEED CYCLE HEAD 5
DO_802__ IF_PB_TO DO_802__
STRFEDH5 STRFEDH5
N00568 Y0126.6 Y0036.0

M 2765 STUD SKIP REMANING ACTIVE
DO1015_F D0_289_S
FRECOVER RATIVE1
N00569 R0214.1 Y0078.0

N 2767 HEAD BACK
DI_905_S DO_625_H
TDHDBCK1 EADBACK
N00570
O 2769 SUB72
SPE
N00571 ### WELDCONTROL2 ###

A 2770 SUB71 P0015
SP WELDCONTROL2
N00572 X0000.0 Y0091.0

B 2772 WELD CONTROLLER #2 ENABLE
DI_1_EXT DO_729_W
_RNENBL C2_ENBL
N00573 X0095.6 Y0018.4

C 2774 WELD CONTROLLER COMM OK #2
DI_767_W DO_149_W
2_COMMOK C2COM_OK
N00574 Y0000.3 Y0091.1

D 2776 ROBOT IN TEACH TO WC #2
DO_4_RBT DO_730_R
_IN_TCH BTCH_WC2
N00575 X0094.1 Y0019.6

E 2778 I AVAILABLE WARNING #2
DI_754_I DO_159_I
-HI/LO_2 AVL_WRN2
N00576 X0095.5 Y0021.3

F 2780
DI_766_A DO_172_A
DP_MODE2 DPMODEN2
N00577 X0091.0 Y0019.3

G 2782 IN WELD CYCLE #2
DI_729_I DO_156_I
NWLDCYC2 NWD_CY_2
N00578 X0091.1 Y0019.4

H 2784 HAS WELDED #2
DI_730_W DO_157_H
ELD_CMP2 AS_WLD_2
N00579 X0091.3 Y0018.3

I 2786 NO WELD TIMER FAULT #2
DI_732_W DO_148_N
ELD_FLT2 OWLDFLT2
N00580 Y0092.6 Y0092.7 Y0093.0 Y0093.1 Y0093.2 Y0093.3 Y0093.4 1

J 2788
DO_743__ DO_744__ DO_745__ DO_746__ DO_747__ DO_748__ DO_749__
BP2_1 BP2_2 BP2_4 BP2_8 BP2_16 BP2_32 BP2_64
1 Y0093.5 R0306.1
K ROBOT WELD SCHEDULE WELD CTRL2
DO_750__ ROBOT_WS
BP2_128 _WC#2
N00581 Y0092.6 Y0092.7 Y0093.0 Y0093.1 Y0093.2 Y0093.3 Y0093.4 1

L 2797
DO_743__ DO_744__ DO_745__ DO_746__ DO_747__ DO_748__ DO_749__
BP2_1 BP2_2 BP2_4 BP2_8 BP2_16 BP2_32 BP2_64
1 Y0093.5 R0362.0
M
DO_750__ WLD_SCH_
BP2_128 39_WC2
N00582 Y0014.1 R0220.7 Y0091.4

N 2806 WELD / NO WELD#2
DO_114_W DI_959_P DO_733_W
D/NWD_SS LDTIP_2 LD/NWLD2
N00583 X1020.5 X1020.3 X1020.4 D0004.5

O 2809 ALL WELD PARAMETER OK WC2
RI_6_WTR RI_4__XF RI_5_SRV LETSWELD
_FL_SW2 RMR_OT2 OMTR_OT2 WC2
N00584 Y0111.1 D0004.5 K0000.0 ACT R0364.0

DO_890__ LETSWELD DEBUG TMR BINARYTI
BP1_2 WC2 MER2
Y0111.2
B
DO_891__
BP2_2
Y0111.3
C
DO_892__
BP4_2
Y0111.4
D
DO_893__
BP8_2
Y0111.5
E
DO_894__
BP16_2
Y0111.6
F
DO_895__
BP32_2
Y0111.7
G
DO_896__
BP64_2
Y0112.0
H
DO_897__
BP128_2
N00585 Y0111.1 D0004.5 R0364.0 Y0092.6

