Ford Fanuc R30ia R30ib Nextgen E181

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 Laser Braze (PDT)

Table of Contents
1 Style Sample Teach Pendant Programs ..................................................................... 5
1.1 ASCII UPLOAD .................................................................................................................................... 5
1.2 PG21 – LASER BRAZE........................................................................................................................... 6
1.3 PG08 – MAINTENANCE......................................................................................................................... 9
1.4 PG09 –MINOR MAINTENANCE .............................................................................................................11
1.5 PG10 – POWER METER .......................................................................................................................13
1.6 PG11 – WIRE CUT ..............................................................................................................................15
1.7 PG15 – WIRE ALIGNMENT ...................................................................................................................16
1.8 PG16 – COUPON BRAZE......................................................................................................................18
1.9 BRAZE01 ...........................................................................................................................................20
1.10 BRAZECFG01 ...................................................................................................................................24
1.11 BRAZE_COUPON MACRO ................................................................................................................26
1.12 PWR_METER – POWER METER .........................................................................................................28
1.13 WIRE_TRIM – WIRE TRIM..................................................................................................................30
1.14 BRAZE_START MACRO .....................................................................................................................32
1.15 BRAZE_END MACRO.........................................................................................................................33
1.16 CHECK_4_WIRE MACRO ..................................................................................................................34
1.17 FEED_WIRE_2_CUT MACRO ...........................................................................................................35
1.18 HIGHYAG_RESET MACRO................................................................................................................37
1.19 LASER_MONITOR MACRO ...............................................................................................................38
1.20 POWER_SHOT MACRO .....................................................................................................................42
1.21 RESUME ...........................................................................................................................................44
1.22 WELDMODE.....................................................................................................................................45
1.23 LASERCOL MACRO ...........................................................................................................................46
1.24 HYAG_MON MACRO .........................................................................................................................47
1.25 WIREFEED MACRO ...........................................................................................................................48
1.26 RESET_LASER ..................................................................................................................................50
1.27 WIRE_OFF MACRO ...........................................................................................................................51
1.28 WIRE_ALIGN_SETUP MACRO..........................................................................................................52
1.29 WIRE_CUT MACRO ...........................................................................................................................54
1.30 WIRE_FORWARD MACRO ................................................................................................................55
1.31 WIRE_REVERSE MACRO ..................................................................................................................56
1.32 HOME_IO – RESET INPUT/OUTPUT MACRO .....................................................................................57
2 Software I/F Panels .................................................................................................. 59
2.1 LASER MONITOR..................................................................................................................................59
2.2 LASER CONTROL..................................................................................................................................61
2.3 WIRE FEEDER .....................................................................................................................................62
3 PMC Logic (S-Logic) for R-30iA Controllers......................................................... 63
4 PMC Logic (S-Logic) for R-30iB Controllers......................................................... 64
Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Page 2 of 64
Revision History
Revision Modification Date Description
1.0 2012-10-31 Initial Release
1.1 2012-11-28 Corrected Auto Repeat jumps and removed CD391
labeling.
1.2 2012-12-21 Created direct Exit Zones in HOME_IO.
Updated Laser Control Interface Panel.
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.
Updated PMC: Added Y000.2 DO 3 RBT IN AUTO to
the rung with Y0083.0 DO 665 EXTACTIV. Also
added anti-tie down logic for K0012.2
LASERGLSSNOTPRSS.
1.3 2013-01-14 Fixed Exit Zone 14 bit in HOME_IO.
Added logic for POWER_SHOT to be executed after
BRAZE01 in PG21 along with additional logic changes.
Updated PMC: Created R0.7 Part Present in MH.
Added not R0.7 to y126.7 contact. Created K13.1 No
Tool SS Reset Contact.
1.4 2013-03-18 Added R-30iB specific PMC.
1.5 2013-07-08 Added a new TP Program PG09 which is a copy of
PG08, but for PG09, DO[6] is changed to DO[587].
Added I/F screen shot of corrected buttons for Wire
Feeder since the STM files have been adjusted.
1.6 2013-08-07 Updated iA PMC: Modified logic for rung with output
R0388.0 OPSFTY_FLT_LATCH. Added a rung for
this modification that has output R0388.1 F1008.1
DELAY ON.
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.
1.7 2014-06-24 Updated iA PMC: Modified facility code reset logic.
Modified safety chain fault detection logic.
Updated iB PMC: Facility code reset logic
modification. Added power and wire feed monitoring
logic.
Added Laser Monitor Section
Modified BRAZE01 & HOME_IO for laser monitor
Page 3 of 64
Updated HOME_IO to reset Robot at Minor
Maintenance;
Added DO[587:RBT AT MINMAINT]=OFF
1.8 2015-01-30 Added Second Program Verify to Main Style Program
Updated (Minor) Maintenance Programs:: Moved
position at which the at (Minor) Maintenance position
signal is turned off to come immediately after the wait
for the PLC (Minor) Maintenance clear signal.
Updated PMC: Changed MON_LASER reset Logic
Updated PMC: Added Couple and Decouple pass
through signals to tool change PMC
1.9 2016-02-12 Updated PMC: Added TC Cover Open/Close to the
Interface Anti-Tiedown Logic
Updated PMC: 2015-10-30 : Added Logic to allow for
Robot Cycle Start from Multiple Home Locations:
Added Logic to require a TP Interface Button Press to
(Un)Lock the Tool Changer while in Teach; Added
Logic to not allow the signal for the Lock Command to
go low when the Tool Change Application Bit is
inactive

Page 4 of 64
1 Style Sample Teach Pendant Programs
1.1 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.
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
 Saving Files as ASCII
 ASCII UPLOAD

Page 5 of 64
1.2 PG21 – Laser Braze
/PROG PG21
/ATTR
OWNER = MNEDITOR;
COMMENT = "Main Laser Braze";
PROG_SIZE = 2038;
CREATE = DATE 12-09-25 TIME 15:17:04;
MODIFIED = DATE 12-09-25 TIME 15:17:04;
FILE_NAME = PG21;
VERSION = 0;
LINE_COUNT = 89;
MEMORY_SIZE = 2466;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: ! LASER BRAZE PG21 ;
3: ! ;
4: !******************************** ;
5: ;
6: !Verify Program ;
7: PROGRAM VERIFY(21) ;
8: ;
9: !Set Robot UTOOL Number ;
10: UTOOL_NUM=1 ;
11: ;
12: !Set Robot UFRAME Number ;
13: UFRAME_NUM=1 ;
14: ;
15: !Set Robot Payload ;
16: PAYLOAD[2] ;
17: ;
18: !Runs HOME_IO ;
19: SETUP OUTPUTS ;
20: ;
21: !Move to HOME ;
22: GO TO HOME POS ;
23: ;
24: !Set Braze Conditions ;
25: CALL BRAZECFG01 ;
26: ;
27: !Move to Pounce Position ;
28: GO TO POUNCE ;
29: ;
30: !Clr to Adv Xfer ;
31: DO[954:CLRTOADVXFR]=ON ;
32: ;
33: !Clr to Ret Xfer ;
34: DO[955:CLRTORETXFR]=ON ;
35: ;
36: !NOT Clear to Unclamp ;
37: DO[956:CLRTOUNCLMP]=OFF ;
38: ;
Page 6 of 64
39: ;
40: !-------------------------------- ;
41: LBL[33:Loop Back];
42: ;
43: !Turn ON Robot in Loop ;
44: DO[24:RBT IN LOOP]=ON ;
45: GO[43:HIGHYAG HEAD POSITION]=1 ;
45: ;
45:!---------------------------------- ;
46: !Wait Continue from Pounce ;
47: ! or Return to Home ;
47: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
48: ;
49: !Turn OFF Robot in Loop ;
50: DO[24:RBT IN LOOP]=OFF ;
51: ;
52: !If Return to Home jump to label ;
53: IF DI[13:RETURN TO HOME]=ON,JMP LBL[13] ;
54: ;
55: !If Continue from Pounce jump to ;
56: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
57: ;
58: JMP LBL[33];
59: ;
60: !-------------------------------- ;
61: !Continue from Pounce ;
62: LBL[9:Start Cycle] ;
5: ;
8: ;
63: !Clr to Return Xfer ;
64: DO[955:CLRTORETXFR]=OFF ;
65: ;
66: !Clr to Adv Xfer ;
67: DO[954:CLRTOADVXFR]=OFF ;
67: ;
67: !Clr to Unclamp ;
67: DO[956:CLRTOUNCLMP]=OFF
67: ;
67: WAIT DI[667:LASER READY]=ON ;
67: ;
67:!********************************* ;
67:!Braze Path ;
67:!********************************* ;
67: !Enter Zone3 ;
67: ENTER ZONE(3) ;
67: !
68: !Calls Braze Routine ;
69: ! contains Braze Points ;
70: CALL BRAZE01 ;
71: ;
71: !Exit Zone3 ;
71: EXIT ZONE(3) ;
71: ;
73: ;
74: !Clear to Unclamp ;
75: DO[956:CLRTOUNCLMP]=ON ;
75: ;
76: !Clear to Adv/Ret Xfer ;
77: ;

Page 7 of 64
77: !Clear to Return Xfer ;
139: ;
140: LBL[13:Return to Home ] ;
141: !--------------------------------
102: ;
103: !Reset Highyag Laser Head ;
104: CALL HIGHYAG_RESET ;
105: ;
/POS
/END

Page 8 of 64
1.3 PG08 – Maintenance
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 1297;
CREATE = DATE 12-03-13 TIME 21:16:16;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 37;
MEMORY_SIZE = 1649;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Ford Maintenance Program PG08 ;
3: ! ;
4: !******************************** ;
5: ;
8: ;
8: !CLR TO ADV. TRANSFER ;
9: ;
10: PAYLOAD[2] ;
11: ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=1 ;
17: ;
18: !Runs HOME_IO ;
19: SETUP OUTPUTS ;
20: ;
21: !Move to HOME ;
23: ;
40: !------------------------------ ;
41: !Approach to Maint Pos ;
42:J P[1] 20% CNT100 ;
43:J P[2] 20% CNT100 ;
25: ;
45: !Maintenance Position ;
46:L P[3] 200mm/sec CNT100 ;
46: ;
26: !Maint Position ON ;
27: DO[6:RBT AT MAINT]=ON ;
28: ;
Page 9 of 64
29: ! Turn ON Robot in LOOP ;
31: ;
32: !Wait for Maintenance Clear ;
33: WAIT DI[7:MAINT POS CLR]=ON ;
34: ;
35: ! Turn OFF Robot in LOOP ;
37: ;
78: !Maint Position OFF ;
79: DO[6:RBT AT MAINT]=OFF ;
73: !------------------------------ ;
74: !Depart from Maint Pos ;
75:J P[2] 20% CNT100 ;
76:J P[1] 20% CNT100 ;
77: ;
80: ;
81: ;
82: !Move to Home ;
/POS
/END

Page 10 of 64
1.4 PG09 –Minor Maintenance
/PROG PG09
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 1297;
CREATE = DATE 12-03-13 TIME 21:16:16;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 37;
MEMORY_SIZE = 1649;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Ford Maintenance Program PG09 ;
3: ! ;
4: !******************************** ;
5: ;
8: ;
9: ;
10: PAYLOAD[2] ;
11: ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=1 ;
17: ;
18: !Runs HOME_IO ;
19: SETUP OUTPUTS ;
20: ;
21: !Move to HOME ;
23: ;
40: !------------------------------ ;
41: !Approach to Maint Pos ;
42:J P[1] 20% CNT100 ;
43:J P[2] 20% CNT100 ;
25: ;
45: !Maintenance Position ;
46:L P[3] 200mm/sec CNT100 ;
46: ;
27: DO[587:RBT AT MIN MAINT]=ON ;
28: ;
Page 11 of 64
31: ;
34: ;
37: ;
79: DO[587:RBT AT MIN MAINT]=OFF ;
73: !------------------------------ ;
74: !Depart from Maint Pos ;
75:J P[2] 20% CNT100 ;
76:J P[1] 20% CNT100 ;
77: ;
79: DO[587:RBT AT MIN MAINT]=OFF ;
80: ;
81: ;
82: !Move to Home ;
/POS
/END

Page 12 of 64
1.5 PG10 – Power Meter
/PROG PG10 Process

/ATTR
OWNER = MNEDITOR;
COMMENT = "Power Meter Style";
PROG_SIZE = 1772;
CREATE = DATE 12-08-30 TIME 09:41:08;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 58;
MEMORY_SIZE = 2172;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Power Meter Program Style PG10;
3: ! ;
4: !******************************** ;
5: ;
8: ;
9: ;
10: PAYLOAD[2] ;
11: ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=1 ;
17: ;
18: !Runs HOME_IO ;
19: SETUP OUTPUTS ;
19: ;
20: !Move to HOME ;
22: ;
23 !Reset Highyag Head ;
25: ;
26: !Move Near Power Meter;
27:L P[1] 2000mm/sec FINE ;
28: ;
29: !Power Meter ;
30: ! Contains Points ;
31: CALL PWR_METER ;
32: ;
33: !Move to HOME ;
Page 13 of 64
35: ;
/POS
/END

Page 14 of 64
1.6 PG11 – Wire Cut
/PROG PG11
/ATTR
OWNER = MNEDITOR;
COMMENT = "Wire Trim Style";
PROG_SIZE = 2306;
CREATE = DATE 12-09-20 TIME 16:26:04;
FILE_NAME = PG10;
VERSION = 0;
LINE_COUNT = 79;
MEMORY_SIZE = 2750;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Wire Cut Program Style PG11;
3: ! ;
4: !******************************** ;
5: ;
8: ;
9: ;
10: PAYLOAD[2] ;
11: ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=1 ;
17: ;
18: !Runs HOME_IO ;
19: SETUP OUTPUTS ;
20: ;
21: !Move to HOME ;
23: ;
24: !Wire Trim ;
25: ! Contains Points ;
26: CALL WIRE_TRIM ;
27: ;
28: !Move to HOME ;
30: ;
/POS
/END

Page 15 of 64
1.7 PG15 – Wire Alignment
/PROG PG15 Process
/ATTR
OWNER = MNEDITOR;
COMMENT = "WIRE ALIGNMENT";
PROG_SIZE = 1925;
CREATE = DATE 12-09-30 TIME 19:36:54;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 65;
MEMORY_SIZE = 2425;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
4: !Wire Alignment Program ;
5: !Fanuc R30iA Next Gen Spec ;
6: !******************************** ;
5: ;
8: ;
9: ;
10: PAYLOAD[2] ;
11: ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=1 ;
17: ;
18: !Runs HOME_IO ;
19: SETUP OUTPUTS ;
20: ;
21: !Move to HOME ;
23: ;
16: !Set Wire Align Conditions ;
16: CALL WIRE_ALIGN_SETUP;
17: ;
17: !Feed Wire Reverse ;
18: CALL WIRE_REVERSE ;
18: ;
19: RO[3:IN LASER SEGMENT]=ON ;
20: ;
21:J P[1:Approach 1] 20% CNT20 ;
22:L P[2:Alignment Pos] 200mm/sec FINE ;
23: ;
27: !Run Laser Program 1. ;
Page 16 of 64
28: DO[865:LASERPRGSTRTSTAT]=ON ;
28: ;
29: WAIT .50(sec) ;
29: ;
30: DO[865:LASERPRGSTRTSTAT]=OFF ;
30: ;
31: RO[3:IN LASER SEGMENT]=OFF ;
32: ;
33: !Feed Wire Forward ;
33: CALL WIRE_FORWARD ;
36: ;
37: DO[737:CROSS JET AIR]=OFF ;
38: ;
41: ;
44: ;
46: WAIT DI[48:WIRE ALIGN COMP]=ON ;
47: ;
50: ;
53: ;
55: ;
56: !Set Wire Cut From Process ON ;
57: R[154:BrazeEnd_CutWire]=1 ;
58: ;
59: !Depart from Alignment Pos ;
60:J P[3] 20% CNT20 ;
61: ;
64: !Move to Home ;
/POS
/END

Page 17 of 64
1.8 PG16 – Coupon Braze
/PROG PG16 Process
/ATTR
OWNER = MNEDITOR;
COMMENT = "Coupon PRG";
PROG_SIZE = 1816;
CREATE = DATE 12-09-02 TIME 01:07:28;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 47;
MEMORY_SIZE = 2136;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
4: !Coupon Braze Program ;
5: !Fanuc R30iA Next Gen Spec ;
6: !******************************** ;
5: ;
8: ;
9: ;
10: PAYLOAD[2] ;
11: ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=1 ;
17: ;
17: !Runs HOME_IO ;
18: SETUP OUTPUTS ;
19: ;
20: !Move to HOME ;
22: ;
19: !Set Braze Conditions ;
16: CALL BRAZE_COUPON ;
17: ;
18:J P[1:Approach 1] 20% CNT20 ;
19:L P[2:Approach 2] 200mm/sec CNT20 ;
20:L P[3:Start Braze] 100mm/sec CNT20 ;
20: ;
21: ;
22: !Initiate Braze ;
22: CALL BRAZE_START ;
23: ;
Page 18 of 64
24:L P[4] 34mm/sec CNT70 ;
25: ;
26:L P[5:Braze Complete] 34mm/sec CNT75 DB 2.5mm,DO[888:WIRE
FEED START]=OFF ;
27: ;
28: ;
29: !Terminate Braze ;
29: CALL BRAZE_END ;
30: ;
31: !Depart from Coupon Stand ;
32:L P[6] 300mm/sec CNT75 ;
33:L P[7] 500mm/sec CNT75 ;
34: ;
36: ;
37: !Call Wire Trim From Process ;
39: ;
40:J P[8] 20% CNT20 ;
41: ;
42: !Call Wire Trim ;
43: CALL WIRE_TRIM ;
43: ;
45: ;
46: !Move to Home ;
/POS
/END

Page 19 of 64
1.9 BRAZE01
NOTE1: Enter ALL Laser Braze positions in this program.
/PROG BRAZE01 Process

/ATTR
OWNER = MNEDITOR;
COMMENT = "BRAZE REG";
PROG_SIZE = 3076;
CREATE = DATE 12-10-02 TIME 11:31:02;
FILE_NAME = PG02LASE;
VERSION = 0;
LINE_COUNT = 76;
MEMORY_SIZE = 3400;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: ! Laser Braze Braze01 ;
3: ! ;
4: !******************************** ;
5: ;
5: UTOOL_NUM=1 ;
5: ;
5: UFRAME_NUM=1 ;
10: ;
11: PAYLOAD[2] ;
12: ;
13: !Enter Zone10 w/Station ;
14: Enter Zone(10) ;
14: ;
16: ;
19:L P[3:Braze Start] 100mm/sec CNT10 ;
20: ;
21: ;
23: ;
24: !Initiate Braze ;
25: CALL BRAZE_START ;
26: ;
27:L P[4:At 4 to 10 MM] 32mm/sec CNT70 DB 5.0mm,GO[46:WIRE
SPEED OUTPUT]=185 ;
28: ;
28: !Begin monitoring laser power, ;
28: !wire speed and shutter. ;
25: RUN MON_LASR ;
Page 20 of 64
25: ;
28: RO[8:WIRE MONITOR]=ON ;
29:L P[5:100mm] 32mm/sec CNT100 ;
30: R[160:Reg Path]=100 ;
31:L P[6:200mm] 32mm/sec CNT100 ;
32: R[160:Reg Path]=200 ;
33:L P[7:300mm] 32mm/sec CNT100 ;
34: R[160:Reg Path]=300 ;
35:L P[8:400mm] 32mm/sec CNT100 ;
36: R[160:Reg Path]=400 ;
37:L P[9:500mm] 32mm/sec CNT100 ;
38: R[160:Reg Path]=500 ;
39:L P[10:600mm] 32mm/sec CNT100 ;
40: R[160:Reg Path]=600 ;
41:L P[11:700mm] 32mm/sec CNT100 ;
42: R[160:Reg Path]=700 ;
43:L P[12:800mm] 32mm/sec CNT100 ;
44: R[160:Reg Path]=800 ;
45:L P[13:900mm] 32mm/sec CNT100 ;
46: R[160:Reg Path]=900 ;
47:L P[14:1000mm] 32mm/sec CNT100 ;
48: R[160:Reg Path]=1000 ;
49:L P[15:1100mm] 32mm/sec CNT100 ;
50: R[160:Reg Path]=1100 ;
51:L P[16:1200mm] 32mm/sec CNT100 ;
52: R[160:Reg Path]=1200 ;
53:L P[17:1300mm] 32mm/sec CNT100 ;
54: R[160:Reg Path]=1300 ;
55:L P[18:1400mm] 32mm/sec CNT100 ;
56: R[160:Reg Path]=1400 ;
57:L P[19:1500mm] 32mm/sec CNT100 ;
58: R[160:Reg Path]=1500 ;
59: RO[8:WIRE MONITOR]=OFF ;
60: ;
60: !Stop running MON_LASR ;
60: F[70:MONITOR STOP]=(ON) ;
60: ;
61:L P[20:Braze Complete] 32mm/sec CNT25 DB 0.0mm,DO[888:WIRE
FEED START]=OFF ;
62: ;
63: ;
64: !Terminate Braze ;
65: CALL BRAZE_END ;
66: ;
67:L P[21] 500mm/sec CNT30 ;
67: ;
67: !Feed wire reverse ;
67: CALL WIRE_REVERSE ;
67: ;
68: ;
68: DO[48:RESET POWER METER]=PULSE,1.0sec ;
68: ;
69: ;
71: IF (DI[10:AUTO REPEAT
MODE]=ON),DO[111:WELDSEQCOMP2PLC1]=PULSE,2.0sec ;
71: ;
72:J P[22:Wire Cut Needed] 30% FINE ;
72: ;
75: ;