BP1_2 WC2 MER2 BP2_1
N00586 Y0111.2 D0004.5 R0364.0 Y0092.7

N00587 Y0111.3 D0004.5 R0364.0 Y0093.0

N00588 Y0111.4 D0004.5 R0364.0 Y0093.1

N00589 Y0111.5 D0004.5 R0364.0 Y0093.2

N00590 Y0111.6 D0004.5 R0364.0 Y0093.3

N00591 Y0111.7 D0004.5 R0364.0 Y0093.4

N00592 Y0112.0 D0004.5 R0364.0 Y0093.5

BP128_2 WC2 MER2 BP2_128
N00593 Y0092.6 Y0092.7 Y0093.0 Y0093.1 Y0093.2 Y0093.3 Y0093.4 1

B 2858
DO_743__ DO_744__ DO_745__ DO_746__ DO_747__ DO_748__ DO_749__
BP2_1 BP2_2 BP2_4 BP2_8 BP2_16 BP2_32 BP2_64
1 Y0093.5 R0361.0
DO_750__ NOWLDSCH
BP2_128 WC2
N00594 R0361.0 X0095.6 K0000.0 Y0091.5

D 2867 PRESSURE SWITCH INPUT#2
NOWLDSCH DI_767_W DEBUG DO_734__
WC2 2_COMMOK PS_INPUT
K0000.0 Y0116.6
E
DEBUG DO_935__
RD_SCHD2
N00595 Y0120.7 F1000.3 Y0000.1 R0223.1

F 2874
DO_968_M PAUSED DO_2_RBT DI_977_M
AN_WELD2 _@_HOME AN_WELD2
X0019.0 K0008.0 Y0000.5 F1000.3 F1000.2

G
DI_153_R AUTO/MAI DO_6_RBT PAUSED PROGRAM_
M_MAN_W2 NT_SS _@_MAINT RUNNING
Y0000.1 F1000.2 F1000.3

H
DO_2_RBT PROGRAM_ PAUSED
_@_HOME RUNNING
N00596 Y0120.7 Y0000.1 F1000.2 F1000.3 R0213.7

DO_968_M DO_2_RBT PROGRAM_ PAUSED DI_903_W
AN_WELD2 _@_HOME RUNNING ELDHOME2
X0019.0 K0008.0
J
DI_153_R AUTO/MAI
M_MAN_W2 NT_SS
N00597 Y0050.5 Y0121.1 F1000.3 Y0000.1 R0220.5

DO_406_N DO_970_F PAUSED DO_2_RBT DI_957_R
TFD_2APP EDWLD2PB _@_HOME EFEDWLD2
N00598 K0009.2 D0612.0 K0009.2

2 2
N00599 K0009.2 D0612.0 K0009.2

2 2
N00600 K0006.6 D0612.0 K0006.6

PB2 PB2
N00601 K0006.6 D0612.0 K0006.6

PB2 PB2
N00602 K0006.7 D0612.0 K0006.7

O_TD_PB2 O_TD_PB2
N00603 K0006.7 D0612.0 K0006.7

O_TD_PB2 O_TD_PB2
N00604 K0007.2 D0612.0 K0007.2

_CLS_PB2 _CLS_PB2
N00605 K0007.2 D0612.0 K0007.2

_CLS_PB2 _CLS_PB2
N00606 K0007.3 D0612.0 K0007.3

_OPN_PB2 _OPN_PB2
N00607 K0007.3 D0612.0 K0007.3

_OPN_PB2 _OPN_PB2
N00608 K0007.4 D0612.0 K0007.4

TCPB2 TCPB2
N00609 K0007.4 D0612.0 K0007.4

TCPB2 TCPB2
N00610 K0007.5 D0612.0 K0007.5

ACK_PB2 ACK_PB2
N00611 K0007.5 D0612.0 K0007.5

ACK_PB2 ACK_PB2
N00612 Y0120.7 D0612.0 Y0120.7

AN_WELD2 AN_WELD2
N00613 Y0120.7 D0612.0 Y0120.7

AN_WELD2 AN_WELD2
N00614 Y0121.1 D0612.0 Y0121.1

EDWLD2PB EDWLD2PB
N00615 Y0121.1 D0612.0 Y0121.1

EDWLD2PB EDWLD2PB
O
N00616 Y1020.1 Y1020.1

A 2957 S RDO2 EQUALIZATION VALVE 2
RO__2___ RO__2___
EQLZVLV2 EQLZVLV2
K0004.5 K0007.7
B
EQUALENB EQUALIZE
L_1_2_SS R_2_SS
N00617 Y1020.1 Y1020.1

C 2962 R RDO2 EQUALIZATION VALVE 2
RO__2___ RO__2___
EQLZVLV2 EQLZVLV2
K0004.5 K0007.7
D
EQUALENB EQUALIZE
L_1_2_SS R_2_SS
N00618 K0004.5 K0007.7