Page 21 of 64
76: !Exit Zone10 ;
77: Exit Zone(10) ;
78: ;
80: IF DI[42:POWER METER COMPLETE]=ON,JMP LBL[5] ;
81: IF (R[75:Cycle Counter]>=20),JMP LBL[1] ;
82: JMP LBL[5] ;
83: ;
84: LBL[1:Power Meter Shot] ;
85: DO[42:AT POWER METER]=ON ;
86: ;
87:L PR[16:AT Power Meter] 1250mm/sec FINE ;
88: ;
89: WAIT DI[43:POWER METER READY]=ON ;
90: ;
91: CALL POWER_SHOT ;
92: ;
93: WAIT DI[42:POWER METER COMPLETE]=ON ;
94: ;
95: R[75:Cycle Counter]=0 ;
96: ;
97: LBL[5:Pwr Mtr Bypass] ;
98: ;
99: !Clear to Unclamp ;
101: !Clear to Adv/Ret Xfer ;
104: ;
105:L PR[16:AT Power Meter] 1250mm/sec FINE ;
106: ;
106: !Feed wire before cut ;
107: CALL FEED_WIRE_2_CUT ;
107: ;
108: IF R[175:WIRE CHECK FAULT]<4,JMP LBL[20] ;
109: ;
112: ;
115: ;
118: ;
119: !Turn OFF Robot in LOOP ;
121: ;
124: ;
125: LBL[20:WIRE CHECK POS.] ;
126:L PR[15:AT Wire Check] 500mm/sec FINE ;
127: ;
128: !Check for wire ready ;
128: CALL CHECK_4_WIRE ;
128: ;
129: IF R[175:WIRE CHECK FAULT]>=1,JMP LBL[5] ;
130: ;
131:L P[23] 300mm/sec CNT50 ;
132: ;
133: !Wait Wire Cutter Open ;
134: WAIT DI[44:WIRE CUTTER OPEN]=ON ;
135: DO[737:CROSS JET AIR]=ON ;

Page 22 of 64
136: ;
137:L PR[14:AT Wire Cut] 300mm/sec FINE ;
138: ;
138: !Cut wire ;
139: CALL WIRE_CUT ;
140: ;
141:L P[24] 500mm/sec CNT25 ;
142: ;
144: GO[46:WIRE SPEED OUTPUT]=0 ;
145: DO[42:AT POWER METER]=OFF ;
146: ;
147:L P[25:Midway Transit] 1500mm/sec CNT75 ;
/POS
/END

Page 23 of 64
1.10 BRAZECFG01
/PROG BRAZECFG01 Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "BrazeSetup";
PROG_SIZE = 1658;
CREATE = DATE 12-09-28 TIME 07:23:48;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 65;
MEMORY_SIZE = 2158;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = *,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !BRAZE CONDITION SET-UP. ;
3: !******************************** ;
4: ;
5: IF (DI[729:HIGHYAG READY]=ON AND DI[730:HIGHYAG NO ERROR]=ON
AND DI[849:WIRE FEED READY]=ON),JMP LBL[1] ;
6: ;
7: !Initialize/Reset HighYag Head ;
8: DO[899:HIGHYAG RESET]=PULSE,0.5sec ;
8: ;
9: !Initialize/Reset Wirefeeder ;
10: DO[795:WIRE FEED RESET]=PULSE,0.5sec ;
11: ;
12: !Wait for Highyag/Wirefeed ready ;
13: WAIT DI[729:HIGHYAG READY]=ON ;
14: WAIT DI[730:HIGHYAG NO ERROR]=ON ;
15: WAIT DI[849:WIRE FEED READY]=ON ;
16: ;
17: LBL[1:Ready to Braze] ;
18: !Set Highyag position and force ;
20: GO[44:HIGHYAG HEAD FORCE]=0 ;
21: ;
22: !Check for Auto Repeat/Teach. ;
23: IF (DO[4:ROBOT IN TEACH]=ON OR DI[10:AUTO REPEAT MODE]=ON),JMP
LBL[10] ;
24: ;
25: !Set Braze Parameters ;
27: GO[47:LINCOLN POWER OUTPUT]=75 ;
28: GO[36:LASER POWER ANALOG OUT]=3000 ;
29: GO[35:LASER PROGRAM SELECT]=1 ;
30: ;
31: !Store Braze Parameters ;
32: R[110:Wire Speed Out]=GO[46:WIRE SPEED OUTPUT] ;
33: R[112:Hot Wire Setting]=GO[47:LINCOLN POWER OUTPUT] ;
34: R[111:Laser Power Out]=GO[36:LASER POWER ANALOG OUT] ;
35: R[113:Laser Program ]=GO[35:LASER PROGRAM SELECT] ;
Page 24 of 64
36: ;
37: LBL[10:In Auto Repeat] ;
38: ;
39: !Turn on Weld Enable. ;
40: DO[866:LASER WELD ENABLE]=ON ;
41: ;
45: !Turn on Cross Jet Air. ;
46: ;
47: !Wait for Cross Jet Air ON ;
48: WAIT (DI[737:CROSSJET MAX PRESS SWTCH]=ON AND DI[738:CROSSJET
MIN PRESS SWTCH]=ON) ;
49: ;
50: !In Auto Repeat ByPass 1. ;
51: IF DI[10:AUTO REPEAT MODE]=ON,JMP LBL[20] ;
52: ;
53: !Wait for Laser Ready ON. ;
55: LBL[20:Bypass 1] ;
56: ;
57: !Send Laser Request ;
58: DO[680:LASER REQUEST]=ON ;
59: ;
60: !Teaching/Auto Repeat ByPass 2. ;
61: IF DO[4:ROBOT IN TEACH]=ON OR DI[10:AUTO REPEAT MODE]=ON,JMP
LBL[30] ;
62: ;
63: !Wait for Laser Allocated ;
64: WAIT DI[678:LASER ALLOCATED]=ON ;
/POS
/END

Page 25 of 64
1.11 BRAZE_COUPON Macro
/PROG BRAZE_COUPON Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "CouponBrazeSetup";
PROG_SIZE = 1698;
CREATE = DATE 12-09-02 TIME 00:31:52;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 65;
MEMORY_SIZE = 2198;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
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: !COUPON BRAZE CONDITION SET-UP. ;
3: !******************************** ;
4: ;
6: ;
8: ;
11: ;
16: ;
17: LBL[1:Ready to Braze] ;
21: ;
LBL[10] ;
24: ;
30: ;
31: !Store Braze Parameters ;
32: R[110:Wire Speed Out]=GO[46:WIRE SPEED OUTPUT] ;
Page 26 of 64
33: R[112:Hot Wire Setting]=GO[47:LINCOLN POWER OUTPUT] ;
34: R[111:Laser Power Out]=GO[36:LASER POWER ANALOG OUT] ;
35: R[113:Laser Program ]=GO[35:LASER PROGRAM SELECT] ;
36: ;
38: ;
44: ;
46: ;
49: ;
52: ;
54: ;
56: ;
59: ;
LBL[30] ;
62: ;
64: ;
/POS
/END

Page 27 of 64
1.12 PWR_METER – Power Meter
/PROG PWR_METER
/ATTR
OWNER = MNEDITOR;
COMMENT = "Power Meter";
PROG_SIZE = 1772;
CREATE = DATE 12-08-30 TIME 09:41:08;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 58;
MEMORY_SIZE = 2172;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Power Meter Program ;
3: ! ;
4: !******************************** ;
5: ;
7: PAYLOAD[2] ;
8: ;
10: UTOOL_NUM=1 ;
11: ;
13: UFRAME_NUM=1 ;
14: ;
15:J P[1:At Power Meter] 50% FINE ;
16: ;
16: IF (DI[10:AUTO REPEAT MODE]=ON OR DO[4:ROBOT IN TEACH]=ON),JMP
LBL[5] ;
17: ;
17: !-------------------------------- ;
18: !Power Meter Loop ;
19: LBL[10:Pwr Meter Retry] ;
20: ;
21: DO[47:POWER METER FAULT]=OFF ;
22: DO[42:AT POWER METER]=ON ;
23: ;
24: !Wait for Power Meter Ready ;
25: WAIT DI[43:POWER METER READY]=ON ;
26: ;
27: CALL POWER_SHOT ;
28: ;
29: WAIT DI[42:POWER METER COMPLETE]=ON TIMEOUT,LBL[20] ;
31: ;
34: !Turn on Robot in Loop ;
35: ;
32: !-------------------------------- ;
Page 28 of 64
33: LBL[20:PowerMeter Fault] ;
34: ;
36: DO[47:POWER METER FAULT]=ON ;
36: ;
37: WAIT DI[42:POWER METER COMPLETE]=ON OR DI[47:RETRY POWER
METER]=ON ;
37: ;
34: !Turn on Robot in Loop ;
35: ;
39: IF DI[47:RETRY POWER METER]=ON,JMP LBL[10] ;
40: JMP LBL[20] ;
41: ;
42: !-------------------------------- ;
43: LBL[30:Power Meter OK] ;
44: ;
48: ;
48: LBL[5:Pwr Mtr Bypass] ;
49: !-------------------------------- ;
50: !Move away from power meter ;
51:J P[2] 50% CNT50 ;
52: ;
/POS
/END

Page 29 of 64
1.13 WIRE_TRIM – Wire Trim
/PROG WIRE_TRIM
/ATTR
OWNER = MNEDITOR;
COMMENT = "Wire Trim";
PROG_SIZE = 2306;
CREATE = DATE 12-09-20 TIME 16:26:04;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 79;
MEMORY_SIZE = 2750;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Wire Cut Program ;
3: ! ;
4: !******************************** ;
5: ;
7: PAYLOAD[2] ;
8: ;
10: UTOOL_NUM=1 ;
11: ;
13: UFRAME_NUM=1 ;
14: ;
15:L P[1:Wire Cut Needed] 2000mm/sec FINE ;
16: ;
17: !-------------------------------- ;
18: LBL[10:Wire Check Loop] ;
19: ;
20: ;
21: WAIT .50(sec) ;
22: ;
23:J P[2] 50% FINE ;
24: ;
25: !Feed Wire Before Cut ;
26: CALL FEED_WIRE_2_CUT ;
27: ;
28: IF R[175:WIRE CHECK FAULT]<4,JMP LBL[20] ;
29: ;
32: ;
35: ;
Page 30 of 64
38: ;
41: ;
44: ;
45: !-------------------------------- ;
46: LBL[20:WIRE CHECK POS.] ;
38 ;
47:L P[3:AT Wire Check] 500mm/sec FINE ;
48: ;
49: !Check for Wire Ready ;
50: CALL CHECK_4_WIRE ;
51: ;
52: IF R[175:WIRE CHECK FAULT]>=1,JMP LBL[10] ;
53: ;
54:L P[4] 300mm/sec CNT50 ;
55: ;
56: !Wait Wire Cutter Open ;
57: ;
59: ;
60:L PR[4:Wire Cut Common] 300mm/sec FINE ;
61: ;
62: !Cut Wire ;
63: CALL WIRE_CUT ;
64: ;
65:J P[5] 25% CNT25 ;
66: ;
67: ;
69: ;
70:J P[6] 25% FINE ;
71: ;
/POS
/END

Page 31 of 64
1.14 BRAZE_START Macro
/PROG BRAZE_START Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "Initiate Braze";
PROG_SIZE = 634;
CREATE = DATE 12-07-30 TIME 06:57:46;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 14;
MEMORY_SIZE = 1082;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Start Braze Process. ;
3: !******************************** ;
4: ;
5: !Teach/Auto Repeat Bypass 1. ;
6: IF (DI[10:AUTO REPEAT MODE] OR DO[4:ROBOT IN TEACH]=ON),JMP
LBL[1] ;
7: ;
8: !Turn on Laser Program Start. ;
10: ;
11: !Start Wirefeeder ;
12: DO[888:WIRE FEED START]=ON ;
13: ;
/POS
/END

Page 32 of 64
1.15 BRAZE_END Macro
/PROG BRAZE_END Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Terminate Braze";
PROG_SIZE = 664;
CREATE = DATE 12-07-30 TIME 07:49:16;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 17;
MEMORY_SIZE = 968;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Termination of Braze. ;
3: !******************************** ;
4: ;
5: !Stop Laser and Wire Feed ;
7: DO[888:WIRE FEED START]=OFF ;
8: ;
9: !Reset Braze Parameters ;
14: ;
15: !Reset Laser Request Bits ;
16: DO[680:LASER REQUEST]=OFF ;
17: DO[866:LASER WELD ENABLE]=OFF ;
/POS
/END

Page 33 of 64
1.16 CHECK_4_WIRE Macro
/PROG CHECK_4_WIRE Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Wire Stuck Check";
PROG_SIZE = 758;
CREATE = DATE 12-09-20 TIME 16:27:22;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 23;
MEMORY_SIZE = 1202;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Checks For Wire Burn Back ;
3: !******************************** ;
4: $WAITTMOUT=500 ;
5: ;
6: !At Check Position ;
7: DO[41:AT WIRE CHECK]=ON ;
8: ;
LBL[10] ;
10: ;
11: WAIT DI[67:PART PRESENT 1]=ON TIMEOUT,LBL[5] ;
12: ;
13: IF DI[67:PART PRESENT 1]=ON,JMP LBL[10] ;
14: ;
15: LBL[5:WIRE CHECK FAULT] ;
15: ;
16: R[175:WIRE CHECK FAULT]=R[175:WIRE CHECK FAULT]+1 ;
17: JMP LBL[11] ;
18: ;
19: LBL[10:WIRE CHECK OKAY] ;
19: ;
20: !Leaving Check Position ;
21: R[175:WIRE CHECK FAULT]=0 ;
21: ;
22: LBL[11] ;
22: ;
23: DO[41:AT WIRE CHECK]=OFF ;
/POS
/END

Page 34 of 64
1.17 FEED_WIRE_2_CUT Macro
/PROG FEED_WIRE_2_CUT Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Feed Wire to Cut";
PROG_SIZE = 994;
CREATE = DATE 12-08-30 TIME 09:34:54;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 34;
MEMORY_SIZE = 1490;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Feed Wire Before Cutting ;
3: !******************************** ;
4: ;
6: ;
8: ;
11: ;
14: ;
19: ;
20: LBL[333] ;
22: ;
23: !In Auto Repeat Skip Wire Feed ;
24: IF (DI[10:AUTO REPEAT MODE]=ON),JMP LBL[999] ;
25: ;
26: !Set Desired Wire Speed ;
28: ;
29: !Feed Wire Stick Out ;
30: ;
31: WAIT .75(sec) ;
30: ;
33: ;
Page 35 of 64
34: LBL[999:SKIP WIRE FEED] ;
/POS
/END

Page 36 of 64
1.18 HIGHYAG_RESET Macro
/PROG HIGHYAG_RESET Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Reset Laser Head";
PROG_SIZE = 664;
CREATE = DATE 12-07-31 TIME 08:28:30;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 16;
MEMORY_SIZE = 1104;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Highyag Head Reset ;
3: !******************************** ;
4: ;
5: IF (DI[729:HIGHYAG READY]=ON AND DI[730:HIGHYAG NO
ERROR]=ON),JMP LBL[1] ;
6: ;
9: ;
12: ;
13: LBL[1:LASER HEAD OKAY] ;
13: ;
14: !Clear Highyag Head Force/Positn ;
/POS
/END

Page 37 of 64
1.19 LASER_MONITOR Macro
/PROG LASER_MONITOR Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Laser Monitoring";
PROG_SIZE = 3924;
CREATE = DATE 12-04-03 TIME 13:06:38;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 112;
MEMORY_SIZE = 4364;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !***************************** ;
1: ! LASER_MONITOR Macro ;
2: ! ;
3: !***************************** ;
3: ;
3: !-,-,-,-,-,-,-,-,-,-,-,-,-,-,-,-, ;
2: ! Auto Repeat Weld Mode ON/OFF ;
3: !-,-,-,-,-,-,-,-,-,-,-,-,-,-,-,-, ;
4: IF (DI[10:AUTO REPEAT MODE]=OFF AND DO[3:ROBOT IN
AUTO]=ON),JMP LBL[1] ;
5: IF (DI[10:AUTO REPEAT MODE]=ON AND DO[3:ROBOT IN AUTO]=ON),JMP
LBL[2] ;
6: JMP LBL[3] ;
7: LBL[1:Weld Mode ON] ;
8: DO[114:WELD/NO WELD SS1]=ON ;
9: JMP LBL[3] ;
10: LBL[2:Weld Mode OFF] ;
11: DO[114:WELD/NO WELD SS1]=OFF ;
12: LBL[3:Check CrossJet] ;
12: ;
13: !------------------------------ ;
14: !CrossJet Monitoring. ;
15: !------------------------------ ;
15: ;
16: IF (RO[3:IN LASER SEGMENT]=OFF),JMP LBL[5] ;
16: ;
17: IF (RO[3:IN LASER SEGMENT]=ON AND DI[737:CROSSJET MAX PRESS
SWTCH]=ON AND DI[738:CROSSJET MIN PRESS SWTCH]=ON),JMP LBL[5] ;
17: ;
SWTCH]=OFF AND DI[738:CROSSJET MIN PRESS SWTCH]=OFF),JMP LBL[4] ;
18: ;
SWTCH]=ON AND DI[738:CROSSJET MIN PRESS SWTCH]=OFF),JMP LBL[4] ;
19: ;
SWTCH]=OFF AND DI[738:CROSSJET MIN PRESS SWTCH]=ON),JMP LBL[4] ;
20: ;
Page 38 of 64
21: JMP LBL[5] ;
21: ;
22: LBL[4:CrossJet Faulted] ;
23: DO[48:FAULT DETECTED]=ON ;
23: ;
24: !eg:CROSSJET AIR HAS FAILED. CHECK PRESSURE SWITCHES AND
CORRECT ERROR
: BEFORE NEXT CYCLE. ;
25: ;
25: LBL[5:CrossJet Okay] ;
25: ;
26: !-------------------------------- ;
27: !Cover Slide Monitoring ;
28: !-------------------------------- ;
29: IF (DI[736:COVER SLIDE CARTRIDGE OK]=ON AND DO[505:COVER SLIDE
IN POSITION]=ON),JMP LBL[77] ;
30: ;
30: F[20:Cover Slide Error]=(ON) ;
30: ;
31: !eg:THE COVER SLIDE IS MISSING OR DAMAGED. REPLACE/REPAIR
COVER SLID
: HOLDER OR LENS. RESUME IN AUTO IF POSSIBLE. ;
32: ;
32: LBL[77:Cover Slide Okay] ;
33: !-------------------------------- ;
34: !Collision Detect Monitoring ;
35: !-------------------------------- ;
36: IF (DI[742:CRASH DETECT SENSOR]=OFF),DO[15:COLLISION
DETECT]=(ON) ;
36: ;
37: IF (DI[742:CRASH DETECT SENSOR]=ON),DO[15:COLLISION
DETECT]=(OFF) ;
37: ;
38: !-------------------------------- ;
39: !Laser Controller has Faulted ;
40: !-------------------------------- ;
41: IF (RO[3:IN LASER SEGMENT]=ON AND DO[669:PROGRAM START
STATICAL]=ON=DI[666:LASER IS ON]=OFF AND DI[10:AUTO REPEAT
MODE]=OFF),JMP LBL[11] ;
41: ;
STATICAL]=ON=DI[667:LASER READY]=OFF AND DI[10:AUTO REPEAT
41: ;
STATICAL]=ON=DI[676:LASER FAULT]=ON AND DI[10:AUTO REPEAT
43: ;
44: !-------------------------------- ;
45: !Highyag Head Safety Monitor ;
46: !-------------------------------- ;
STATICAL]=ON=DI[730:HIGHYAG NO ERROR]=OFF),JMP LBL[12] ;
47: ;
48: !-------------------------------- ;
49: !Robot Hold Detected ;
50: !-------------------------------- ;
STATICAL]=ON AND SO[2:Hold]=ON),JMP LBL[13] ;
51: ;
52: !-------------------------------- ;
53: !Robot Controller Monitoring ;
54: !-------------------------------- ;

Page 39 of 64
STATICAL]=ON=DO[5:RBT CONTRL FLT]=ON),JMP LBL[14] ;
55: ;
56: JMP LBL[7] ;
57: ;
58: LBL[11:Laser Fault] ;
58: ;
59: !eg:THE LASER HAS FAULTED. CORRECT THE CAUSE OF THE FAULT AND
RESET.
: RESUME IN AUTO IF POSSIBLE ;
59: ;
60: JMP LBL[6] ;
60: ;
61: LBL[12:Highyag Fault] ;
61: ;
62: !eg:HIGHYAG HEAD IS FAULTED. CORRECT FAULT CONDITION AND
RESET. RESUME
: IN AUTO IF POSSIBLE. ;
62: ;
63: JMP LBL[6] ;
63: ;
64: LBL[13:Robot in Hold] ;
64: ;
65: !eg:A ROBOT HOLD HAS OCCURED. CORRECT THE CONDITION WHICH
CAUSED THE
: HOLD. RESUME IN AUTO IF POSSIBLE. ;
66: ;
66: JMP LBL[6] ;
67: ;
67: LBL[14:Robot Cont Fault] ;
67: ;
68: !eg:THE ROBOT CONTROLLER HAS FAULTED. CORRECT THE PROBLEM WITH
THE
: CONTROLLER AND RESUME IN AUTO IF POSSIBLE. ;
69: ;
69: JMP LBL[6] ;
70: ;
71: LBL[6:Shut off Laser] ;
71: ;
72: ;
73: F[10:LASER FAULTED IN CYCLE]=(ON) ;
74: ;
75: DO[669:PROGRAM START STATICAL]=OFF ;
80: ;
85: ;
86: R[164:Reg Complt]=R[160:Reg Path] ;
87: R[165:Sun Complt]=R[161:Sun Path] ;
88: R[166:CD533 Reg Complt]=R[162:CD533 Reg Path] ;
89: R[167:CD533 Sun Complt]=R[163:CD533 Sun Path] ;
90: ;
91: LBL[7:Check Wire Feed] ;
92: !-------------------------------- ;
93: !Wire Feed Rate Monitoring ;
94: !-------------------------------- ;

Page 40 of 64
95: IF (DO[793:START WIRE FEED]=ON AND DI[668:PRG ACTIVE]=ON),JMP
LBL[8] ;
95: ;
96: IF (DO[793:START WIRE FEED]=OFF),JMP LBL[9] ;
96: ;
97: LBL[8:Verify Wire Feed] ;
98: !Check for 80% or higher. ;
99: IF (GI[46:WIRE MOTOR FEEDBACK]<=GO[46:WIRE SPEED
OUTPUT]/5*4),JMP LBL[9] ;
99: ;
100: !Check for 120% or lower. ;
101: IF (GI[46:WIRE MOTOR FEEDBACK]>=GO[46:WIRE SPEED
OUTPUT]/5*6),JMP LBL[9] ;
101: ;
102: !eg:WIRE FEED ERROR HAS OCCURRED. WIRE SPEED TOO LOW OR TOO
HIGH. CHECK
: WIRE-FEED UNIT, ROLLERS, WIRE SUPPLY DRUM AND BRAZE TIP. RESET
FAULT
: AND RESUME IN AUTO IF POSSIBLE. ;
103: ;
104: LBL[9:Wire Feed Okay] ;
108: ;
109: ;
/POS
/END

Page 41 of 64
1.20 POWER_SHOT Macro
/PROG POWER_SHOT Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Power Meter Shot";
PROG_SIZE = 974;
CREATE = DATE 12-08-03 TIME 10:18:42;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 35;
MEMORY_SIZE = 1466;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Power Meter Test Pulse. ;
3: !******************************** ;
6: ;
7: !Set Laser Program and Power ;
7: GO[35:LSR CNTR PG]=4 ;
7: GO[36:LSR CNTR ANALOG]=150 ;
7: ;
7: !Bypass Conditions ;
LBL[999] ;
9: ;
11: ;
14: ;
15: !Set Laser Active. ;
16: ;
17: ;
18: ;
24: ;
25: !Start Power Meter Shot. ;
26: ;
27: WAIT (DI[669:PRG COMPLETED]=ON) ;
28: ;
29: !Terminate Power Meter Shot. ;
Page 42 of 64
34: ;
35: LBL[999:Auto Rpt/Bypass] ;
/POS
/END

Page 43 of 64
1.21 RESUME
/PROG RESUME
/ATTR
OWNER = MNEDITOR;
COMMENT = "ERROR RECOVERY";
PROG_SIZE = 460;
CREATE = DATE 12-04-29 TIME 07:58:44;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 11;
MEMORY_SIZE = 788;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !Recover from faults. ;
2: PR[40:Error Recovery]=LPOS ;
3:L PR[40:Error Recovery] 100mm/sec FINE ;
3: ;
4: GO[35:LASER PROGRAM SELECT]=R[113:Laser Program ] ;
5: GO[36:LASER POWER ANALOG OUT]=R[111:Laser Power Out] ;
6: GO[46:WIRE SPEED OUTPUT]=R[110:Wire Speed Out] ;
7: GO[47:LINCOLN POWER OUTPUT]=R[112:Hot Wire Setting] ;
7: ;
8: ;
11: DO[46:Recovery Complete]=PULSE,1.0sec ;
/POS
/END

Page 44 of 64
1.22 WELDMODE
NOTE1: This program is run as background logic.
/PROG WELDMODE Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "SET WELD MODE";
PROG_SIZE = 576;
CREATE = DATE 12-03-23 TIME 06:04:04;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 12;
MEMORY_SIZE = 1032;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !-,-,-,-,-,-,-,-,-,-,-,-,-,-,-,-, ;
2: !Auto Repeat Weld Mode ON/OFF ;
3: !-,-,-,-,-,-,-,-,-,-,-,-,-,-,-,-, ;
4: IF (DI[10:AUTO REPEAT MODE]=OFF AND DO[3:ROBOT IN
AUTO]=ON),JMP LBL[1] ;
5: IF (DI[10:AUTO REPEAT MODE]=ON AND DO[3:ROBOT IN AUTO]=ON),JMP
LBL[2] ;
6: JMP LBL[3] ;
7: LBL[1:Weld Mode ON] ;
8: DO[114:WELD/NO WELD SS1]=ON ;
9: JMP LBL[3] ;
10: LBL[2:Weld Mode OFF] ;
11: DO[114:WELD/NO WELD SS1]=OFF ;
12: LBL[3] ;
/POS
/END

Page 45 of 64
1.23 LASERCOL Macro
/PROG LASERCOL Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "Laser Clutch 1.0";
PROG_SIZE = 556;
CREATE = DATE 12-03-24 TIME 07:02:20;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 9;
MEMORY_SIZE = 956;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Highyag Head Break-away Fault ;
3: !******************************** ;
4: ;
5: IF (DI[742:CRASH DETECT SENSOR]=ON),$SCR_GRP[1].$HBK_ENBL=(1)
;
6: ;
7: IF (DI[742:CRASH DETECT SENSOR]=OFF AND
$MCR.$SHFT_RST_PR=0),$SCR_GRP[1].$HBK_ENBL=(0) ;
8: ;
9: IF (DI[742:CRASH DETECT SENSOR]=OFF AND
$MCR.$SHFT_RST_PR=1),$SCR_GRP[1].$HBK_ENBL=(1) ;
/POS
/END

Page 46 of 64
1.24 HYAG_MON Macro
/PROG HYAG_MON Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "Monitor Highyag";
PROG_SIZE = 632;
CREATE = DATE 12-04-28 TIME 10:50:52;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 12;
MEMORY_SIZE = 1088;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Highyag Head Safety Monitor ;
3: !******************************** ;
4: IF (RO[3:IN LASER SEGMENT]=OFF),JMP LBL[2] ;
4: ;
AND RO[3:IN LASER SEGMENT]=ON),JMP LBL[2] ;
5: ;
6: IF (RO[3:IN LASER SEGMENT]=ON AND DI[729:HIGHYAG READY]=OFF
AND DI[730:HIGHYAG NO ERROR]=ON),JMP LBL[1] ;
6: ;
7: IF (RO[3:IN LASER SEGMENT]=ON AND DI[729:HIGHYAG READY]=ON AND
DI[730:HIGHYAG NO ERROR]=OFF),JMP LBL[1] ;
7: ;
8: IF (RO[3:IN LASER SEGMENT]=ON AND DI[729:HIGHYAG READY]=OFF
AND DI[730:HIGHYAG NO ERROR]=OFF),JMP LBL[1] ;’
8: ;
9: JMP LBL[2] ;
10: LBL[1] ;
10: ;
11: ;
12: LBL[2] ;
/POS
/END

Page 47 of 64
1.25 WIREFEED Macro
/PROG WIREFEED Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "Monitor WireFeed";
PROG_SIZE = 786;
CREATE = DATE 12-09-14 TIME 13:15:04;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 26;
MEMORY_SIZE = 1186;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !--------------------------------- ;
2: !Wire Feed Rate Monitoring ;
3: !--------------------------------- ;
4: IF (RO[8:WIRE MONITOR]=ON),JMP LBL[1] ;
4: ;
5: DO[49:RBT @ PKUP POS 1]=OFF ;
6: ;
7: JMP LBL[8] ;
7: ;
8: LBL[1:Verify Wire Feed] ;
8: ;
9: IF (DI[10:AUTO REPEAT MODE]=ON),JMP LBL[8] ;
9: ;
10: IF (DO[4:ROBOT IN TEACH]=ON),JMP LBL[8] ;
11: ;
12: R[170:WIRE SPEED REQST]=GO[46:WIRE SPEED OUTPUT] ;
13: ;
14: R[168:WIRE SPEED MAX]=R[170:WIRE SPEED REQST]/5*6 ;
14: ;
15: R[169:WIRE SPEED MIN]=R[170:WIRE SPEED REQST]/5*3.5 ;
16: ;
17: R[171:WIRE SPEED REAL]=GI[47:WIRE SPEED FEEDBACK] ;
18: ;
19: IF (R[171:WIRE SPEED REAL]>R[169:WIRE SPEED MIN]),JMP LBL[7] ;
19: ;
20: DO[49:RBT @ PKUP POS 1]=ON ;
21: ;
22: LBL[7] ;
22: ;
23: IF (R[171:WIRE SPEED REAL]<R[168:WIRE SPEED MAX]),JMP LBL[8] ;
23: ;
24: DO[50:RBT @ PKUP POS 2]=ON ;
25: ;
26: LBL[8:Wire Feed Okay] ;
Page 48 of 64
/POS
/END

Page 49 of 64
1.26 RESET_LASER
/ATTR
OWNER = MNEDITOR;
COMMENT = "Reset Laser Flt";
PROG_SIZE = 674;
CREATE = DATE 12-07-30 TIME 11:26:56;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 19;
MEMORY_SIZE = 1134;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: IF ((RO[3:IN LASER SEGMENT]=ON AND DI[11:PLC AUTO]=ON AND
SO[1:Cycle start]=ON AND DI[676:LASER FAULT]=OFF) OR RO[3:IN LASER
SEGMENT]=OFF),JMP LBL[2] ;
2: ;
3: IF (RO[3:IN LASER SEGMENT]=ON AND DI[676:LASER FAULT]=ON AND
DI[667:LASER READY]=OFF AND DI[11:PLC AUTO]=OFF),JMP LBL[1] ;
3: ;
4: JMP LBL[2] ;
5: ;
6: LBL[1:RESET LASER FLT] ;
6: ;
8: DO[871:LASER RESET]=ON ;
10: ;
11: LBL[2] ;
11: ;
12: IF (RO[3:IN LASER SEGMENT]=ON AND DO[865:LASERPRGSTRTSTAT]=OFF
AND DI[667:LASER READY]=ON AND SO[1:Cycle start]=ON AND
$TCPPSPEED.$SPEED>25 AND DI[11:PLC AUTO]=ON),JMP LBL[3] ;
13: ;
13: JMP LBL[4] ;
13: ;
14: LBL[3] ;
15: ;
16: DO[871:LASER RESET]=OFF ;
18: ;
19: LBL[4] ;
/POS
/END

Page 50 of 64
1.27 WIRE_OFF Macro
/PROG WIRE_OFF Macro

/ATTR
OWNER = MNEDITOR;
COMMENT = "TURN OFF WIRE";
PROG_SIZE = 360;
CREATE = DATE 12-08-30 TIME 09:28:12;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 5;
MEMORY_SIZE = 844;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: IF (RO[3:IN LASER SEGMENT]=ON AND DI[11:PLC AUTO]=OFF),JMP
LBL[11] ;
2: ;
2: JMP LBL[12] ;
3: LBL[11] ;
3: ;
4: ;
5: LBL[12] ;
/POS
/END

Page 51 of 64
1.28 WIRE_ALIGN_SETUP Macro
/PROG WIRE_ALIGN_SETUP Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "BrazeSetup";
PROG_SIZE = 1560;
CREATE = DATE 12-08-30 TIME 09:37:04;
FILE_NAME = BRAZE_CD;
VERSION = 0;
LINE_COUNT = 58;
MEMORY_SIZE = 1960;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !WIRE ALIGN CONDITION SET-UP. ;
3: !******************************** ;
4: ;
6: ;
8: ;
11: ;
14: ;
19: ;
20: LBL[333] ;
22: ;
LBL[10] ;
25: ;
29: ;
31: ;
34: ;
Page 52 of 64
39: ;
42: ;
45: ;
47: ;
49: ;
52: ;
LBL[30] ;
55: ;
57: ;
/POS
/END

Page 53 of 64
1.29 WIRE_CUT Macro
/PROG WIRE_CUT Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Cycles Cutter";
PROG_SIZE = 506;
CREATE = DATE 12-08-30 TIME 09:28:28;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 10;
MEMORY_SIZE = 838;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Signal PLC to Cut Wire ;
3: !******************************** ;
4: ;
5: !In Position/Cycle Cutter ;
6: DO[45:WIRE CUT]=ON ;
6: ;
7: WAIT DI[45:WIRE CUTTER CLOSED]=ON ;
7: ;
8: WAIT .25(sec) ;
8: ;
9: DO[45:WIRE CUT]=OFF ;
9: ;
/POS
/END

Page 54 of 64
1.30 WIRE_FORWARD Macro
/PROG WIRE_FORWARD Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "EXTEND WIRE";
PROG_SIZE = 732;
CREATE = DATE 12-08-30 TIME 09:26:26;
FILE_NAME = SET_WIRE;
VERSION = 0;
LINE_COUNT = 19;
MEMORY_SIZE = 1160;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !WIRE STICK OUT FOR ALIGNMENT ;
3: !******************************** ;
4: ;
LBL[999] ;
7: ;
8: !Set Wire Speed ;
10: ;
11: !Pulse Bit to Feed Wire ;
12: ;
13: WAIT .50(sec) ;
13: ;
15: ;
16: !Set Wire Speed ;
18: ;
/POS
/END

Page 55 of 64
1.31 WIRE_REVERSE Macro
/PROG WIRE_REVERSE Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Feed Wire Back";
PROG_SIZE = 652;
CREATE = DATE 12-08-30 TIME 09:36:52;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 19;
MEMORY_SIZE = 1080;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !WIRE RETRACT FOR ALIGNMENT ;
3: !******************************** ;
4: ;
LBL[999] ;
7: ;
8: ;
9: DO[794:WIRE FEED REVERSE]=ON ;
10: ;
11: !Pulse Bit to Back up Wire ;
12: ;
13: WAIT .50(sec) ;
13: ;
15: ;
16: DO[794:WIRE FEED REVERSE]=OFF ;
16: ;
18: ;
19: LBL[999] ;
/POS
/END

Page 56 of 64
1.32 HOME_IO – Reset Input/Output MACRO
/PROG HOME_IO Macro
/ATTR
OWNER = ASCBIN;
COMMENT = "SET AT HOME I-O";
PROG_SIZE = 1868;
CREATE = DATE 12-02-24 TIME 15:25:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 93;
MEMORY_SIZE = 2124;
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: !Also runs automatically when ;
4: !robot goes from non-home pos ;
5: !to home position. ;
6: !***************************** ;
7: ;
8: !Clear to advance transfer. ;
10: ;
11: !Clear to return transfer. ;
13: ;
14: !Clear to unclamp. ;
16: ;
17: !User defined outputs. ;
18: DO[41:AT WIRE CHECK]=OFF ;
20: DO[43:AT WIRE CUT NEEDED]=OFF ;
21: DO[44:AT PWR MTR FROM CUT]=OFF ;
22: DO[45:WIRE CUT]=OFF ;
23: DO[46:Recovery Complete]=OFF ;
25: DO[48:FAULT DETECTED]=OFF ;
25: ;
34: !Reset the fault reset bits. ;
35: DO[959:FAULTRESET]=OFF ;
25: ;
38: !Reset the robot in loop bit. ;
39; ;
36: DO[963:PRGRM FLT]=OFF ;
36: ;
41: !Reset at repair position. ;
42: DO[587:RBT AT MINMAINT]=OFF ;
43: ;
Page 57 of 64
44: !Reset Pickup/DropOff bits. ;
46: DO[59:RBT AT DRP OFF 1]=OFF ;
53: ;
54: !Reset at work position bits. ;
55: DO[177:MDL WRK POS 1]=OFF ;
63: ;
69: !CLEAR EXIT ZONES ;
70: DO[900:CLROFZONE1]=ON ;
84: ;
86: ! Reset the register that holds ;
87: ! the program number to run ;
88: R[153:ProgSelNum]=0 ;
89: ;
27: DO[670:PROGRAM START DYNAMIC]=OFF ;
31: DO[977:WTRSVRPULSRST]=OFF ;
79: ;
83: !Turn ON Weld Mode ;
84: DO[115:WELD/NO WELD MD1]=OFF ;
85: ;
90: ! Register reset that allows ;
91: ! jump entry PG10 and PG11 ;
92: ! from process ;
93: ;
93: ! Stop MON_LASR if running ;
93: F[70:MONITOR STOP]=(ON) ;
/POS
/END

Page 58 of 64
2 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.
2.1 Laser Monitor
This laser monitor screen is available under Setup.
Press MENU -> Setup -> Laser Monitor.
Under status you can see the current or last values, plus the max and min of the current or last
run.
You also want the YES/NO indicators to be Green NO. A red YES indicates that something
is out of tolerance. For example if there is a power fault then Min Power is probably a
certain percent lower than the Power Setpoint.
You can adjust the trigger points by setting the warning and fault percentages in the lower
right corner. For example if you set these to 100% then they should never trigger.
Page 59 of 64
For example to start debugging you could start with warning of 25% and Faults of 75% and
watch the max and min values for a bunch of good cycles.
If Power and Wirespeed values have a wide range then that may not be good and will require
a larger trigger window with larger percentages.

Page 60 of 64
2.2 Laser Control

Page 61 of 64
2.3 Wire Feeder

Page 62 of 64
3 PMC Logic (S-Logic) for R-30iA Controllers

Page 63 of 64
[FORD_NEXTGEN_ENETSafe_LASERBRAZE_2015_10_30]
Ladder Diagram 1
N00001 R0000.0 R0000.0

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

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

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

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

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

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

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

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

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

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

I 36
COMMAND
ENABLE
N00012 F1000.1 Y1000.1

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

L 41
PROGRAM
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

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

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

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

E 60
AT HOME
Y0002.0 Y0000.1
F ROBOT AT HOME
DO 17 RB DO 2 RBT
T @ HM1 @ HOME
Y0002.1
G
DO 18 RB
T @ HM2
Y0002.2
H
DO 19 RB
T @ HM3
Y0002.3
I
DO 20 RB
T @ HM4
Y0002.4
J
DO 21 RB
T @ HM5
Y0002.5
K
DO 22 RB
T @ HM6
Y0002.6
L
DO 23 RB
T @ HM7
N00019 F1000.7 Y1000.7

M 70
TPENABLE
Y0119.7 Y0000.3
N ROBOT IN TEACH
DO 960 DO 4 RBT
AUTO KEY IN TCH
O
Ladder Diagram 4
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

A 74
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
FC1 FC2 FC4 FC8 FC16 FC32 FC64
1 R1402.7 R1405.0
B S
ECO24 FACILITY
FC128 CODE 11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

C 83
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

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

F 98 FENCE FAULT
FACILITY ERROR 4 RB FAULT FENCE
CODE 11 RESET FAULT
R1405.2
G
FENCE
FAULT
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

H 103 POWER FAIL RECOVERY
INT EXT FAULT BRK PWR COMMAND SYSTEM PWR FAIL
MTR ON FL RCVRY ENABLE READY RECVRY
R0000.2
I
INT EXT
CYC STRT
K0010.3
J
PWR FAIL
RECVRY
N00024 K0010.3 ACT R1466.0

K 111 SUB 3 0027 BREAK POWER FAIL RECOVERY
PWR FAIL TMR BRK PWR
RECVRY FL RCVRY
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

L 115
DO 4 RBT COMMAND DO 5 RBT INT EXT INT EXT SYSTEM STEP
IN TCH ENABLE CNT FLT MTR ON CYC STRT READY
R1404.5 Y0000.2
M
DRP AUTO DO 3 RBT
FAULT IN AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

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

O 132 INPUT SIMULATED
DO 958 I DO 581 I
NPUTSIM NPUTSIM
Ladder Diagram 5
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

A 134 S DROP AUTO FAULT
FC AVAIL APPL FC ZERO FAULT RB FAULT DRP AUTO
ALARMS RESET FAULT
N00028 F1000.5 R1404.5

B 140 R DROP AUTO FAULT
FAULT DRP AUTO
FAULT
G1000.4
C
RB FAULT
RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

D 143
FAULT ECO33 ECO FC AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 147
FC AVAIL ECO17 ECO18 ECO19 ECO20 ECO21 ECO22
FC1 FC2 FC4 FC8 FC16 FC32
1 R1402.6 R1402.7 R1404.3

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

G 157
1 R1402.6 R1402.7 R0330.0

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

I 167
1 R1402.6 R1402.7 R0330.1

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

K 177
1 R1402.6 R1402.7 R0330.2

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

M 187
1 R1402.6 R1402.7 R0330.3

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

A 197
1 R1402.6 R1402.7 R0330.4

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

C 207
1 R1402.6 R1402.7 R1406.0

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

E 217
1 R1402.6 R1402.7 R1404.2

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

G 227 SUB57 0001 R
ECO DIFU SPOT
RETRIEVE ALARM
R0330.0
H R
ARC
ALARM
R0330.1
I R
SEALER
ALARM
R0330.2
J R
SERVOGUN
ALARM
R0330.3
K R
TOOLCHNG
ALARM
R0330.4
L R
SYSTEM
ALARM
R1405.0
M R
FACILITY
CODE 11
R1406.0
N R
FACILITY
CODE 15
N00039 R1404.4 ACT R1404.6