EQUALENB EQUALIZE
L_1_2_SS R_2_SS
N00619 K0004.5 X1026.1 G1000.1 ACT K0004.5

F 2969 SUB 3 0033 R EQUALIZATION ENABLE 1AND2 SS
EQUALENB SI9_____ NO_HOLD TMR EQUALENB
L_1_2_SS AUTOMDSW L_1_2_SS
N00620 K0000.0 Y0091.3 D0612.0 X1025.1 Y0091.3

G 2975 RESET WELDER#2
DEBUG DO_732_R IF_PB_TO FAULT___ DO_732_R
ST_WLD2 RESET ST_WLD2
X1025.1
H
FAULT___
RESET
N00621 K0015.3 D0612.0 K0015.3

SSDUMP2 SSDUMP2
N00622 K0015.3 D0612.0 K0015.3

SSDUMP2 SSDUMP2
N00623 K0015.4 D0612.0 K0015.4

SSDUMP2 SSDUMP2
N00624 K0015.4 D0612.0 K0015.4

SSDUMP2 SSDUMP2
N00625 K0015.3 Y0000.2 X1026.1 K0015.4 Y0021.5

M 2993
ADVTIPDR DO_3_RBT SI9_____ RETTIPDR DO_174_A
SSDUMP2 _IN_AUTO AUTOMDSW SSDUMP2 DVDUMP2
N00626 K0015.4 Y0000.2 X1026.1 K0015.3 Y0021.6

N 2998
RETTIPDR DO_3_RBT SI9_____ ADVTIPDR DO_175_R
SSDUMP2 _IN_AUTO AUTOMDSW SSDUMP2 ETDUMP2
N00627
O 3003 SUB72
SPE
N00628 ### TIPDRESSER2 ###

A 3004 SUB71 P0016
SP TIPDRESSER2
N00629 X0095.1 Y0021.2

B 3006 TIP CHANGE REQUIRED #2
DI_762_T DO_171_T
PCHNGRQ2 PCHG_RQ2
X0095.0
C
DI_761_T
PCNGREQ2
N00630 K0007.2 Y0000.5 R0222.4

D 3009 TIP ALIGNMENT CLOSED 2
_CLS_PB2 _@_MAINT IP_CLS2
N00631 K0007.3 Y0000.5 R0222.5

E 3012 TIP ALIGNMENT OPENED 2
_OPN_PB2 _@_MAINT IP_OPN2
N00632 X0091.4 Y0020.3

F 3015 NEW TIPS RESET #2
DI_733_N DO_164_N
EW_TIP2 WTP_RST2
N00633 R0346.0 Y0092.5 X0001.2 K0008.0 R0346.0

G 3017 INITIATE AUTO TIP MEMORY 2
TIP_MEM_ DO_742_D DI_11___ AUTO/MAI TIP_MEM_
___2 TSR2 PLC_AUTO NT_SS ___2
Y0119.1 K0006.7
H
DO_954_C INIT_AUT
LRAV_XFR O_TD_PB2
N00634 R0335.0 Y0094.6 Y0000.5 X0091.1 R0332.0

I 3025 TIP DRESS MEMORY WC #2
DRESS_CA DO_759_T DO_6_RBT DI_730_W TD_MEM_W
P_TC2 D_MTRON2 _@_MAINT ELD_CMP2 C_#2
R0332.0
J
TD_MEM_W
C_#2
N00635 X0091.4 R0332.0 K0008.0 Y0000.5 X0018.7 R0335.0

K 3031 DRESS CAPS AFTER TIP CHNGE2
DI_733_N TD_MEM_W AUTO/MAI DO_6_RBT DI_152_T DRESS_CA
EW_TIP2 C_#2 NT_SS _@_MAINT D_BYPSS2 P_TC2
N00636 X0091.2 Y0019.0

L 3037 AUTO TIP DRESS #2
DI_731_M DO_153_A
ANT_REQ2 UTO_TD_2
R0335.0 Y0050.5
M
DRESS_CA DO_406_N
P_TC2 TFD_2APP
R0346.0
N
TIP_MEM_
___2
N00637 Y0093.7 Y0119.1 R0352.0