O 238 SUB 3 0006
FC AVAIL TMR RETRIEVE
DELAY
Ladder Diagram 7
N00040 R1404.6 R1404.1

A 242 S
RETRIEVE ECO
DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

B 244 SUB 3 0007 R
ECO TMR ECO
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

C 248 S WELD FAULT #1
FC AVAIL SPOT FC ZERO FAULT DO 126 W
ALARM LD FLT 1
N00043 X0083.1 Y0015.5

D 253 R WELD FAULT #1
DI 666 L DO 126 W
ASER ON LD FLT 1
N00044 K0010.1 K0010.0 R0000.1

E 255
EXT MTR TEACH INT EXT
ON MEMORY MTR ON
N00045 X0000.2 K0010.0 K0010.5 K0010.1

F 258 S EXTERNAL MOTORS ON
DI 3 EXT TEACH MAINT ME EXT MTR
MTR ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

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

K 271 R EXTERNAL MOTORS ON
DO 3 RBT DO 5 RBT RB FAULT EXT MTR
IN AUTO CNT FLT RESET ON
N00047 K0010.2 K0010.0 K0010.5 R0000.2

L 275
EXT CYC TEACH MAINT ME INT EXT
START MEMORY M CYC STRT
O
Ladder Diagram 8
N00048 X0000.3 K0010.0 K0010.2

A 279 S EXTERNAL CYCLE START
DI 4 EXT TEACH EXT CYC
CY STRT MEMORY START
X1026.5 Y0000.4 F1000.5

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

G 292 R EXTERNAL CYCLE START
DO 3 RBT DO 5 RBT RB FAULT EXT CYC
IN AUTO CNT FLT RESET START
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

H 296
DI 17 PG DI 18 PG DI 19 PG DI 20 PG DI 21 PG DI 22 PG DI 23 PG
SLCT 1 SLCT 2 SLCT 4 SLCT 8 SLCT 16 SLCT 32 SLCT 64
1 X0002.7 R0507.0
I PROGRAM 1
DI 24 PG PROGRAM
SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

J 305
1 X0002.7 R0507.1
K PROGRAM 2
DI 24 PG PROGRAM
SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

L 314
1 X0002.7 R0507.2
M PROGRAM 3
DI 24 PG PROGRAM
SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

N 323
1 X0002.7 R0507.3
O PROGRAM 4
DI 24 PG PROGRAM
SLCT128 4
Ladder Diagram 9
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 332
1 X0002.7 R0507.4
B PROGRAM 5
DI 24 PG PROGRAM
SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 341
1 X0002.7 R0507.5
D PROGRAM 6
DI 24 PG PROGRAM
SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 350
1 X0002.7 R0507.6
F PROGRAM 7
DI 24 PG PROGRAM
SLCT128 7
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 359
1 X0002.7 R0507.7
H PROGRAM 8
DI 24 PG PROGRAM
SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 368
1 X0002.7 R0508.0
J PROGRAM 9
DI 24 PG PROGRAM
SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 377
1 X0002.7 R0508.1
L PROGRAM 10
DI 24 PG PROGRAM
SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 386
1 X0002.7 R0508.2
N PROGRAM 11
DI 24 PG PROGRAM
SLCT128 11
O
Ladder Diagram 10
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 395
1 X0002.7 R0508.3
B PROGRAM 12
DI 24 PG PROGRAM
SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 404
1 X0002.7 R0508.4
D PROGRAM 13
DI 24 PG PROGRAM
SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 413
1 X0002.7 R0508.5
F PROGRAM 14
DI 24 PG PROGRAM
SLCT128 14
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 422
1 X0002.7 R0508.6
H PROGRAM 15
DI 24 PG PROGRAM
SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 431
1 X0002.7 R0508.7
J PROGRAM 16
DI 24 PG PROGRAM
SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 440
1 X0002.7 R0509.0
L PROGRAM 17
DI 24 PG PROGRAM
SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 449
1 X0002.7 R0509.1
N PROGRAM 18
DI 24 PG PROGRAM
SLCT128 18
O
Ladder Diagram 11
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 458
1 X0002.7 R0509.2
B PROGRAM 19
DI 24 PG PROGRAM
SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 467
1 X0002.7 R0509.3
D PROGRAM 20
DI 24 PG PROGRAM
SLCT128 20
O
Ladder Diagram 12
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 476
DI 5 MV DO 3 RBT PROGRAM PAUSED AT HOME DI 11 *HOLD
TO POUNC IN AUTO RUNNING PLC AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

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

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

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

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

K 527 SUB 3 0008 S CYCLE START DELAY
UOP CYC PROGRAM TMR CYCLE
START RUNNING STRT DLY
N00072 D0603.0 ACT D0603.0

L 532 SUB 3 0009 R CYCLE START DELAY
CYCLE TMR CYCLE
STRT DLY STRT DLY
N00073 F1000.2 D0603.0

M 536 R CYCLE START DELAY
PROGRAM CYCLE
RUNNING STRT DLY
N00074
N 538 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

O 539 SUB 3 0011 TEACH MEMORY DELAY
DO 960 TMR TEACH ME
AUTO KEY M DELAY
Ladder Diagram 14
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 543 TEACH MEMORY
DO 4 RBT SI13 RES FAULT CYCLE TEACH
IN TCH ETSW RESET START MEMORY
K0010.4
B
TEACH ME
M DELAY
K0010.0
C
TEACH
MEMORY
N00077 K0008.0 R0350.0

D 550 MAINTENANCE MODE
AUTO/MAI IN MAINT
NT SS
N00078 R0350.0 ACT D0610.0

E 552 SUB 3 0012 MAINTENANCE MODE DELAY
IN MAINT TMR MAINT
DELAY
N00079 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

F 556 MAINTENANCE MEMORY
MAINT DO 3 RBT DO 2 RBT SI13 RES FAULT MAINT ME
DELAY IN AUTO @ HOME ETSW RESET M
K0010.5 X0000.6
G
MAINT ME DI 7 MAI
M NT PSCLR
N00080 X0000.2 X0000.3 Y0000.2 K0010.6

H 565 EXTERNAL START ANTI-TIE DOWN
DI 3 EXT DI 4 EXT DO 3 RBT EXT STRT
MTR ON CY STRT IN AUTO ANTI TD
K0010.6
I
EXT STRT
ANTI TD
N00081 X0002.0 G1001.0

J 570
DI 17 PG PNS 1
SLCT 1
N00082 X0002.1 G1001.1

K 572
DI 18 PG PNS 2
SLCT 2
N00083 X0002.2 G1001.2

L 574
DI 19 PG PNS 3
SLCT 4
N00084 X0002.3 G1001.3

M 576
DI 20 PG PNS 4
SLCT 8
N00085 X0002.4 G1001.4

N 578
DI 21 PG PNS 5
SLCT 16
N00086 X0002.5 G1001.5

O 580
DI 22 PG PNS 6
SLCT 32
Ladder Diagram 15
N00087 X0002.6 G1001.6

A 582
DI 23 PG PNS 7
SLCT 64
N00088 X0002.7 G1001.7

B 584
DI 24 PG PNS 8
SLCT128
N00089 X0000.6 K0008.0 Y0120.5

C 586 MAINTENANCE POSITION CLEAR
DI 7 MAI AUTO/MAI DO 966 M
NT PSCLR NT SS ANTP CLR
N00090 K0008.0 Y0001.4

D 589 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO 13 SN
NT SS DRBT MNT
N00091 Y0112.3 Y0003.0

E 591 CLEAR OF ZONE #1
DO 900 DO 25 CL
CLR ZN 1 R ZON 1
N00092 Y0112.4 Y0003.1

F 593 CLEAR OF ZONE #2
DO 901 DO 26 CL
CLR ZN 2 R ZON 2
N00093 Y0112.5 Y0003.2

G 595 CLEAR OF ZONE #3
DO 902 DO 27 CL
CLR ZN 3 R ZON 3
N00094 Y0112.6 Y0003.3

H 597 CLEAR OF ZONE #4
DO 903 DO 28 CL
CLR ZN 4 R ZON 4
N00095 Y0112.7 Y0003.4

I 599 CLEAR OF ZONE #5
DO 904 DO 29 CL
CLR ZN 5 R ZON 5
N00096 Y0113.0 Y0003.5

J 601 CLEAR OF ZONE #6
DO 905 DO 30 CL
CLR ZN 6 R ZON 6
N00097 Y0113.1 Y0003.6

K 603 CLEAR OF ZONE #7
DO 906 DO 31 CL
CLR ZN 7 R ZON 7
N00098 Y0113.2 Y0003.7

L 605 CLEAR OF ZONE #8
DO 907 DO 32 CL
CLR ZN 8 R ZON 8
N00099 Y0113.3 Y0004.0

M 607 CLEAR OF ZONE #9
DO 908 DO 33 CL
CLR ZN 9 R ZON 9
N00100 Y0113.4 Y0004.1

N 609 CLEAR OF ZONE #10
DO 909 C DO 34 CL
LR ZN 10 R ZON 10
N00101 Y0113.5 Y0004.2

O 611 CLEAR OF ZONE #11
DO 910 C DO 35 CL
LR ZN 11 R ZON 11
Ladder Diagram 16
N00102 Y0113.6 Y0004.3

A 613 CLEAR OF ZONE #12
DO 911 C DO 36 CL
LR ZN 12 R ZON 12
N00103 Y0113.7 Y0004.4

B 615 CLEAR OF ZONE #13
DO 912 C DO 37 CL
LR ZN 13 R ZON 13
N00104 Y0116.4 Y0004.5

C 617 CLEAR OF ZONE #14
DO 933 C DO 38 CL
LR ZN 14 R ZON 14
N00105 Y0118.7 Y0004.6

D 619 CLR OF INDEPENDENT MOTION ZN1
DO952 CL DO 39 CL
RMOTZN1 R INDMOT
N00106 Y0119.0 Y0004.7

E 621 CLR OF INDEPENDENT MOTION ZN2
DO953 CL DO 40 CL
RMOTZN2 R INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

F 623 CLEAR TO ADVANCE TRANSFER
DO 954 C DI 1 EXT DO 7 CLR
LRAV XFR RNENBL ADV
N00108 Y0119.2 X0000.0 Y0000.7

G 626 CLEAR TO RETURN TRANSFER
LRET XFR RNENBL RET XFR
N00109 Y0119.3 X0000.0 Y0001.0

H 629 CLEAR TO UNCLAMP
LR UNCLP RNENBL 2 UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 632 PROMPT BOX
DO 4 RBT DO 19001 DO 585
IN TCH PRPTBX PRMPT BX
N00111 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

J 635
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
1 R1402.7 R1405.3
K SYSTEM FACILITY CODE (24)
ECO24 SYS FCLY
FC128 CODE
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 644
FACILITY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

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

A 662
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

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

D 680
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

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

G 698
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

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

J 716
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
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 734
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
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 752
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
N00119 R1406.3 X1025.1 Y0001.6

D 770 COLLISION DETECT
SRVO-50 FAULT DO 15 CO
RESET LL DTCT
Y0001.6
E
DO 15 CO
LL DTCT
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 774
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
N00121 F1001.0 Y0001.1

I 792 ROBOT BATTERY LOW
BATALM DO 10 RB
T BAT LW
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 794
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
N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 812
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
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 830
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
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 848
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
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 866
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
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 884
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
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 902
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
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 920
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
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 938
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
N00131 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 956
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
N00132 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 974
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
N00133 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 992
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
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1010
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
N00135 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1028
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
N00136 R0387.0 R0388.0

G 1046 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
N00137 R0388.0 Y0073.1

A 1058 SAFETY CHAIN FAULT
OPSFTY F DO 586 S
LT LATCH FTY CHN
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

B 1060
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
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

E 1078
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
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

H 1096
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
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

K 1114
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
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1132
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
N00143 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1150
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
N00144 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1168
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
N00145 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1186
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
N00146 R0397.0 F1000.0 R0397.0

M 1204 FILTERED FAULT
FILTERED COMMAND FILTERED
FAULT ENABLE FAULT
R0398.0
N
FILTER
FLT GRP1
R0399.0
O
FILTER
FLT GRP2
Ladder Diagram 24
N00147 R0365.0 R0398.0

A 1209 FILTER FAULTS GROUP1
SRVO-001 FILTER
FLT GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0
RESERVED
R0373.0
I
SRVO-199
CONTROL
R0374.0
J
SRVO-232
NTED IN
R0375.0
K
SRVO-233
TP OFF
R0376.0
L
SRVO-280
SVOFF I
R0370.1
M
SRVO-408
R1456.0
N
APPL
ALARMS
O
Ladder Diagram 25
N00148 R0377.0 R0399.0

SYST-034 FILTER
HOLD SI FLT GRP2
R0378.0
B
SYST-038
OPERATI
R0379.0
C
SYST-039
R0380.0
D
SYST-040
OPERATI
R0381.0
E
SYST-042
DEADMAN
R0382.0
F
SYST-043
TP DISA
R0383.0
G
SYST-045
TP ENAB
R0384.0
H
SYST-154
NO STAR
X1025.0
I
FANUC
E-STOP
F1008.2
J
TP
E-STOP
X1026.1
K
SI9
AUTOMDSW
Y0000.3
L
DO 4 RBT
IN TCH
K0010.0
M
TEACH
MEMORY
R1405.2
N
FENCE
FAULT
O
Ladder Diagram 26
N00149 R0330.0 F1000.5 R1456.0

A 1239
ARC FAULT APPL
ALARM ALARMS
R0330.1
B
SEALER
ALARM
R0330.2
C
SERVOGUN
ALARM
R0330.3
D
TOOLCHNG
ALARM
R0330.4
E
SYSTEM
ALARM
R1404.3
F
SPOT
ALARM
R1456.0
G
APPL
ALARMS
N00150 D0001.0 Y0079.0

H 1248 S TOOL CHANGER LOCK
TOOL CHA DO 633 T
NGE APP C LOCK
Y0079.1
I R TOOL CHANGER UNLOCK
DO 634 T
C UNLOCK
N00151 D0001.0 ACT

J 1251 SUB10 0000
TOOL CHA JMP
NGE APP
N00152
K 1254 SUB66 P0001
CALLU TOOL CHANGING
N00153
L 1256 SUB30
JMPE
N00154
M 1257 SUB66 P0004
CALLU AIR SWITCH
N00155
N 1259 SUB66 P0006
CALLU UALM
N00156
O 1261 SUB66 P0007
CALLU INTERFACE
Ladder Diagram 27
N00157
A 1263 SUB66 P0008
CALLU MH
N00158
B 1265 SUB66 P0009
CALLU APPLICATION
N00159
C 1267 SUB66 P0018
CALLU LASER CONTROLLER
N00160
D 1269 SUB66 P0019
CALLU LASER BRAZE HEAD
N00161
E 1271 SUB66 P0020
CALLU LASER WIRE FEED
N00162
F 1273 SUB 2
END2
N00163 ### P0001 ###

G 1274 SUB71 P0001
SP TOOL CHANGING
N00164 X0080.0 R0347.0

H 1276 GUN ID NOT 0
DI 641 GUN ID
TOOL ID1 NOT 0
X0080.1
I
DI 642
TOOL ID2
X0080.2
J
DI 643
TOOL ID4
X0080.3
K
DI 644
TOOL ID8
N00165 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

L 1281
DI 641 DI 642 DI 643 DI 644 GUN 1 ON
TOOL ID1 TOOL ID2 TOOL ID4 TOOL ID8 ARM
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

M 1286
DI 641 DI 642 DI 643 DI 644 GUN 2 ON
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

N 1291
DI 641 DI 642 DI 643 DI 644 GUN 3 ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

O 1296
DI 641 DI 642 DI 643 DI 644 GUN 4 ON
Ladder Diagram 28
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

A 1301
DI 641 DI 642 DI 643 DI 644 GUN 5 ON
N00170 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

B 1306
DI 641 DI 642 DI 643 DI 644 GUN 6 ON
N00171 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

C 1311
DI 641 DI 642 DI 643 DI 644 GUN 7 ON
N00172 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

D 1316
DI 641 DI 642 DI 643 DI 644 GUN 8 ON
N00173 R0321.0 R0328.6

E 1321 TOOL ON ROBOT
GUN 1 ON TOOLONRO
ARM BOT
R0322.0
F
GUN 2 ON
ARM
R0323.0
G
GUN 3 ON
ARM
R0324.0
H
GUN 4 ON
ARM
R0325.0
I
GUN 5 ON
ARM
R0326.0
J
GUN 6 ON
ARM
R0326.1
K
GUN 7 ON
ARM
R0326.2
L
GUN 8 ON
ARM
N00174 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

M 1330
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
N ANY GEO TOOL PRESENT ON ROBOT
GUN 8 ON GEOTOOLP
ARM RSNT
N00175 X0080.0 Y0038.0

O 1339
DI 641 DO 305
TOOL ID1 TOOL ID1
Ladder Diagram 29
N00176 X0080.1 Y0038.1

A 1341
DI 642 DO 306
TOOL ID2 TOOL ID2
N00177 X0080.2 Y0038.2

B 1343
DI 643 DO 307
TOOL ID4 TOOL ID4
N00178 X0080.3 Y0038.3

C 1345
DI 644 DO 308
TOOL ID8 TOOL ID8
N00179 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

D 1347
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
E GUN 1-8 (ALL TOOLS IN STAND)
DI 312 GUN 1-8
TCSTND8
N00180 Y0117.4 K0011.1

F 1356 TOOL CHANGER RELEASE
DO 941 TC
TC UNLCK RELEASED
N00181 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

G 1358 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

H
TPENABLE DO 960 TC LOCK TOOLONRO
AUTO KEY PB BOT
N00182 X0079.0 Y0040.6

I 1371
DI 633 DO 327 T
TC LOCKD CCOUPMON
N00183 Y0117.4 Y0117.3 Y0000.2 Y0079.0

J 1373 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

K
TPENABLE DO 960 TC UNLOC
AUTO KEY K PB
N00184 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

L 1382
TC DO 633 T DO 3 RBT DI 645 T DI 646 T
RELEASED C LOCK IN AUTO SIV SRV
F1000.7 Y0119.7 K0016.0 R0328.6 2

M
TPENABLE DO 960 TC UNLOC TOOLONRO
AUTO KEY K PB BOT
1 R0328.6 Y0079.1
N TOOL CHANGER UNLOCK
TOOLONRO DO 634 T
BOT C UNLOCK
2
O
Ladder Diagram 30
N00185 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

A 1396 TC LOCK PUSH BUTTON
TC LOCK TC UNLOC TPENABLE DO 960 TC LOCK
PB K PB AUTO KEY PB
N00186 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

B 1401 TC UNLOCK PUSH BUTTON
TC UNLOC TC LOCK TPENABLE DO 960 TC UNLOC
K PB PB AUTO KEY K PB
N00187 X0079.1 Y0040.7

C 1406
DI 634 DO 328 T
TC ULCKD CRELMON
N00188 R0328.6 K0008.0 R0218.4

D 1408 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI 940 T
BOT NT SS C NOTOOL
N00189 Y0117.5 Y0117.6 Y0000.2 Y0038.5

E 1411 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

F
TC OPENG TC CLOS DO 4 RBT
UNCOVER GUNCOVER IN TCH
N00190 Y0117.5 Y0117.6 Y0000.2 Y0038.6

G 1419 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

H
TC CLOS TC OPENG DO 4 RBT
GUNCOVER UNCOVER IN TCH
N00191 X0038.0 R0321.0 R0329.0

I 1427 GUN1 POSITION
DI 305 GUN 1 ON GUN1 POS
TCSTND1 ARM ITION
X0038.0 X0039.3
J
DI 305 DI 316 G
TCSTND1 EOTPDCK
N00192 X0038.1 R0322.0 R0329.1

K 1433 GUN2 POSITION
TCSTND2 ARM ITION
X0038.1 X0039.3
L
DI 306 DI 316 G
TCSTND2 EOTPDCK
N00193 X0038.2 R0323.0 R0329.2

M 1439 GUN3 POSITION
TCSTND3 ARM ITION
X0038.2 X0039.3
N
DI 307 DI 316 G
TCSTND3 EOTPDCK
O
Ladder Diagram 31
N00194 X0038.3 R0324.0 R0329.3

A 1445 GUN4 POSITION
TCSTND4 ARM ITION
X0038.3 X0039.3
B
DI 308 DI 316 G
TCSTND4 EOTPDCK
N00195 X0038.4 R0325.0 R0329.4

C 1451 GUN5 POSITION
TCSTND5 ARM ITION
X0038.4 X0039.3
D
DI 309 DI 316 G
TCSTND5 EOTPDCK
N00196 X0038.5 R0326.0 R0329.5

E 1457 GUN6 POSITION
TCSTND6 ARM ITION
X0038.5 X0039.3
F
DI 310 DI 316 G
TCSTND6 EOTPDCK
N00197 X0038.6 R0326.1 R0329.6

G 1463 GUN7 POSITION
TCSTND7 ARM ITION
X0038.6 X0039.3
H
DI 311 DI 316 G
TCSTND7 EOTPDCK
N00198 X0038.7 R0326.2 R0329.7

TCSTND8 ARM ITION
X0038.7 X0039.3
J
DI 312 DI 316 G
TCSTND8 EOTPDCK
O
Ladder Diagram 32
N00199 R0329.0 R0328.7

A 1475 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
N00200 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1484
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
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1494
1 X0038.6 X0038.7 R0320.1

L TOOL 2 IN OPDOCK
N00202 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1504
1 X0038.6 X0038.7 R0320.2

N TOOL 3 IN OPDOCK
O
Ladder Diagram 33
N00203 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1514
1 X0038.6 X0038.7 R0320.3

B TOOL 4 IN OPDOCK
N00204 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1524
1 X0038.6 X0038.7 R0320.4

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

E 1534
1 X0038.6 X0038.7 R0320.5

F TOOL 6 IN OPDOCK
N00206 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1544
1 X0038.6 X0038.7 R0320.6

H TOOL 7 IN OPDOCK
N00207 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1554
1 X0038.6 X0038.7 R0320.7

J TOOL 8 IN OPDOCK
O
Ladder Diagram 34
N00208 R0320.0 R0319.0

A 1564 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
N00209 X0082.6 Y0038.7

I 1573
DI 663 T DO 312 T
CCOMMOK CCOMMOK
N00210 X0082.7 Y0039.2

J 1575
DI 664 T DO 315 T
CTLSLDPW LSLIDPWR
N00211 X0079.4 X0079.5 G1008.4

K 1577 RTL1&L2SWITCHMISMATCH
DI 637 DI 638 UALM 5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI 637 DI 638
RDY2LCK1 RDY2LCK2
N00212 R0328.6 G1008.5

M 1583 NO TOOL ON ARM
TOOLONRO UALM 6
BOT
N00213 K0013.1 R0000.7 Y0126.7

N 1585 NO TOOL ON EOAT SS
NOTOOLON PART PRE DO 1016
EOATSS SENT NOEOATSS
N00214 K0013.1 R0000.7 K0013.1

O 1588 R NO TOOL ON EOAT SS
NOTOOLON PART PRE NOTOOLON
EOATSS SENT EOATSS
Ladder Diagram 35
N00215 Y0039.3 Y0039.3

A 1591 S WRONG TOOL IN STAND
DO 316 W DO 316 W
RNGTLSTD RNGTLSTD
N00216 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1593 R WRONG TOOL IN STAND
DO 316 W FAULT DO 2 RBT DO 316 W
RNGTLSTD RESET @ HOME RNGTLSTD
N00217
C 1597 SUB72
SPE
N00218 ### AIR SWITCH ###

D 1598 SUB71 P0004
SP AIR SWITCH
N00219 X1020.6 Y0001.5

E 1600 END OF ARM AIR ON
RI 7 AIR DO 14 EO
FL SW A AIR ON
N00220
F 1602 SUB72
SPE
N00221 ### UALM ###

G 1603 SUB71 P0006
SP UALM
N00222 Y0120.2 X1025.1 Y0120.2

H 1605 PROGRAM FAULT
DO 963 FAULT DO 963
PRG FLT RESET PRG FLT
N00223 Y0120.2 G1008.0

I 1608 PROGRAM VERIFY FAULT
DO 963 UALM1
PRG FLT
N00224 K0010.0 Y0119.7 Y0000.3 G1010.6

J 1610 TEACH MEMORY ON
TEACH DO 960 DO 4 RBT UALM23
MEMORY AUTO KEY IN TCH
N00225 R0000.0 G1011.0

K 1614 GUN DISABLED SELECTOR SWITCH
ALWAYS UALM 25
ON
N00226 R0000.0 G1011.1

L 1616 RETRACT ENABLED
ALWAYS UALM 26
ON
N00227 Y0002.7 G1011.4

M 1618 IN PROGRAM LOOP
DO 24 RB UALM 29
T LOOP
N00228 Y0039.3 G1009.7

N 1620 TC PRESS FAULT RESET
DO 316 W UALM 16
RNGTLSTD
N00229 R0999.4 G1009.0

O 1622 LASER FAULT
DO 18997 UALM 9
LSRFLT
Ladder Diagram 36
N00230 R0999.6 G1009.1

A 1624 WIRE FAULT
DO 18999 UALM 10
WIREFLT
N00231 R0999.7 G1009.2

B 1626 SHUTTER FAULT
DO 19000 UALM 11
SHUTFLT
N00232
C 1628 SUB72
SPE
N00233 ### INTERFACE ###

D 1629 SUB71 P0007
SP INTERFACE
N00234 D0612.1 ACT D0612.0

E 1631 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH IF PB TMR ALL IF P
TO B TO
D0612.2
F
SEAL IF
PB TO
D0612.3
G
STUD IF
PB TO
D0612.4
H
LASER IF
PB TO
O
Ladder Diagram 37
N00235 K0002.0 D0612.1

A 1638 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 38
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 39
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 40
N00236 K0009.4 D0612.2

A 1673 SEAL IF PB TO
MAN FLOW SEAL IF
PB1 PB TO
K0008.7
B
RESEAL P
B1
K0011.2
C
AUTO PUR
GE PB1
K0008.2
D
ACCEPTSE
ALER1 IF
K0008.3
E
REJECTSE
ALER1 IF
K0012.3
F
INSPECTI
ON PB 1
K0009.5
G
MAN FLOW
PB2
K0009.0
H
RESEAL P
B2
K0011.3
I
AUTO PUR
GE PB2
K0012.4
J
INSPECTI
ON PB 2
K0013.5
K
ACCEPTSE
ALER2 IF
K0013.6
L
REJECTSE
ALER2 IF
N00237 K0012.1 D0612.4

M 1686 LASER IF PB TO
LASER RE LASER IF
SET PB PB TO
K0012.2
N
LASERGLS
SNOTPRSS
N00238
O 1689 SUB72
SPE
Ladder Diagram 41
N00239 ### MH ###

A 1690 SUB71 P0008
SP MH
N00240 Y0000.3 K0004.4 R1410.0

B 1692 MANUAL GRIP ENABLE
DO 4 RBT MAN GRP MAN GRP
IN TCH ENBLE SS ENABLE
N00241 R1410.0 ACT

C 1695 SUB10 0000
MAN GRP JMP
ENABLE
N00242 R0000.0 Y0114.0

D 1698 OPEN CLAMP 1
ALWAYS DO 913
ON OPNCLMP1
N00243 R0000.0 Y0114.1

E 1700 CLOSE CLAMP 1
ALWAYS DO 914
ON CLSCLMP1
N00244 R0000.0 Y0114.2

F 1702 OPEN CLAMP 2
ALWAYS DO 915
ON OPNCLMP2
N00245 R0000.0 Y0114.3

G 1704 CLOSE CLAMP 2
ALWAYS DO 916
ON CLSCLMP2
N00246 R0000.0 Y0114.4

H 1706 OPEN CLAMP 3
ALWAYS DO 917
ON OPNCLMP3
N00247 R0000.0 Y0114.5

I 1708 CLOSE CLAMP 3
ALWAYS DO 918
ON CLSCLMP3
N00248 R0000.0 Y0114.6

J 1710 OPEN CLAMP 4
ALWAYS DO 919
ON OPNCLMP4
N00249 R0000.0 Y0114.7

K 1712 CLOSE CLAMP 4
ALWAYS DO 920
ON CLSCLMP4
N00250 R0000.0 Y0115.0

L 1714 OPEN CLAMP 5
ALWAYS DO 921
ON OPNCLMP5
N00251 R0000.0 Y0115.1

M 1716 CLOSE CLAMP 5
ALWAYS DO 922
ON CLSCLMP5
N00252 R0000.0 Y0115.2

N 1718 OPEN CLAMP 6
ALWAYS DO 923
ON OPNCLMP6
N00253 R0000.0 Y0115.3

O 1720 CLOSE CLAMP 6
ALWAYS DO 924
ON CLSCLMP6
Ladder Diagram 42
N00254 R0000.0 Y0115.4

A 1722 OPEN CLAMP 7
ALWAYS DO 925
ON OPNCLMP7
N00255 R0000.0 Y0115.5

B 1724 CLOSE CLAMP 7
ALWAYS DO 926
ON CLSCLMP7
N00256 R0000.0 Y0115.6

C 1726 OPEN CLAMP 8
ALWAYS DO 927
ON OPNCLMP8
N00257 R0000.0 Y0115.7

D 1728 CLOSE CLAMP 8
ALWAYS DO 928
ON CLSCLMP8
N00258 R0000.0 Y0116.0

E 1730 OPEN CLAMP 9
ALWAYS DO 929
ON OPNCLMP9
N00259 R0000.0 Y0116.1

F 1732 CLOSE CLAMP 9
ALWAYS DO 930
ON CLSCLMP9
N00260 R0000.0 Y0116.2

G 1734 OPEN CLAMP 10
ALWAYS DO 931
ON OPNCLP10
N00261 R0000.0 Y0116.3

H 1736 CLOSE CLAMP 10
ALWAYS DO 932
ON CLSCLP10
N00262 R0000.0 Y0127.2

I 1738 VACUUM 1 ON
ALWAYS DO1019 V
ON AC1ON
N00263 R0000.0 Y0127.3

J 1740 BLOWOFF 1 ON
ALWAYS DO1020 B
ON LWOF1ON
N00264 R0000.0 Y0127.4

K 1742 VACUUM 2 ON
ALWAYS DO1021 V
ON AC2ON
N00265 R0000.0 Y0127.5

L 1744 BLOWOFF 2 ON
ALWAYS DO1022 B
ON LWOF2ON
N00266 R0000.0 Y0127.6

M 1746 VACUUM 3 ON
ALWAYS DO1023 V
ON AC3ON
N00267 R0000.0 Y0127.7

N 1748 BLOWOFF 3 ON
ALWAYS DO1024 B
ON LWOF3ON
N00268 R0000.0 Y0118.5

O 1750 VACUUM 4 ON
ALWAYS DO 950 V
ON AC4ON
Ladder Diagram 43
N00269 R0000.0 Y0118.6

A 1752 BLOWOFF 4 ON
ALWAYS DO 951 B
ON LWOF4ON
N00270
B 1754 SUB30
JMPE
N00271 R1410.0 ACT R0001.1

C 1755 SUB 3 0038
MAN GRP TMR MAN GRP
ENABLE TO
N00272 R0001.1 ACT

D 1759 SUB10 0000
MAN GRP JMP
TO
N00273 K0002.1 X1026.1 Y0114.0

E 1762 OPEN CLAMP 1
CLMP1OPN SI9 DO 913
AUTOMDSW OPNCLMP1
N00274 Y0114.0 Y0009.0

F 1765 OPEN CLAMP #1
DO 913 DO 73 OP
OPNCLMP1 N CLMP1
N00275 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9 DO 914
AUTOMDSW CLSCLMP1
N00276 Y0114.1 Y0009.1

H 1770 CLOSE CLAMP #1
DO 914 DO 74 CL
CLSCLMP1 S CLMP1
N00277 K0002.3 X1026.1 Y0114.2

I 1772 OPEN CLAMP 2
CLMP2OPN SI9 DO 915
AUTOMDSW OPNCLMP2
N00278 Y0114.2 Y0009.2

J 1775 OPEN CLAMP #2
DO 915 DO 75 OP
OPNCLMP2 N CLMP2
N00279 K0002.2 X1026.1 Y0114.3

CLMP2CLS SI9 DO 916
AUTOMDSW CLSCLMP2
N00280 Y0114.3 Y0009.3

L 1780 CLOSE CLAMP #2
DO 916 DO 76 CL
CLSCLMP2 S CLMP2
N00281 K0002.5 X1026.1 Y0114.4

M 1782 OPEN CLAMP 3
CLMP3OPN SI9 DO 917
AUTOMDSW OPNCLMP3
N00282 Y0114.4 Y0009.4

N 1785 OPEN CLAMP #3
DO 917 DO 77 OP
OPNCLMP3 N CLMP 3
N00283 K0002.4 X1026.1 Y0114.5

CLMP3CLS SI9 DO 918
AUTOMDSW CLSCLMP3
Ladder Diagram 44
N00284 Y0114.5 Y0009.5

A 1790 CLOSE CLAMP #3
DO 918 DO 78 CL
CLSCLMP3 S CLMP3
N00285 K0002.7 X1026.1 Y0114.6

B 1792 OPEN CLAMP 4
CLMP4OPN SI9 DO 919
AUTOMDSW OPNCLMP4
N00286 Y0114.6 Y0009.6

C 1795 OPEN CLAMP #4
DO 919 DO 79 OP
OPNCLMP4 N CLMP4
N00287 K0002.6 X1026.1 Y0114.7

CLMP4CLS SI9 DO 920
AUTOMDSW CLSCLMP4
N00288 Y0114.7 Y0009.7

E 1800 CLOSE CLAMP #4
DO 920 DO 80 CL
CLSCLMP4 S CLMP4
N00289 K0003.1 X1026.1 Y0115.0

F 1802 OPEN CLAMP 5
CLMP5OPN SI9 DO 921
AUTOMDSW OPNCLMP5
N00290 Y0115.0 Y0010.0

G 1805 OPEN CLAMP #5
DO 921 DO 81 OP
OPNCLMP5 N CLMP5
N00291 K0003.0 X1026.1 Y0115.1

CLMP5CLS SI9 DO 922
AUTOMDSW CLSCLMP5
N00292 Y0115.1 Y0010.1

I 1810 CLOSE CLAMP #5
DO 922 DO 82 CL
CLSCLMP5 S CLMP5
N00293 K0003.3 X1026.1 Y0115.2

J 1812 OPEN CLAMP 6
CLMP6OPN SI9 DO 923
AUTOMDSW OPNCLMP6
N00294 Y0115.2 Y0010.2

K 1815 OPEN CLAMP #6
DO 923 DO 83 OP
OPNCLMP6 N CLMP6
N00295 K0003.2 X1026.1 Y0115.3

L 1817 CLOSE CLAMP 6
CLMP6CLS SI9 DO 924
AUTOMDSW CLSCLMP6
N00296 Y0115.3 Y0010.3

M 1820 CLOSE CLAMP #6
DO 924 DO 84 CL
CLSCLMP6 S CLMP 6
N00297 K0003.5 X1026.1 Y0115.4

N 1822 OPEN CLAMP 7
CLMP7OPN SI9 DO 925
AUTOMDSW OPNCLMP7
N00298 Y0115.4 Y0010.4

O 1825 OPEN CLAMP #7
DO 925 DO 85 OP
OPNCLMP7 N CLMP 7
Ladder Diagram 45
N00299 K0003.4 X1026.1 Y0115.5

A 1827 CLOSE CLAMP 7
CLMP7CLS SI9 DO 926
AUTOMDSW CLSCLMP7
N00300 Y0115.5 Y0010.5

B 1830 CLOSE CLAMP #7
DO 926 DO 86 CL
CLSCLMP7 S CLAMP7
N00301 K0003.7 X1026.1 Y0115.6

C 1832 OPEN CLAMP 8
CLMP8OPN SI9 DO 927
AUTOMDSW OPNCLMP8
N00302 Y0115.6 Y0010.6

D 1835 OPEN CLAMP #8
DO 927 DO 87 OP
OPNCLMP8 N CLMP8
N00303 K0003.6 X1026.1 Y0115.7

CLMP8CLS SI9 DO 928
AUTOMDSW CLSCLMP8
N00304 Y0115.7 Y0010.7

F 1840 CLOSE CLAMP #8
DO 928 DO 88 CL
CLSCLMP8 S CLAMP8
N00305 K0004.1 X1026.1 Y0116.0

G 1842 OPEN CLAMP 9
CLMP9OPN SI9 DO 929
AUTOMDSW OPNCLMP9
N00306 Y0116.0 Y0011.0

H 1845 OPEN CLAMP #9
DO 929 DO 89 OP
OPNCLMP9 N CLMP9
N00307 K0004.0 X1026.1 Y0116.1

CLMP9CLS SI9 DO 930
AUTOMDSW CLSCLMP9
N00308 Y0116.1 Y0011.1

J 1850 CLOSE CLAMP #9
DO 930 DO 90 CL
CLSCLMP9 S CLMP9
N00309 K0004.3 X1026.1 Y0116.2

K 1852 OPEN CLAMP 10
CLP10OPN SI9 DO 931
AUTOMDSW OPNCLP10
N00310 Y0116.2 Y0011.2

L 1855 OPEN CLAMP #10
DO 931 DO 91 OP
OPNCLP10 N CLMP10
N00311 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9 DO 932
AUTOMDSW CLSCLP10
N00312 Y0116.3 Y0011.3

N 1860 CLOSE CLAMP #10
DO 932 DO 92 CL
CLSCLP10 S CLMP10
N00313 K0014.2 X1026.1 K0014.1 Y0127.2

O 1862 VACUUM 1 ON
VAC 1 ON SI9 VAC/BLOW DO1019 V
PB AUTOMDSW OFFTIMER AC1ON
Ladder Diagram 46
N00314 Y0127.2 Y0008.0

A 1866
DO1019 V DO 65 VA
AC1ON C 1 ON
N00315 K0014.5 X1026.1 K0014.1 Y0127.3

B 1868 BLOWOFF 1 ON
BLOWOFF SI9 VAC/BLOW DO1020 B
1 ON PB AUTOMDSW OFFTIMER LWOF1ON
N00316 Y0127.3 Y0008.1

C 1872
DO1020 B DO 66 BL
LWOF1ON WOFF1ON
N00317 K0014.3 X1026.1 K0014.1 Y0127.4

D 1874 VACUUM 2 ON
N00318 Y0127.4 Y0008.2

E 1878
DO1021 V DO 67 VA
AC2ON C 2 ON
N00319 K0014.6 X1026.1 K0014.1 Y0127.5

F 1880 BLOWOFF 2 ON
N00320 Y0127.5 Y0008.3

G 1884
DO1022 B DO 68 BL
LWOF2ON WOFF2ON
N00321 K0014.4 X1026.1 K0014.1 Y0127.6

H 1886 VACUUM 3 ON
N00322 Y0127.6 Y0008.4

I 1890
DO1023 V DO 69 VA
AC3ON C 3 ON
N00323 K0014.7 X1026.1 K0014.1 Y0127.7

J 1892 BLOWOFF 3 ON
N00324 Y0127.7 Y0008.5

K 1896
DO1024 B DO 70 BL
LWOF3ON WOFF3ON
N00325 K0016.1 X1026.1 K0014.1 Y0118.5

L 1898 VACUUM 4 ON
VAC 4 ON SI9 VAC/BLOW DO 950 V
N00326 Y0118.5 Y0008.6

M 1902
DO 950 V DO 71 VA
AC4ON C 4 ON
N00327 K0016.2 X1026.1 K0014.1 Y0118.6

N 1904 BLOWOFF 4 ON
BLOWOFF SI9 VAC/BLOW DO 951 B
N00328 Y0118.6 Y0008.7

O 1908
DO 951 B DO 72 BL
LWOF4ON WOFF4ON
Ladder Diagram 47
N00329
A 1910 SUB30
JMPE
N00330 Y0008.0 ACT K0014.1

B 1911 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO 65 VA TMR VAC/BLOW
C 1 ON OFFTIMER
Y0008.1
C
DO 66 BL
WOFF1ON
Y0008.2
D
DO 67 VA
C 2 ON
Y0008.3
E
DO 68 BL
WOFF2ON
Y0008.4
F
DO 69 VA
C 3 ON
Y0008.5
G
DO 70 BL
WOFF3ON
Y0008.6
H
DO 71 VA
C 4 ON
Y0008.7
I
DO 72 BL
WOFF4ON
N00331 K0002.0 D0612.0 K0002.0

J 1922 CLMP1 CLOSE
CLMP1CLS ALL IF P CLMP1CLS
B TO
N00332 K0002.1 D0612.0 K0002.1

K 1925 CLMP1 OPEN
CLMP1OPN ALL IF P CLMP1OPN
B TO
N00333 K0002.2 D0612.0 K0002.2

L 1928 CLMP2 CLOSE
B TO
N00334 K0002.3 D0612.0 K0002.3

M 1931 CLMP2 OPEN
B TO
N00335 K0002.4 D0612.0 K0002.4

N 1934 CLMP3 CLOSE
B TO
N00336 K0002.5 D0612.0 K0002.5

O 1937 CLMP3 OPEN
B TO
Ladder Diagram 48
N00337 K0002.6 D0612.0 K0002.6

A 1940 CLMP4 CLOSE
B TO
N00338 K0002.7 D0612.0 K0002.7

B 1943 CLMP4 OPEN
B TO
N00339 K0003.0 D0612.0 K0003.0

C 1946 CLMP5 CLOSE
B TO
N00340 K0003.1 D0612.0 K0003.1

D 1949 CLMP5 OPEN
B TO
N00341 K0003.2 D0612.0 K0003.2

E 1952 CLMP6 CLOSE
B TO
N00342 K0003.3 D0612.0 K0003.3

F 1955 CLMP6 OPEN
B TO
N00343 K0003.4 D0612.0 K0003.4

G 1958 CLMP7 CLOSE
B TO
N00344 K0003.5 D0612.0 K0003.5

H 1961 CLMP7 OPEN
B TO
N00345 K0003.6 D0612.0 K0003.6

I 1964 CLMP8 CLOSE
B TO
N00346 K0003.7 D0612.0 K0003.7

J 1967 CLMP8 OPEN
B TO
N00347 K0004.0 D0612.0 K0004.0

K 1970 CLMP9 CLOSE
B TO
N00348 K0004.1 D0612.0 K0004.1

L 1973 CLMP9 OPEN
B TO
N00349 K0004.2 D0612.0 K0004.2

M 1976 CLMP10 CLOSE
CLP10CLS ALL IF P CLP10CLS
B TO
N00350 K0004.3 D0612.0 K0004.3

N 1979 CLMP10 OPEN
CLP10OPN ALL IF P CLP10OPN
B TO
N00351 K0014.2 D0612.0 K0014.2

O 1982
VAC 1 ON ALL IF P VAC 1 ON
PB B TO PB
Ladder Diagram 49
N00352 K0014.3 D0612.0 K0014.3