O 3043 PULLED TIP SEAL WC #2
DO_752_T DO_954_C PULLDTIP
IP_WTR2 LRAV_XFR _SEAL_2
N00638 R0352.0 ACT D0613.0

A 3046 SUB 3 0015 PULLED TIMER WC #2
_SEAL_2 P_TIMER2
N00639 Y0018.5 X0001.2 Y0094.6

B 3050 TIP DRESS MOTOR ON #2
DO_150_D DI_11___ DO_759_T
RSR_ON_2 PLC_AUTO D_MTRON2
K0007.0 Y0000.3 Y1020.6

C TIP DRESS VALVE 2
TEACH_TD DO_4_RBT RO_7_TD_
_ENABLE2 _IN_TCH ENABLE_2
N00640 X1020.5 X0000.0 X0013.6 R0220.7

D 3058 PULLED TIP BYPASS 2
RI_6_WTR DI_1_EXT DI 111 A DI_959_P
_FL_SW2 _RNENBL UTOTIPCH LDTIP_2
R0220.7 D0613.0
E
DI_959_P PULLEDTI
LDTIP_2 P_TIMER2
N00641 K0006.3 Y0018.7

F 3065 TIP DRESS MTR FLT BYPASS #2
TD_MTR_F DO_152_T
LT_BYPS2 DMFL_BY2
N00642 D0608.0 R0410.0 R0413.0

G 3067 TD FAULT2
1TIM2 TOK2
N00643 Y0018.5 X0094.2 K0006.3 Y0091.3 R0410.0

H 3070 TD CURRENT OK FROM WC2
DO_150_D DI_755_T TD_MTR_F DO_732_R TDCURREN
RSR_ON_2 IP_DR_OK LT_BYPS2 ST_WLD2 TOK2
R0410.0
I
TDCURREN
TOK2
N00644 R0413.0 ACT D0609.0

J 3076 SUB 3 0017 TD MOTOR OFF 2 FAULT TIMER 2
2TIM2
N00645 Y0018.5 ACT D0608.0

DO_150_D TMR TDMTROFF
RSR_ON_2 1TIM2
N00646 Y0091.3 R0410.0 D0609.0 R0416.0

L 3084 TD MOTOR FAULT 2
DO_732_R TDCURREN TDMTROFF TDMTRFLT
ST_WLD2 TOK2 2TIM2 2
R0406.0
M
TPRESFLT
2
R0416.0
N
TDMTRFLT
2
N00647 R0416.0 Y0018.6

O 3091 TIP DRESS MOTOR FAULT #2
TDMTRFLT DO_151_T
2 DM_FLT_2
N00648 Y0118.2 ACT D0607.0

A 3093 SUB 3 0022 TIP RESISTANCE FAULT TIMER 2
DO_947_R TMR TPRESFLT
ESCHKMD2 TIM2
N00649 D0607.0 R0407.0 R0406.0

B 3097 TIP RESISTANCE FAULT2
TIM2 LAT2 2
N00650 Y0118.2 X0094.3 K0007.1 Y0091.3 R0407.0

C 3100 TIP RESISTANCE FAULT LATCH2
DO_947_R DI_756_T TIP_RESI DO_732_R TPRESFLT
ESCHKMD2 PDRRSOK2 ST_BYPS2 ST_WLD2 LAT2
R0407.0
D
TPRESFLT
LAT2
N00651 X0018.4 Y0121.2 Y0119.0 F1000.5 R0221.7

E 3106 RUNTIP DRESS DUMP MACRO2
DI_149_I DO_971_P DO953_CL FAULT DI_967_R
NITTPDR2 EDDMPAPP RMOTZN2 NTDDMP2
X0018.6 X0091.2 Y0019.0 Y0121.7

F
DI_151_T DI_731_M DO_153_A DO_976__
D_DMP_R2 ANT_REQ2 UTO_TD_2 TPWRCMP2
N00652 K0009.1 K0009.1

G 3116 S NTSR ENABLE 2 SS
NTSRENB2 NTSRENB2
SS SS
N00653 K0009.1 X1025.1 K0009.1

H 3118 R NTSR ENABLE 2 SS
NTSRENB2 FAULT___ NTSRENB2
SS RESET SS
K0009.1 X0091.4
I
NTSRENB2 DI_733_N
SS EW_TIP2
N00654 K0015.7 K0015.7

J 3124 S DTSR ENABLE 2 SS
DTSRENB2 DTSRENB2
SS SS
N00655 K0015.7 X1025.1 K0015.7

K 3126 R DTSR ENABLE 2 SS
DTSRENB2 FAULT___ DTSRENB2
SS RESET SS
K0015.7 X0091.5
L
DTSRENB2 DI_734_D
SS RSSTIP2
N00656 K0009.1 K0006.6 Y0092.4