A 1985
PB B TO PB
N00353 K0014.4 D0612.0 K0014.4

B 1988
PB B TO PB
N00354 K0016.1 D0612.0 K0016.1

C 1991
PB B TO PB
N00355 K0014.5 D0612.0 K0014.5

D 1994
BLOWOFF ALL IF P BLOWOFF
1 ON PB B TO 1 ON PB
N00356 K0014.6 D0612.0 K0014.6

E 1997
N00357 K0014.7 D0612.0 K0014.7

F 2000
N00358 K0016.2 D0612.0 K0016.2

G 2003
N00359 K0000.4 Y0012.6

H 2006 RERUN PROCESS
RERUNPRC DO 103 R
PB ERUNPRC
N00360 K0000.5 Y0012.7

I 2008 ACCEPT PROCESS
ACCPTPRC DO 104 A
PB CCPTPRC
N00361 K0000.6 Y0013.0

J 2010 REJECT PROCESS
REJCTPRC DO 105 R
PB EJCTPRC
N00362 K0000.7 Y0013.1

K 2012 INSPECTION SELECTED
INSPCTSE DO 106 I
LPB NSP SEL
K0001.3 K0001.5
L
VISIONIN ABORTPRO
TERVENSS CESS
N00363 K0000.4 D0612.0 K0000.4

M 2017 S RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
N00364 K0000.4 D0612.0 K0000.4

N 2020 R RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
N00365 K0000.5 D0612.0 K0000.5

O 2023 S ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
Ladder Diagram 50
N00366 K0000.5 D0612.0 K0000.5

A 2026 R ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
N00367 K0000.6 D0612.0 K0000.6

B 2029 S REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00368 K0000.6 D0612.0 K0000.6

C 2032 R REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00369 K0000.7 D0612.0 K0000.7

D 2035 S INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00370 K0000.7 D0612.0 K0000.7

E 2038 R INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00371 K0011.4 D0612.0 K0011.4

F 2041 TOOL CHANGER OPEN GUN COVER
TC OPENG ALL IF P TC OPENG
UNCOVER B TO UNCOVER
N00372 K0011.5 D0612.0 K0011.5

G 2044 TOOL CHANGER CLOSE GUN COVER
TC CLOS ALL IF P TC CLOS
GUNCOVER B TO GUNCOVER
N00373 X0008.2 R0000.7

H 2047 PART PRESENT ON EOAT
DI 67 PR PART PRE
T PRES1 SENT
X0008.3
I
DI 68 PR
T PRES2
X0008.4
J
DI 69 PR
T PRES3
X0008.5
K
DI 70 PR
T PRES4
X0008.6
L
DI 71 PR
T PRES5
X0008.7
M
DI 72 PR
T PRES6
N00374
N 2054 SUB72
SPE
N00375 ### APPLICATION ###

O 2055 SUB71 P0009
SP APPLICATION
Ladder Diagram 51
N00376 D0000.0 Y0048.0

A 2057 MATERIAL HANLDING APPLICATION
MH APP DO 385 M
H APP
N00377 D0000.1 Y0048.1

B 2059 WELD 1 APPLICATION
WELD 1 A DO 386
PP WLD1 APP
N00378 D0000.2 Y0048.2

C 2061 WELD 2 APPLICATION
WELD 2 A DO 387 W
PP LD2 APP
N00379 D0000.3 Y0048.3

D 2063 NUT FEED APPLICATION
NUT FEED DO 388 N
APP UTFD APP
N00380 D0000.4 Y0048.4

E 2065 SEALER 1 APPLICATION
SEAL 1 A DO 389 S
PP LR 1 APP
N00381 D0000.5 Y0048.5

F 2067 SEALER 2 APPLICATION
SEAL 2 DO 390 S
APP LR 2 APP
N00382 D0000.6 Y0048.6

G 2069 STUD WELD 1 APPLICATION
STUD 1 A DO 391 S
PP TDW 1APP
N00383 D0000.7 Y0048.7

H 2071 STUD WELD 2 APPLICATION
STUD 2 A DO 392 S
PP TDW 2APP
N00384 D0001.0 Y0049.0

I 2073 TOOL CHANGE APPLICATION
TOOL CHA DO 393 T
NGE APP C APP
N00385 D0001.1 Y0049.1

J 2075 RIVET 1 APPLICAYION
RIVET 1 DO 394 R
APP VT 1 APP
N00386 D0001.2 Y0049.2

K 2077 RIVET 2 APPLICATION
RIVET 2 DO 395 R
APP VT 2 APP
N00387 D0001.3 Y0049.3

L 2079 NUT RUNNER APPLICATION
NUT RUNN DO 396 N
ER APP UTR APP
N00388 D0001.4 Y0049.4

M 2081 MIG WELD APPLICATION
MIG WELD DO 397 M
APP IGW APP
N00389 D0001.5 Y0049.5

N 2083 ROLL HEMMER APPLICATION
ROLLER H DO 398 R
EMM APP LLHEM AP
N00390 D0001.6 Y0049.6

O 2085 LASER CUT APPLICATION
LASER CU DO 399 L
T APP SRCT APP
Ladder Diagram 52
N00391 D0001.7 Y0049.7

A 2087 PLASMA CUT APPLICATION
PLASMA C DO 400 P
UT APP LSMA APP
N00392 D0002.0 Y0050.0

B 2089 LASER WELD APPLICATION
LASER WE DO 401 L
LD APP SRWLDAPP
N00393 D0002.1 Y0050.1

C 2091 OPERATOR LOAD APPLICATION
OPER LOA DO 402 O
D APP P LD APP
N00394 D0002.2 Y0050.2

D 2093 VISION APPLICATION
VISION A DO 403 V
PP IS APP
N00395 D0002.3 Y0050.3

E 2095 PROGRAM LOCATOR APPLICATION
PROG LOC DO 404 P
APP RG LCAPP
N00396 D0002.4 Y0050.4

F 2097 INTERFACE DEFINITION BIT 21
IF DEF DO 405
21 INDEFB21
N00397 D0002.5 Y0050.5

G 2099 NUT FEEDER 2 APPLICATION
NUT FEED DO 406 N
ER 2 APP TFD 2APP
N00398 D0002.6 Y0050.6

H 2101 INTERFACE DEFINITION BIT 23
IF DEF DO 407 I
23 NDEF B23
N00399 D0002.7 Y0050.7

I 2103 INTERFACE DEFINITION BIT 24
IF DEF DO 408 I
24 NDEF B24
N00400 D0003.0 Y0051.0

J 2105 INTERFACE DEFINITION BIT 25
IF DEF DO 409 I
25 NDEF B25
N00401 D0003.1 Y0051.1

K 2107 INTERFACE DEFINITION BIT 26
IF DEF DO 410 I
26 NDEF B26
N00402 D0003.2 Y0051.2

L 2109 INTERFACE DEFINITION BIT 27
IF DEF DO 411 I
27 NDEF B27
N00403 D0003.3 Y0051.3

M 2111 INTERFACE DEFINITION BIT 28
IF DEF DO 412 I
28 NDEF B28
N00404 D0003.4 Y0051.4

N 2113 INTERFACE DEFINITION BIT 29
IF DEF DO 413 I
29 NDEF B29
N00405 D0003.5 Y0051.5

O 2115 INTERFACE DEFINITION BIT 30
IF DEF DO 414 I
30 NDEF B30
Ladder Diagram 53
N00406 D0003.6 Y0051.6

A 2117 INTERFACE DEFINITION BIT 31
IF DEF DO 415 I
31 NDEF B31
N00407 D0003.7 Y0051.7

B 2119 INTERFACE DEFINITION BIT 32
IF DEF DO 416 I
32 NDEF B32
N00408
C 2121 SUB72
SPE
N00409 ### P0018 ###

D 2122 SUB71 P0018
SP LASER CONTROLLER
N00410 X0064.3 R0208.1

E 2124 LASER IS ON
DI 516 L DI857 LA
ASERISON SER ON
X0001.1
F
DI 10 AU
TO REPT
N00411 X0083.2 R0208.2

G 2127 LASER READY
DI 667 L DI858 LA
ASERRDY SER RDY
X0001.1
H
DI 10 AU
TO REPT
N00412 X0083.3 R0208.3

I 2130 LASER PRG ACTIVE
DI 668 P DI859 PR
RGACTIV G ACTIVE
X0001.1
J
DI 10 AU
TO REPT
N00413 R0999.4 X0060.1 R0999.4

K 2133 R LASER FAULT FROM MON_LASR.PC
DO 18997 DI 482 E DO 18997
LSRFLT XTERRRST LSRFLT
K0012.1
L
LASER RE
SET PB
N00414 R0999.7 X0060.1 R0999.7

M 2138 R SHUTTER FAULT FROM MON_LASR.PC
DO 19000 DI 482 E DO 19000
SHUTFLT XTERRRST SHUTFLT
K0012.1
N
LASER RE
SET PB
O
Ladder Diagram 54
N00415 X0084.3 R0209.1

A 2143 LASER FAULT
DI 676 L DI865 FA
ASERFLT ULT
R0999.4 Y0061.5
B LASER FAULT
DO 18997 DO 494 L
LSRFLT SR FAULT
R0999.7
C
DO 19000
SHUTFLT
N00416 X0084.1 R0209.2

D 2148 LASER SIK OPEN
DI 674 S DI866 SI
IK K OPEN
N00417 G1000.1 Y1025.5 Y0000.3 Y0000.2 Y0083.0

E 2150 LASER EXTERNAL ACTIVATION
*HOLD MOTORS DO 4 RBT DO 3 RBT DO 665 E
ENABLE IN TCH IN AUTO XTACTIV
Y0083.0
F
DO 665 E
XTACTIV
N00418 Y0083.0 Y0083.1

G 2156 LASER LOCK OPERATING UNIT
DO 665 E DO 666
XTACTIV LCKOPUNT
N00419 Y0083.0 X0083.0 X0001.1 Y0083.2

H 2158 LASER ON
DO 665 E DI 665 A DI 10 AU DO 667 L
XTACTIV CTACTIVE TO REPT ASRON
N00420 X0083.1 X0001.1 Y0083.3

I 2162 LASER STANDBY
DI 666 L DI 10 AU DO 668 S
ASER ON TO REPT TANDBY
N00421 R0303.0 ACT D0601.0

J 2165 SUB 3 0001 DELAY FOR LASER START
R303 DEL TMR D601 DLY
AYTIM 4LASRSTR
N00422 Y0000.0 Y0000.3 Y1025.5 R0301.0

K 2169 START STATICAL SAFETIES
DO 1 RUN DO 4 RBT MOTORS R301 STA
ENB ACK IN TCH ENABLE TSAFE
N00423 Y0108.1 X0001.1 D0601.0 R0302.0

L 2173 START STATICAL ENABLES
DO866 WL DI 10 AU D601 DLY R302 STA
DENBL TO REPT 4LASRSTR TENBLES
N00424 Y0000.0 G1000.1 R0208.2 R0303.0

M 2177 AUX FLAG FOR DELAY TIMER
DO 1 RUN *HOLD DI858 LA R303 DEL
ENB ACK SER RDY AYTIM
R0208.3
N
DI859 PR
G ACTIVE
N00425 Y0108.0 R0301.0 R0302.0 F1000.5 Y0083.4

O 2183 LASER START STATICAL
DO865 ST R301 STA R302 STA FAULT DO 669 S
RTSTAT TSAFE TENBLES TRTSTAT
Ladder Diagram 55
N00426 Y0108.4 Y0083.6

A 2188 LASER PROGRAM STOP
DO869 ST DO 671 P
OP RGSTOP
N00427 Y0108.5 Y0084.2

B 2190 LASER PILOT LASER ON
DO870 PI DO 675 P
LOTLIGHT ILTLSRON
N00428 Y0108.6 Y0084.3

C 2192 LASER RESET
DO871 LA DO 676 R
SRRESET ESET
Y0107.7 R0209.1
D
DO864 RE DI865 FA
SETERR ULT
X0060.1
E
DI 482 E
XTERRRST
K0012.1
F
LASER RE
SET PB
Y0112.2
G
DO899 BR
ZHDRST
N00429 Y0108.7 Y0084.4

H 2200 LASER FAULT EXTERNAL
DO872 FA DO 677 F
ILUREEXT LTEXT
N00430 Y0109.0 Y0084.5

I 2202 LASER INQUIRY INPUT 1
DO873 IN DO 678 I
QUIRSYN1 NQRYIN1
N00431 Y0109.1 Y0084.6

J 2204 LASER INQUIRY INPUT 2
DO874 IN DO 679
QUIRSYN2 INQRYIN2
N00432 X0084.3 G1008.6

K 2206 LASER UNIT ERROR
DI 676 L UALM 7
ASERFLT
N00433 X0083.2 G1008.7

L 2208 LASER UNIT NOT READY ERROR
DI 667 L UALM 8
ASERRDY
N00434 X0083.1 Y0060.0

M 2210
DI 666 L DO 481 L
ASER ON ASERON
N00435 X0083.3 Y0060.2

N 2212
DI 668 P DO 483 L
RGACTIV ASERISON
N00436 X0083.5 Y0060.1

O 2214
DI 670 P DO 482 A
RGCANCEL BTPRCS
Ladder Diagram 56
N00437 X0084.7 Y0060.4

A 2216
DI 680 C DO 485 C
HILLRDY HILLERON
N00438 X0083.4 Y0061.1

B 2218
DI 669 P DO 490 L
RGCOMP SRPGCOMP
N00439 X0083.2 Y0061.2

C 2220
DI 667 L DO 491 L
ASERRDY SRSTDBY
N00440 X0084.6 Y0061.3

D 2222
DI 679 C DO 492 L
OMM OK SRCOMMOK
N00441 K0012.0 Y0000.3 Y0084.2

E 2224 LASER PILOT LASER ON
PILOTLAS DO 4 RBT DO 675 P
ERONSS IN TCH ILTLSRON
N00442 K0012.1 D0612.0 K0012.1

F 2227 S LASER RESET PB
LASER RE ALL IF P LASER RE
SET PB B TO SET PB
N00443 K0012.1 D0612.0 K0012.1

G 2230 R LASER RESET PB
LASER RE ALL IF P LASER RE
SET PB B TO SET PB
N00444 K0012.2 D0612.0 K0012.2

H 2233 S LASER GLASS NOT PRESENT SS
LASERGLS ALL IF P LASERGLS
SNOTPRSS B TO SNOTPRSS
N00445 K0012.2 D0612.0 K0012.2

I 2236 R LASER GLASS NOT PRESENT SS
LASERGLS ALL IF P LASERGLS
SNOTPRSS B TO SNOTPRSS
N00446 R0999.3 X0060.1 R0999.3

J 2239 R LASER WARN FROM MON_LASR.PC
DO 18996 DI 482 E DO 18996
LSRWRN XTERRRST LSRWRN
K0012.1
K
LASER RE
SET PB
N00447 X0084.4 Y0061.4

L 2244 LASER WARNING
DI 677 L DO 493 L
ASERWARN SR WARNG
R0999.3
M
DO 18996
LSRWRN
O
Ladder Diagram 57
N00448 X0060.1 Y0091.7

A 2247 BRAZE RESET / INITALIZATION
DI 482 E DO 736 R
XTERRRST ESETINIT
K0012.1
B
LASER RE
SET PB
Y0112.2
C
DO899 BR
ZHDRST
N00449 K0012.2 Y0060.7

D 2251
LASERGLS DO 488 L
SNOTPRSS SRCOUPRQ
N00450
E 2253 SUB72
SPE
N00451 ### P0019 ###

F 2254 SUB71 P0019
SP LASER BRAZE HEAD
N00452 X0091.5 Y0062.2

G 2256
DI 734 S DO 499 G
LDERR LASFLT
N00453 X0091.6 Y0062.3

H 2258
DI 735 S DO 500 D
LDWRN IRTYWARN
N00454 X0091.7 Y0063.0

I 2260
DI 736 S DO 505 G
LDDRAW LSSNPRES
N00455 X0092.5 Y0060.3

J 2262
DI742 CR DO 484 L
ASHSENS SRHDCOLL
X0092.6
K
DI 743
CRASHEPS
N00456 X0093.0 Y0063.3

L 2265
DI 745 C DO 508 L
OMM OK SRCOMMOK
N00457 X0091.1 Y0060.5

M 2267
DI 730 E DO 486 L
RRSIG SRHDERR
N00458 X0091.0 Y0060.6

N 2269
DI 729 R DO 487 L
DYSIG SRHDRDY
N00459 X0092.0 Y0063.5

O 2271 LASER CROSSJET MAX PRESSURE
DI 737 C DO 510 C
RSSJTMAX RSJETMAX
Ladder Diagram 58
N00460 X0092.1 Y0063.6

A 2273 LASER CROSSJET MIN PRESSURE
DI 738 C DO 511 C
RSSJTMIN RSJETMIN
N00461
B 2275 SUB72
SPE
N00462 ### P0020 ###

C 2276 SUB71 P0020
SP LASER WIRE FEED
N00463 K0011.6 Y0000.3 Y0099.4 Y0099.3

D 2278 WIREFEED INCH FORWARD
INCHFORW DO 4 RBT DO 797 DO 796
ARDSS IN TCH INCHREV INCHFORW
N00464 K0011.6 Y0000.3 Y0000.2 K0011.6

E 2282 WIREFEED INCH FORWARD SS
INCHFORW DO 4 RBT DO 3 RBT INCHFORW
ARDSS IN TCH IN AUTO ARDSS
N00465 K0011.7 Y0000.3 Y0099.3 Y0099.4

F 2286 WIREFEED INCH REVERSE
INCHREVE DO 4 RBT DO 796 DO 797
RSESS IN TCH INCHFORW INCHREV
N00466 K0011.7 Y0000.3 Y0000.2 K0011.7

G 2290 WIREFEED INCH REVERSE SS
INCHREVE DO 4 RBT DO 3 RBT INCHREVE
RSESS IN TCH IN AUTO RSESS
N00467 X0106.0 Y0062.6

H 2294 WIREFEED READY
DI 849 R DO 503 F
EADY EEDREADY
N00468 R0999.5 X0060.1 R0999.5

I 2296 R WIRE WARN FROM MON_LASR.PC
DO 18998 DI 482 E DO 18998
WIREWAR XTERRRST WIREWAR
K0012.1
J
LASER RE
SET PB
N00469 R0999.5 Y0061.6

K 2301 LASER WIRE SPEED OUT WINDOW1
DO 18998 DO 495 L
WIREWAR SRWIRSP1
N00470 R0999.6 X0060.1 R0999.6

L 2303 R WIRE FAULT FROM MON_LASR.PC
DO 18999 DI 482 E DO 18999
WIREFLT XTERRRST WIREFLT
K0012.1
M
LASER RE
SET PB
N00471 R0999.6 Y0061.7

N 2308 LASER WIRE SPEED OUT WINDOW2
DO 18999 DO 496 L
WIREFLT SRWIRSP1
N00472 Y0110.7 F1000.5 Y0099.0

O 2310 WIREFEED START WIRE FEED
DO888 SR FAULT DO 793
TWIREFD WIREFEED
Ladder Diagram 59
N00473
A 2313 SUB72
SPE
O
4 PMC Logic (S-Logic) for R-30iB Controllers

Page 64 of 64
[f3l1lsrbrz1] Ladder Diagram 1
N00001 R0000.0 R0000.0

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

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

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

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

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

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

J 21
O
N00008 X1025.1 G1000.4

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

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

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

I 36
COMMAND_
ENABLE
N00012 F1000.1 Y1000.1

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

L 41
PROGRAM_
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

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

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

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

E 60
AT_HOME
Y0002.0 Y0000.1
F ROBOT AT HOME
DO_17_RB DO_2_RBT
T_@_HM1 _@_HOME
Y0002.1
G
DO_18_RB
T_@_HM2
Y0002.2
H
DO_19_RB
T_@_HM3
Y0002.3
I
DO_20_RB
T_@_HM4
Y0002.4
J
DO_21_RB
T_@_HM5
Y0002.5
K
DO_22_RB
T_@_HM6
Y0002.6
L
DO_23_RB
T_@_HM7
N00019 F1000.7 Y1000.7

M 70
TPENABLE
Y0119.7 Y0000.3
N ROBOT IN TEACH
DO_960__ DO_4_RBT
AUTO_KEY _IN_TCH
O
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

A 74
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.0
B S
ECO24___ FACILITY
FC128 _CODE_11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

C 83
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

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

F 98 FENCE FAULT
FACILITY ERROR_4 RB_FAULT FENCE___
_CODE_11 _RESET FAULT
R1405.2
G
FENCE___
FAULT
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