M 3132 NEW TIP STEPPER RESET#2
NTSRENB2 NEW_TIP_ DO_741_N
SS PB2 TSR2
X0019.3
N
DI_156_N
EWTPRST2
O
N00657 K0015.7 K0009.2 Y0092.5

A 3136 DRESS TIP STEPPER RESET#2
DTSRENB2 DTSR_PB_ DO_742_D
SS 2 TSR2
Y0117.0
B
DO_937__
STP_RST2
N00658
C 3140 SUB72
SPE
N00659 ### WATERVALVE2 ###

D 3141 SUB71 P0017
SP WATERVALVE2
N00660 X1020.5 X0001.6 Y0093.7

E 3143 TIP WATER FLOW #2
RI_6_WTR DI_15_SY DO_752_T
_FL_SW2 S_WTR_ON IP_WTR2
N00661 X0014.0 R0000.5 Y1020.5

DI_113_R WTR_RST_ RO_6_WTR
ST_WTRSV PULSE_OP _RESET2
Y1020.5 X1020.5
G
RO_6_WTR RI_6_WTR
_RESET2 _FL_SW2
X1025.1
H
FAULT___
RESET
N00662
I 3153 SUB72
SPE
N00663 ### OVRTMP/NOSTRK2 ###

J 3154 SUB71 P0018
SP OVRTMP/NOSTRK2
N00664 X1020.3 Y0094.4

K 3156 TRANSFORMER OVERTEMP#2
RI_4__XF DO_757_X
RMR_OT2 FMR_OT2
N00665 X1020.4 Y0094.5

L 3158 SERVO MOTOR OVERTEMP#2
RI_5_SRV DO_758_S
OMTR_OT2 RVMTROT2
N00666 X1020.3 X1025.1 R0501.0

M 3160 TRANSFORMER OVERTEMP SEAL2
RI_4__XF FAULT___ XFRMR_OT
RMR_OT2 RESET MP_SEAL2
R0501.0
N
XFRMR_OT
MP_SEAL2
O
N00667 X1020.4 X1025.1 R0501.1

A 3164 SERVO MOTOR OVERTEMP SEAL2
RI_5_SRV FAULT___ SRVOMTR_
OMTR_OT2 RESET OT_SEAL2
R0501.1
B
SRVOMTR_
OT_SEAL2
N00668 R0501.0 Y0020.2

C 3168 TRANSFORMER OVERTEMP FAULT #2
XFRMR_OT DO_131_X
MP_SEAL2 FMR_OTF2
N00669 R0501.1 Y0020.1

D 3170 SG MOTOR OTEMP FAULT#2
SRVOMTR_ DO_162_S
OT_SEAL2 GM_OTF2
N00670
E 3172 SUB72
SPE
N00671 ### AIR ###

F 3173 SUB71 P0020
SP AIR
N00672 X1020.6 Y0001.5

G 3175 END OF ARM AIR ON
RI_7_AIR DO_14_EO
_FL_SW A_AIR_ON
N00673
H 3177 SUB72
SPE
N00674 ### TOUCHUP1 ###

I 3178 SUB71 P0025
SP TOUCHUP1
N00675 K0000.1 Y0054.4

J 3180 PROGRAM TOUCHUP REQUEST
TOUCHUP1 DO_437_P
ENB RGTCHREQ
N00676
K 3182 SUB72
SPE

Ford FANUC R30iA R30iB NextGen E

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VEHICLE OPERATION STRUCTURE AND STANDARDS

FORD Robot Programming Guide - FANUC Implementation

Appendix Combo SWG - STUD

2 Servo Tip Dress.......................................................................................................... 9

3 Spot Program Touchup .............................................................................................. 9

4 Style Sample Teach Pendant Programs ..................................................................... 9

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

4 Style Sample Teach Pendant Programs

4.1 ASCII Upload

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

NOTE1: In PG21, Motion Group[1:Robot] only is defined.

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

NOTE1: In WELD01, Group[1:Robot] and Group[2:ServoGun] are defined.

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

NOTE1: In WELD01, Group[1:Robot] and Group[2:ServoGun] are defined.

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

NOTE1: In TPDRSMAC, NO Groups are define.

/PROG TPDRSMAC Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

/PROG PEDTDMACS Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

/PROG PEDTDMACS Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

/PROG TIP_MEAS Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

/PROG WELD1ENB Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc

/PROG WELD1DIS Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Combo_SWG_Stud_Appendix - 2016_02_12.doc