H 103 POWER FAIL RECOVERY
INT_EXT_ FAULT BRK_PWR_ COMMAND_ SYSTEM__ PWR_FAIL
MTR_ON FL_RCVRY ENABLE READY _RECVRY
R0000.2
I
INT_EXT_
CYC_STRT
K0010.3
J
PWR_FAIL
_RECVRY
N00024 K0010.3 ACT R1466.0

K 111 SUB 3 0027 BREAK POWER FAIL RECOVERY
PWR_FAIL TMR BRK_PWR_
_RECVRY FL_RCVRY
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

L 115
DO_4_RBT COMMAND_ DO_5_RBT INT_EXT_ INT_EXT_ SYSTEM__ STEP
_IN_TCH ENABLE _CNT_FLT MTR_ON CYC_STRT READY
R1404.5 Y0000.2
M
DRP_AUTO DO_3_RBT
_FAULT _IN_AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

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

O 132 INPUT SIMULATED
DO_958_I DO_581_I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

A 134 S DROP AUTO FAULT
FC_AVAIL APPL____ FC_ZERO FAULT RB_FAULT DRP_AUTO
ALARMS _RESET _FAULT
N00028 F1000.5 R1404.5

B 140 R DROP AUTO FAULT
FAULT DRP_AUTO
_FAULT
G1000.4
C
RB_FAULT
_RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

D 143
FAULT ECO33___ ECO_____ FC_AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 147
FC_AVAIL ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___
1 R1402.6 R1402.7 R1404.3

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

G 157
1 R1402.6 R1402.7 R0330.0

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

I 167
1 R1402.6 R1402.7 R0330.1

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

K 177
1 R1402.6 R1402.7 R0330.2

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

M 187
1 R1402.6 R1402.7 R0330.3

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

A 197
1 R1402.6 R1402.7 R0330.4

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

C 207
1 R1402.6 R1402.7 R1406.0

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

E 217
1 R1402.6 R1402.7 R1404.2

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

G 227 SUB57 0001 R
ECO_____ DIFU SPOT____
RETRIEVE ALARM
R0330.0
H R
ARC_____
ALARM
R0330.1
I R
SEALER__
ALARM
R0330.2
J R
SERVOGUN
_ALARM
R0330.3
K R
TOOLCHNG
__ALARM
R0330.4
L R
SYSTEM__
_ALARM
R1405.0
M R
FACILITY
_CODE_11
R1406.0
N R
FACILITY
_CODE_15
N00039 R1404.4 ACT R1404.6

O 238 SUB 3 0006
FC_AVAIL TMR RETRIEVE
_DELAY
N00040 R1404.6 R1404.1

A 242 S
RETRIEVE ECO_____
_DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

B 244 SUB 3 0007 R
ECO_____ TMR ECO_____
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

C 248 S WELD FAULT #1
FC_AVAIL SPOT____ FC_ZERO FAULT DO_126_W
ALARM LD_FLT_1
N00043 X0083.1 Y0015.5

D 253 R WELD FAULT #1
DI_666_L DO_126_W
ASER_ON LD_FLT_1
N00044 K0010.1 K0010.0 R0000.1

E 255
EXT_MTR_ TEACH___ INT_EXT_
ON MEMORY MTR_ON
N00045 X0000.2 K0010.0 K0010.5 K0010.1

F 258 S EXTERNAL MOTORS ON
DI_3_EXT TEACH___ MAINT_ME EXT_MTR_
MTR_ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

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

K 271 R EXTERNAL MOTORS ON
DO_3_RBT DO_5_RBT RB_FAULT EXT_MTR_
_IN_AUTO _CNT_FLT _RESET ON
N00047 K0010.2 K0010.0 K0010.5 R0000.2

L 275
EXT_CYC_ TEACH___ MAINT_ME INT_EXT_
START MEMORY M CYC_STRT
O
N00048 X0000.3 K0010.0 K0010.2

A 279 S EXTERNAL CYCLE START
DI_4_EXT TEACH___ EXT_CYC_
_CY_STRT MEMORY START
X1026.5 Y0000.4 F1000.5

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

G 292 R EXTERNAL CYCLE START
DO_3_RBT DO_5_RBT RB_FAULT EXT_CYC_
_IN_AUTO _CNT_FLT _RESET START
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

H 296
DI_17_PG DI_18_PG DI_19_PG DI_20_PG DI_21_PG DI_22_PG DI_23_PG
_SLCT_1 _SLCT_2 _SLCT_4 _SLCT_8 _SLCT_16 _SLCT_32 _SLCT_64
1 X0002.7 R0507.0
I PROGRAM 1
DI_24_PG PROGRAM_
_SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

J 305
1 X0002.7 R0507.1
K PROGRAM 2
DI_24_PG PROGRAM_
_SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

L 314
1 X0002.7 R0507.2
M PROGRAM 3
DI_24_PG PROGRAM_
_SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

N 323
1 X0002.7 R0507.3
O PROGRAM 4
DI_24_PG PROGRAM_
_SLCT128 4
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 332
1 X0002.7 R0507.4
B PROGRAM 5
DI_24_PG PROGRAM_
_SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 341
1 X0002.7 R0507.5
D PROGRAM 6
DI_24_PG PROGRAM_
_SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 350
1 X0002.7 R0507.6
F PROGRAM 7
DI_24_PG PROGRAM_
_SLCT128 7
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 359
1 X0002.7 R0507.7
H PROGRAM 8
DI_24_PG PROGRAM_
_SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 368
1 X0002.7 R0508.0
J PROGRAM 9
DI_24_PG PROGRAM_
_SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 377
1 X0002.7 R0508.1
L PROGRAM 10
DI_24_PG PROGRAM_
_SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 386
1 X0002.7 R0508.2
N PROGRAM 11
DI_24_PG PROGRAM_
_SLCT128 11
O
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 395
1 X0002.7 R0508.3
B PROGRAM 12
DI_24_PG PROGRAM_
_SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 404
1 X0002.7 R0508.4
D PROGRAM 13
DI_24_PG PROGRAM_
_SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 413
1 X0002.7 R0508.5
F PROGRAM 14
DI_24_PG PROGRAM_
_SLCT128 14
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 422
1 X0002.7 R0508.6
H PROGRAM 15
DI_24_PG PROGRAM_
_SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 431
1 X0002.7 R0508.7
J PROGRAM 16
DI_24_PG PROGRAM_
_SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 440
1 X0002.7 R0509.0
L PROGRAM 17
DI_24_PG PROGRAM_
_SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 449
1 X0002.7 R0509.1
N PROGRAM 18
DI_24_PG PROGRAM_
_SLCT128 18
O
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 458
1 X0002.7 R0509.2
B PROGRAM 19
DI_24_PG PROGRAM_
_SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 467
1 X0002.7 R0509.3
D PROGRAM 20
DI_24_PG PROGRAM_
_SLCT128 20
O
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 476
DI_5_MV_ DO_3_RBT PROGRAM_ PAUSED AT_HOME DI_11___ *HOLD
TO_POUNC _IN_AUTO RUNNING PLC_AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

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

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

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

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

K 527 SUB 3 0008 S CYCLE START DELAY
UOP_CYC_ PROGRAM_ TMR CYCLE___
START RUNNING STRT_DLY
N00072 D0603.0 ACT D0603.0

L 532 SUB 3 0009 R CYCLE START DELAY
CYCLE___ TMR CYCLE___
STRT_DLY STRT_DLY
N00073 F1000.2 D0603.0

M 536 R CYCLE START DELAY
PROGRAM_ CYCLE___
RUNNING STRT_DLY
N00074
N 538 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

O 539 SUB 3 0011 TEACH MEMORY DELAY
DO_960__ TMR TEACH_ME
AUTO_KEY M_DELAY
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 543 TEACH MEMORY
DO_4_RBT SI13_RES FAULT___ CYCLE___ TEACH___
_IN_TCH ETSW RESET START MEMORY
K0010.4
B
TEACH_ME
M_DELAY
K0010.0
C
TEACH___
MEMORY
N00077 K0008.0 R0350.0

D 550 MAINTENANCE MODE
AUTO/MAI IN_MAINT
NT_SS
N00078 R0350.0 ACT D0610.0

E 552 SUB 3 0012 MAINTENANCE MODE DELAY
IN_MAINT TMR MAINT___
DELAY
N00079 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

F 556 MAINTENANCE MEMORY
MAINT___ DO_3_RBT DO_2_RBT SI13_RES FAULT___ MAINT_ME
DELAY _IN_AUTO _@_HOME ETSW RESET M
K0010.5 X0000.6
G
MAINT_ME DI_7_MAI
M NT_PSCLR
N00080 X0000.2 X0000.3 Y0000.2 K0010.6

H 565 EXTERNAL START ANTI-TIE DOWN
DI_3_EXT DI_4_EXT DO_3_RBT EXT_STRT
MTR_ON _CY_STRT _IN_AUTO _ANTI_TD
K0010.6
I
EXT_STRT
_ANTI_TD
N00081 X0002.0 G1001.0

J 570
DI_17_PG PNS_1
_SLCT_1
N00082 X0002.1 G1001.1

K 572
DI_18_PG PNS_2
_SLCT_2
N00083 X0002.2 G1001.2

L 574
DI_19_PG PNS_3
_SLCT_4
N00084 X0002.3 G1001.3

M 576
DI_20_PG PNS_4
_SLCT_8
N00085 X0002.4 G1001.4

N 578
DI_21_PG PNS_5
_SLCT_16
N00086 X0002.5 G1001.5

O 580
DI_22_PG PNS_6
_SLCT_32
N00087 X0002.6 G1001.6

A 582
DI_23_PG PNS_7
_SLCT_64
N00088 X0002.7 G1001.7

B 584
DI_24_PG PNS_8
_SLCT128
N00089 X0000.6 K0008.0 Y0120.5

C 586 MAINTENANCE POSITION CLEAR
DI_7_MAI AUTO/MAI DO_966_M
NT_PSCLR NT_SS ANTP_CLR
N00090 K0008.0 Y0001.4

D 589 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO_13_SN
NT_SS DRBT_MNT
N00091 Y0112.3 Y0003.0

E 591 CLEAR OF ZONE #1
DO_900__ DO_25_CL
CLR_ZN_1 R_ZON_1
N00092 Y0112.4 Y0003.1

F 593 CLEAR OF ZONE #2
DO_901__ DO_26_CL
CLR_ZN_2 R_ZON_2
N00093 Y0112.5 Y0003.2

G 595 CLEAR OF ZONE #3
DO_902__ DO_27_CL
CLR_ZN_3 R_ZON_3
N00094 Y0112.6 Y0003.3

H 597 CLEAR OF ZONE #4
DO_903__ DO_28_CL
CLR_ZN_4 R_ZON_4
N00095 Y0112.7 Y0003.4

I 599 CLEAR OF ZONE #5
DO_904__ DO_29_CL
CLR_ZN_5 R_ZON_5
N00096 Y0113.0 Y0003.5

J 601 CLEAR OF ZONE #6
DO_905__ DO_30_CL
CLR_ZN_6 R_ZON_6
N00097 Y0113.1 Y0003.6

K 603 CLEAR OF ZONE #7
DO_906__ DO_31_CL
CLR_ZN_7 R_ZON_7
N00098 Y0113.2 Y0003.7

L 605 CLEAR OF ZONE #8
DO_907__ DO_32_CL
CLR_ZN_8 R_ZON_8
N00099 Y0113.3 Y0004.0

M 607 CLEAR OF ZONE #9
DO_908__ DO_33_CL
CLR_ZN_9 R_ZON_9
N00100 Y0113.4 Y0004.1

N 609 CLEAR OF ZONE #10
DO_909_C DO_34_CL
LR_ZN_10 R_ZON_10
N00101 Y0113.5 Y0004.2

O 611 CLEAR OF ZONE #11
DO_910_C DO_35_CL
LR_ZN_11 R_ZON_11
N00102 Y0113.6 Y0004.3

A 613 CLEAR OF ZONE #12
DO_911_C DO_36_CL
LR_ZN_12 R_ZON_12
N00103 Y0113.7 Y0004.4

B 615 CLEAR OF ZONE #13
DO_912_C DO_37_CL
LR_ZN_13 R_ZON_13
N00104 Y0116.4 Y0004.5

C 617 CLEAR OF ZONE #14
DO_933_C DO_38_CL
LR_ZN_14 R_ZON_14
N00105 Y0118.7 Y0004.6

D 619 CLR OF INDEPENDENT MOTION ZN1
DO952_CL DO_39_CL
RMOTZN1 R_INDMOT
N00106 Y0119.0 Y0004.7

E 621 CLR OF INDEPENDENT MOTION ZN2
DO953_CL DO_40_CL
RMOTZN2 R_INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

F 623 CLEAR TO ADVANCE TRANSFER
DO_954_C DI_1_EXT DO_7_CLR
LRAV_XFR _RNENBL _ADV
N00108 Y0119.2 X0000.0 Y0000.7

G 626 CLEAR TO RETURN TRANSFER
LRET_XFR _RNENBL _RET_XFR
N00109 Y0119.3 X0000.0 Y0001.0

H 629 CLEAR TO UNCLAMP
LR_UNCLP _RNENBL _2_UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 632 PROMPT BOX
DO_4_RBT DO_19001 DO_585__
_IN_TCH _PRPTBX PRMPT_BX
N00111 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

J 635
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.3
K SYSTEM FACILITY CODE (24)
ECO24___ SYS_FCLY
FC128 CODE
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 644
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

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

A 662
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

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

D 680
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

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

G 698
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

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

J 716
_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
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 734
_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
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 752
_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
N00119 R1406.3 X1025.1 Y0001.6

D 770 COLLISION DETECT
SRVO-50 FAULT___ DO_15_CO
RESET LL_DTCT
Y0001.6
E
DO_15_CO
LL_DTCT
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 774
_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
N00121 F1001.0 Y0001.1

I 792 ROBOT BATTERY LOW
BATALM DO_10_RB
T_BAT_LW
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 794
_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
N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 812
_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
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 830
_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
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 848
_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
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 866
_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
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 884
_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
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 902
_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
N00129 F1008.1 ACT R0388.1

A 920 SUB24 0001 F1008.1 SYSRST DELAY ON
SYSRST TMRB F1008.1_
DELAY ON
B 0000000124
N00130 R0387.0 R0388.1 R0388.0

C 925 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
N00131 R0388.0 Y0073.1

E 931 SAFETY CHAIN FAULT
OPSFTY_F DO_586_S
LT_LATCH FTY_CHN
N00132 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 933
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
N00133 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

I 951
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
N00134 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 969
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
N00135 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 987
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
N00136 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1005
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
N00137 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1023
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
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1041
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
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1059
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
N00140 R0397.0 F1000.0 R0397.0

A 1077 FILTERED FAULT
FILTERED COMMAND_ FILTERED
_FAULT ENABLE _FAULT
R0398.0
B
FILTER__
FLT_GRP1
R0399.0
C
FILTER__
FLT_GRP2
O
N00141 R0365.0 R0398.0

SRVO-001 FILTER__
FLT_GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0__
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0__
RESERVED
R0373.0
I
SRVO-199
_CONTROL
R0374.0
J
SRVO-232
_NTED_IN
R0375.0
K
SRVO-233
_TP_OFF
R0376.0
L
SRVO-280
_SVOFF_I
R0370.1
M
SRVO-408
R1456.0
N
APPL____
ALARMS
O
N00142 R0377.0 R0399.0

SYST-034 FILTER__
_HOLD_SI FLT_GRP2
R0378.0
B
SYST-038
_OPERATI
R0379.0
C
SYST-039
R0380.0
D
SYST-040
_OPERATI
R0381.0
E
SYST-042
_DEADMAN
R0382.0
F
SYST-043
_TP_DISA
R0383.0
G
SYST-045
_TP_ENAB
R0384.0
H
SYST-154
_NO_STAR
X1025.0
I
FANUC___
E-STOP
F1008.2
J
TP______
E-STOP
X1026.1
K
SI9_____
AUTOMDSW
Y0000.3
L
DO_4_RBT
_IN_TCH
K0010.0
M
TEACH___
MEMORY
R1405.2
N
FENCE___
FAULT
O
N00143 R0330.0 F1000.5 R1456.0

A 1112
ARC_____ FAULT APPL____
ALARM ALARMS
R0330.1
B
SEALER__
ALARM
R0330.2
C
SERVOGUN
_ALARM
R0330.3
D
TOOLCHNG
__ALARM
R0330.4
E
SYSTEM__
_ALARM
R1404.3
F
SPOT____
ALARM
R1456.0
G
APPL____
ALARMS
N00144 D0001.0 Y0079.0

H 1121 S TOOL CHANGER LOCK
TOOL_CHA DO_633_T
NGE_APP C_LOCK
Y0079.1
I R TOOL CHANGER UNLOCK
DO_634_T
C_UNLOCK
N00145 D0001.0 ACT

J 1124 SUB10 0000
TOOL_CHA JMP
NGE_APP
N00146
K 1127 SUB66 P0001
CALLU TOOL_CHANGING
N00147
L 1129 SUB30
JMPE
N00148
M 1130 SUB66 P0004
CALLU AIR_SWITCH
N00149
N 1132 SUB66 P0006
CALLU UALM
N00150
O 1134 SUB66 P0007
CALLU INTERFACE
N00151
A 1136 SUB66 P0008
CALLU MH
N00152
B 1138 SUB66 P0009
CALLU APPLICATION
N00153
C 1140 SUB66 P0018
CALLU LASER_CONTROLLER
N00154
D 1142 SUB66 P0019
CALLU LASER_BRAZE_HEAD
N00155
E 1144 SUB66 P0020
CALLU LASER_WIRE_FEED
N00156
F 1146 SUB 2
END2
N00157 ### TOOL_CHANGING ###

G 1147 SUB71 P0001
SP TOOL_CHANGING
N00158 X0080.0 R0347.0

H 1149 GUN ID NOT 0
DI_641__ GUN_ID__
TOOL_ID1 NOT_0
X0080.1
I
DI_642__
TOOL_ID2
X0080.2
J
DI_643__
TOOL_ID4
X0080.3
K
DI_644__
TOOL_ID8
N00159 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

L 1154
DI_641__ DI_642__ DI_643__ DI_644__ GUN_1_ON
TOOL_ID1 TOOL_ID2 TOOL_ID4 TOOL_ID8 _ARM
N00160 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

M 1159
DI_641__ DI_642__ DI_643__ DI_644__ GUN_2_ON
N00161 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

N 1164
DI_641__ DI_642__ DI_643__ DI_644__ GUN_3_ON
N00162 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

O 1169
DI_641__ DI_642__ DI_643__ DI_644__ GUN_4_ON
N00163 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

A 1174
DI_641__ DI_642__ DI_643__ DI_644__ GUN_5_ON
N00164 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

B 1179
DI_641__ DI_642__ DI_643__ DI_644__ GUN_6_ON
N00165 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

C 1184
DI_641__ DI_642__ DI_643__ DI_644__ GUN_7_ON
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

D 1189
DI_641__ DI_642__ DI_643__ DI_644__ GUN_8_ON
N00167 R0321.0 R0328.6

E 1194 TOOL ON ROBOT
GUN_1_ON TOOLONRO
_ARM BOT
R0322.0
F
GUN_2_ON
_ARM
R0323.0
G
GUN_3_ON
_ARM
R0324.0
H
GUN_4_ON
_ARM
R0325.0
I
GUN_5_ON
_ARM
R0326.0
J
GUN_6_ON
_ARM
R0326.1
K
GUN_7_ON
_ARM
R0326.2
L
GUN_8_ON
_ARM
N00168 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

M 1203
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
N ANY GEO TOOL PRESENT ON ROBOT
GUN_8_ON GEOTOOLP
_ARM RSNT
N00169 X0080.0 Y0038.0

O 1212
DI_641__ DO_305__
TOOL_ID1 TOOL_ID1
N00170 X0080.1 Y0038.1

A 1214
DI_642__ DO_306__
TOOL_ID2 TOOL_ID2
N00171 X0080.2 Y0038.2

B 1216
DI_643__ DO_307__
TOOL_ID4 TOOL_ID4
N00172 X0080.3 Y0038.3

C 1218
DI_644__ DO_308__
TOOL_ID8 TOOL_ID8
N00173 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

D 1220
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
E GUN 1-8 (ALL TOOLS IN STAND)
DI_312__ GUN_1-8
TCSTND8
N00174 Y0117.4 K0011.1

F 1229 TOOL CHANGER RELEASE
DO_941__ TC______
TC_UNLCK RELEASED
N00175 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

G 1231 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

H
TPENABLE DO_960__ TC_LOCK_ TOOLONRO
AUTO_KEY PB BOT
N00176 Y0117.4 Y0117.3 Y0000.2 Y0079.0

I 1244 R TOOL CHANGER LOCK
DO_941__ DO_940__ DO_3_RBT DO_633_T
TC_UNLCK TC_LOCK _IN_AUTO C_LOCK
F1000.7 Y0119.7 K0016.0

J
TPENABLE DO_960__ TC_UNLOC
AUTO_KEY K_PB
N00177 X0079.0 Y0040.6

K 1253
DI_633__ DO_327_T
TC_LOCKD CCOUPMON
N00178 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

L 1255
TC______ DO_633_T DO_3_RBT DI_645_T DI_646_T
RELEASED C_LOCK _IN_AUTO SIV SRV
F1000.7 Y0119.7 K0016.0 R0328.6 2

M
TPENABLE DO_960__ TC_UNLOC TOOLONRO
AUTO_KEY K_PB BOT
1 R0328.6 Y0079.1
N TOOL CHANGER UNLOCK
TOOLONRO DO_634_T
BOT C_UNLOCK
2
O
N00179 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

A 1269 TC LOCK PUSH BUTTON
TC_LOCK_ TC_UNLOC TPENABLE DO_960__ TC_LOCK_
PB K_PB AUTO_KEY PB
N00180 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

B 1274 TC UNLOCK PUSH BUTTON
TC_UNLOC TC_LOCK_ TPENABLE DO_960__ TC_UNLOC
K_PB PB AUTO_KEY K_PB
N00181 X0079.1 Y0040.7

C 1279
DI_634__ DO_328_T
TC_ULCKD CRELMON
N00182 R0328.6 K0008.0 R0218.4

D 1281 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI_940_T
BOT NT_SS C_NOTOOL
N00183 Y0117.5 Y0117.6 Y0000.2 Y0038.5

E 1284 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

F
TC_OPENG TC__CLOS DO_4_RBT
UNCOVER GUNCOVER _IN_TCH
N00184 Y0117.5 Y0117.6 Y0000.2 Y0038.6

G 1292 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

H
TC__CLOS TC_OPENG DO_4_RBT
GUNCOVER UNCOVER _IN_TCH
N00185 X0038.0 R0321.0 R0329.0

DI_305__ GUN_1_ON GUN1_POS
TCSTND1 _ARM ITION
X0038.0 X0039.3
J
DI_305__ DI_316_G
TCSTND1 EOTPDCK
N00186 X0038.1 R0322.0 R0329.1

K 1306 GUN2 POSITION
TCSTND2 _ARM ITION
X0038.1 X0039.3
L
DI_306__ DI_316_G
TCSTND2 EOTPDCK
N00187 X0038.2 R0323.0 R0329.2

M 1312 GUN3 POSITION
TCSTND3 _ARM ITION
X0038.2 X0039.3
N
DI_307__ DI_316_G
TCSTND3 EOTPDCK
O
N00188 X0038.3 R0324.0 R0329.3

A 1318 GUN4 POSITION
TCSTND4 _ARM ITION
X0038.3 X0039.3
B
DI_308__ DI_316_G
TCSTND4 EOTPDCK
N00189 X0038.4 R0325.0 R0329.4

C 1324 GUN5 POSITION
TCSTND5 _ARM ITION
X0038.4 X0039.3
D
DI_309__ DI_316_G
TCSTND5 EOTPDCK
N00190 X0038.5 R0326.0 R0329.5

E 1330 GUN6 POSITION
TCSTND6 _ARM ITION
X0038.5 X0039.3
F
DI_310__ DI_316_G
TCSTND6 EOTPDCK
N00191 X0038.6 R0326.1 R0329.6

G 1336 GUN7 POSITION
TCSTND7 _ARM ITION
X0038.6 X0039.3
H
DI_311__ DI_316_G
TCSTND7 EOTPDCK
N00192 X0038.7 R0326.2 R0329.7

TCSTND8 _ARM ITION
X0038.7 X0039.3
J
DI_312__ DI_316_G
TCSTND8 EOTPDCK
O
N00193 R0329.0 R0328.7

A 1348 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
N00194 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1357
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
N00195 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1367
1 X0038.6 X0038.7 R0320.1

L TOOL 2 IN OPDOCK
N00196 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1377
1 X0038.6 X0038.7 R0320.2

N TOOL 3 IN OPDOCK
O
N00197 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1387
1 X0038.6 X0038.7 R0320.3

B TOOL 4 IN OPDOCK
N00198 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1397
1 X0038.6 X0038.7 R0320.4

D TOOL 5 IN OPDOCK
N00199 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1407
1 X0038.6 X0038.7 R0320.5

F TOOL 6 IN OPDOCK
N00200 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1417
1 X0038.6 X0038.7 R0320.6

H TOOL 7 IN OPDOCK
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1427
1 X0038.6 X0038.7 R0320.7

J TOOL 8 IN OPDOCK
O
N00202 R0320.0 R0319.0

A 1437 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
N00203 X0082.6 Y0038.7

I 1446
DI_663_T DO_312_T
CCOMMOK CCOMMOK
N00204 X0082.7 Y0039.2

J 1448
DI_664_T DO_315_T
CTLSLDPW LSLIDPWR
N00205 X0079.4 X0079.5 G1008.4

K 1450 RTL1ANDL2SWITCHMISMATCH
DI_637__ DI_638__ UALM_5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI_637__ DI_638__
RDY2LCK1 RDY2LCK2
N00206 R0328.6 G1008.5

M 1456 NO TOOL ON ARM
TOOLONRO UALM_6
BOT
N00207 K0013.1 R0000.7 Y0126.7

N 1458 NO TOOL ON EOAT SS
NOTOOLON PART_PRE DO_1016_
EOATSS SENT NOEOATSS
N00208 K0013.1 R0000.7 K0013.1

O 1461 R NO TOOL ON EOAT SS
NOTOOLON PART_PRE NOTOOLON
EOATSS SENT EOATSS
N00209 Y0039.3 Y0039.3

A 1464 S WRONG TOOL IN STAND
DO_316_W DO_316_W
RNGTLSTD RNGTLSTD
N00210 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1466 R WRONG TOOL IN STAND
DO_316_W FAULT___ DO_2_RBT DO_316_W
RNGTLSTD RESET _@_HOME RNGTLSTD
N00211
C 1470 SUB72
SPE
N00212 ### AIR_SWITCH ###

D 1471 SUB71 P0004
SP AIR_SWITCH
N00213 X1020.6 Y0001.5

E 1473 END OF ARM AIR ON
RI_7_AIR DO_14_EO
_FL_SW A_AIR_ON
N00214
F 1475 SUB72
SPE
N00215 ### UALM ###

G 1476 SUB71 P0006
SP UALM
N00216 Y0120.2 X1025.1 Y0120.2

H 1478 PROGRAM FAULT
DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00217 Y0120.2 G1008.0

I 1481 PROGRAM VERIFY FAULT
DO_963__ UALM1
PRG_FLT
N00218 K0010.0 Y0119.7 Y0000.3 G1010.6

J 1483 TEACH MEMORY ON
TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00219 R0000.0 G1011.0

K 1487 GUN DISABLED SELECTOR SWITCH
ALWAYS__ UALM_25
ON
N00220 R0000.0 G1011.1

L 1489 RETRACT ENABLED
ALWAYS__ UALM_26
ON
N00221 Y0002.7 G1011.4

M 1491 IN PROGRAM LOOP
DO_24_RB UALM_29
T_LOOP
N00222 Y0039.3 G1009.7

N 1493 TC PRESS FAULT RESET
DO_316_W UALM_16
RNGTLSTD
N00223 R0999.4 G1009.0

O 1495 LASER FAULT
DO_18997 UALM_9
_LSRFLT
N00224 R0999.6 G1009.1

A 1497 WIRE FAULT
DO_18999 UALM_10
_WIREFLT
N00225 R0999.7 G1009.2

B 1499 SHUTTER FAULT
DO_19000 UALM_11
_SHUTFLT
N00226
C 1501 SUB72
SPE
N00227 ### INTERFACE ###

D 1502 SUB71 P0007
SP INTERFACE
N00228 D0612.1 ACT D0612.0

E 1504 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH_IF_PB TMR ALL_IF_P
_TO B_TO
D0612.2
F
SEAL_IF_
PB_TO
D0612.3
G
STUD_IF_
PB_TO
D0612.4
H
LASER_IF
_PB_TO
O
N00229 K0002.0 D0612.1

A 1511 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
N00230 K0009.4 D0612.2

A 1546 SEAL IF PB TO
MAN_FLOW SEAL_IF_
_PB1 PB_TO
K0008.7
B
RESEAL_P
B1
K0011.2
C
AUTO_PUR
GE_PB1
K0008.2
D
ACCEPTSE
ALER1_IF
K0008.3
E
REJECTSE
ALER1_IF
K0012.3
F
INSPECTI
ON_PB_1
K0009.5
G
MAN_FLOW
_PB2
K0009.0
H
RESEAL_P
B2
K0011.3
I
AUTO_PUR
GE_PB2
K0012.4
J
INSPECTI
ON_PB_2
K0013.5
K
ACCEPTSE
ALER2_IF
K0013.6
L
REJECTSE
ALER2_IF
N00231 K0012.1 D0612.4

M 1559 LASER IF PB TO
LASER_RE LASER_IF
SET_PB _PB_TO
K0012.2
N
LASERGLS
SNOTPRSS
N00232
O 1562 SUB72
SPE
N00233 ### MH ###

A 1563 SUB71 P0008
SP MH
N00234 Y0000.3 K0004.4 R1410.0

B 1565 MANUAL GRIP ENABLE
DO_4_RBT MAN_GRP_ MAN_GRP_
_IN_TCH ENBLE_SS ENABLE
N00235 R1410.0 ACT

C 1568 SUB10 0000
MAN_GRP_ JMP
ENABLE
N00236 R0000.0 Y0114.0

D 1571 OPEN CLAMP 1
ALWAYS__ DO_913__
ON OPNCLMP1
N00237 R0000.0 Y0114.1

ALWAYS__ DO_914__
ON CLSCLMP1
N00238 R0000.0 Y0114.2

F 1575 OPEN CLAMP 2
ALWAYS__ DO_915__
ON OPNCLMP2
N00239 R0000.0 Y0114.3

ALWAYS__ DO_916__
ON CLSCLMP2
N00240 R0000.0 Y0114.4

H 1579 OPEN CLAMP 3
ALWAYS__ DO_917__
ON OPNCLMP3
N00241 R0000.0 Y0114.5

ALWAYS__ DO_918__
ON CLSCLMP3
N00242 R0000.0 Y0114.6

J 1583 OPEN CLAMP 4
ALWAYS__ DO_919__
ON OPNCLMP4
N00243 R0000.0 Y0114.7

ALWAYS__ DO_920__
ON CLSCLMP4
N00244 R0000.0 Y0115.0

L 1587 OPEN CLAMP 5
ALWAYS__ DO_921__
ON OPNCLMP5
N00245 R0000.0 Y0115.1

ALWAYS__ DO_922__
ON CLSCLMP5
N00246 R0000.0 Y0115.2

N 1591 OPEN CLAMP 6
ALWAYS__ DO_923__
ON OPNCLMP6
N00247 R0000.0 Y0115.3

ALWAYS__ DO_924__
ON CLSCLMP6
N00248 R0000.0 Y0115.4

A 1595 OPEN CLAMP 7
ALWAYS__ DO_925__
ON OPNCLMP7
N00249 R0000.0 Y0115.5

B 1597 CLOSE CLAMP 7
ALWAYS__ DO_926__
ON CLSCLMP7
N00250 R0000.0 Y0115.6

C 1599 OPEN CLAMP 8
ALWAYS__ DO_927__
ON OPNCLMP8
N00251 R0000.0 Y0115.7

ALWAYS__ DO_928__
ON CLSCLMP8
N00252 R0000.0 Y0116.0

E 1603 OPEN CLAMP 9
ALWAYS__ DO_929__
ON OPNCLMP9
N00253 R0000.0 Y0116.1

F 1605 CLOSE CLAMP 9
ALWAYS__ DO_930__
ON CLSCLMP9
N00254 R0000.0 Y0116.2

G 1607 OPEN CLAMP 10
ALWAYS__ DO_931__
ON OPNCLP10
N00255 R0000.0 Y0116.3

ALWAYS__ DO_932__
ON CLSCLP10
N00256 R0000.0 Y0127.2

I 1611 VACUUM 1 ON
ALWAYS__ DO1019_V
ON AC1ON
N00257 R0000.0 Y0127.3

J 1613 BLOWOFF 1 ON
ALWAYS__ DO1020_B
ON LWOF1ON
N00258 R0000.0 Y0127.4

K 1615 VACUUM 2 ON
ALWAYS__ DO1021_V
ON AC2ON
N00259 R0000.0 Y0127.5

L 1617 BLOWOFF 2 ON
ALWAYS__ DO1022_B
ON LWOF2ON
N00260 R0000.0 Y0127.6

M 1619 VACUUM 3 ON
ALWAYS__ DO1023_V
ON AC3ON
N00261 R0000.0 Y0127.7

N 1621 BLOWOFF 3 ON
ALWAYS__ DO1024_B
ON LWOF3ON
N00262 R0000.0 Y0118.5

O 1623 VACUUM 4 ON
ALWAYS__ DO_950_V
ON AC4ON
N00263 R0000.0 Y0118.6

A 1625 BLOWOFF 4 ON
ALWAYS__ DO_951_B
ON LWOF4ON
N00264
B 1627 SUB30
JMPE
N00265 R1410.0 ACT R0001.1

C 1628 SUB 3 0038
MAN_GRP_ TMR MAN_GRP_
ENABLE TO
N00266 R0001.1 ACT

D 1632 SUB10 0000
MAN_GRP_ JMP
TO
N00267 K0002.1 X1026.1 Y0114.0

E 1635 OPEN CLAMP 1
CLMP1OPN SI9_____ DO_913__
AUTOMDSW OPNCLMP1
N00268 Y0114.0 Y0009.0

F 1638 OPEN CLAMP #1
DO_913__ DO_73_OP
OPNCLMP1 N_CLMP1
N00269 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9_____ DO_914__
AUTOMDSW CLSCLMP1
N00270 Y0114.1 Y0009.1

H 1643 CLOSE CLAMP #1
DO_914__ DO_74_CL
CLSCLMP1 S_CLMP1
N00271 K0002.3 X1026.1 Y0114.2

I 1645 OPEN CLAMP 2
AUTOMDSW OPNCLMP2
N00272 Y0114.2 Y0009.2

J 1648 OPEN CLAMP #2
DO_915__ DO_75_OP
OPNCLMP2 N_CLMP2
N00273 K0002.2 X1026.1 Y0114.3

AUTOMDSW CLSCLMP2
N00274 Y0114.3 Y0009.3

L 1653 CLOSE CLAMP #2
DO_916__ DO_76_CL
CLSCLMP2 S_CLMP2
N00275 K0002.5 X1026.1 Y0114.4

M 1655 OPEN CLAMP 3
AUTOMDSW OPNCLMP3
N00276 Y0114.4 Y0009.4

N 1658 OPEN CLAMP #3
DO_917__ DO_77_OP
OPNCLMP3 N_CLMP_3
N00277 K0002.4 X1026.1 Y0114.5

AUTOMDSW CLSCLMP3
N00278 Y0114.5 Y0009.5

A 1663 CLOSE CLAMP #3
DO_918__ DO_78_CL
CLSCLMP3 S_CLMP3
N00279 K0002.7 X1026.1 Y0114.6

B 1665 OPEN CLAMP 4
AUTOMDSW OPNCLMP4
N00280 Y0114.6 Y0009.6

C 1668 OPEN CLAMP #4
DO_919__ DO_79_OP
OPNCLMP4 N_CLMP4
N00281 K0002.6 X1026.1 Y0114.7

AUTOMDSW CLSCLMP4
N00282 Y0114.7 Y0009.7

E 1673 CLOSE CLAMP #4
DO_920__ DO_80_CL
CLSCLMP4 S_CLMP4
N00283 K0003.1 X1026.1 Y0115.0

F 1675 OPEN CLAMP 5
AUTOMDSW OPNCLMP5
N00284 Y0115.0 Y0010.0

G 1678 OPEN CLAMP #5
DO_921__ DO_81_OP
OPNCLMP5 N_CLMP5
N00285 K0003.0 X1026.1 Y0115.1

AUTOMDSW CLSCLMP5
N00286 Y0115.1 Y0010.1

I 1683 CLOSE CLAMP #5
DO_922__ DO_82_CL
CLSCLMP5 S_CLMP5
N00287 K0003.3 X1026.1 Y0115.2

J 1685 OPEN CLAMP 6
AUTOMDSW OPNCLMP6
N00288 Y0115.2 Y0010.2

K 1688 OPEN CLAMP #6
DO_923__ DO_83_OP
OPNCLMP6 N_CLMP6
N00289 K0003.2 X1026.1 Y0115.3

L 1690 CLOSE CLAMP 6
AUTOMDSW CLSCLMP6
N00290 Y0115.3 Y0010.3

M 1693 CLOSE CLAMP #6
DO_924__ DO_84_CL
CLSCLMP6 S_CLMP_6
N00291 K0003.5 X1026.1 Y0115.4

N 1695 OPEN CLAMP 7
AUTOMDSW OPNCLMP7
N00292 Y0115.4 Y0010.4

O 1698 OPEN CLAMP #7
DO_925__ DO_85_OP
OPNCLMP7 N_CLMP_7
N00293 K0003.4 X1026.1 Y0115.5

A 1700 CLOSE CLAMP 7
AUTOMDSW CLSCLMP7
N00294 Y0115.5 Y0010.5

B 1703 CLOSE CLAMP #7
DO_926__ DO_86_CL
CLSCLMP7 S_CLAMP7
N00295 K0003.7 X1026.1 Y0115.6

C 1705 OPEN CLAMP 8
AUTOMDSW OPNCLMP8
N00296 Y0115.6 Y0010.6

D 1708 OPEN CLAMP #8
DO_927__ DO_87_OP
OPNCLMP8 N_CLMP8
N00297 K0003.6 X1026.1 Y0115.7

AUTOMDSW CLSCLMP8
N00298 Y0115.7 Y0010.7

F 1713 CLOSE CLAMP #8
DO_928__ DO_88_CL
CLSCLMP8 S_CLAMP8
N00299 K0004.1 X1026.1 Y0116.0

G 1715 OPEN CLAMP 9
AUTOMDSW OPNCLMP9
N00300 Y0116.0 Y0011.0

H 1718 OPEN CLAMP #9
DO_929__ DO_89_OP
OPNCLMP9 N_CLMP9
N00301 K0004.0 X1026.1 Y0116.1

AUTOMDSW CLSCLMP9
N00302 Y0116.1 Y0011.1

J 1723 CLOSE CLAMP #9
DO_930__ DO_90_CL
CLSCLMP9 S_CLMP9
N00303 K0004.3 X1026.1 Y0116.2

K 1725 OPEN CLAMP 10
CLP10OPN SI9_____ DO_931__
AUTOMDSW OPNCLP10
N00304 Y0116.2 Y0011.2

L 1728 OPEN CLAMP #10
DO_931__ DO_91_OP
OPNCLP10 N_CLMP10
N00305 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9_____ DO_932__
AUTOMDSW CLSCLP10
N00306 Y0116.3 Y0011.3

N 1733 CLOSE CLAMP #10
DO_932__ DO_92_CL
CLSCLP10 S_CLMP10
N00307 K0014.2 X1026.1 K0014.1 Y0127.2

O 1735 VACUUM 1 ON
VAC_1_ON SI9_____ VAC/BLOW DO1019_V
_PB AUTOMDSW OFFTIMER AC1ON
N00308 Y0127.2 Y0008.0

A 1739
DO1019_V DO_65_VA
AC1ON C_1_ON
N00309 K0014.5 X1026.1 K0014.1 Y0127.3

B 1741 BLOWOFF 1 ON
BLOWOFF_ SI9_____ VAC/BLOW DO1020_B
1_ON_PB AUTOMDSW OFFTIMER LWOF1ON
N00310 Y0127.3 Y0008.1

C 1745
DO1020_B DO_66_BL
LWOF1ON WOFF1ON
N00311 K0014.3 X1026.1 K0014.1 Y0127.4

D 1747 VACUUM 2 ON
N00312 Y0127.4 Y0008.2

E 1751
DO1021_V DO_67_VA
AC2ON C_2_ON
N00313 K0014.6 X1026.1 K0014.1 Y0127.5

F 1753 BLOWOFF 2 ON
N00314 Y0127.5 Y0008.3

G 1757
DO1022_B DO_68_BL
LWOF2ON WOFF2ON
N00315 K0014.4 X1026.1 K0014.1 Y0127.6

H 1759 VACUUM 3 ON
N00316 Y0127.6 Y0008.4

I 1763
DO1023_V DO_69_VA
AC3ON C_3_ON
N00317 K0014.7 X1026.1 K0014.1 Y0127.7

J 1765 BLOWOFF 3 ON
N00318 Y0127.7 Y0008.5

K 1769
DO1024_B DO_70_BL
LWOF3ON WOFF3ON
N00319 K0016.1 X1026.1 K0014.1 Y0118.5

L 1771 VACUUM 4 ON
VAC_4_ON SI9_____ VAC/BLOW DO_950_V
N00320 Y0118.5 Y0008.6

M 1775
DO_950_V DO_71_VA
AC4ON C_4_ON
N00321 K0016.2 X1026.1 K0014.1 Y0118.6

N 1777 BLOWOFF 4 ON
BLOWOFF_ SI9_____ VAC/BLOW DO_951_B
N00322 Y0118.6 Y0008.7

O 1781
DO_951_B DO_72_BL
LWOF4ON WOFF4ON
N00323
A 1783 SUB30
JMPE
N00324 Y0008.0 ACT K0014.1

B 1784 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO_65_VA TMR VAC/BLOW
C_1_ON OFFTIMER
Y0008.1
C
DO_66_BL
WOFF1ON
Y0008.2
D
DO_67_VA
C_2_ON
Y0008.3
E
DO_68_BL
WOFF2ON
Y0008.4
F
DO_69_VA
C_3_ON
Y0008.5
G
DO_70_BL
WOFF3ON
Y0008.6
H
DO_71_VA
C_4_ON
Y0008.7
I
DO_72_BL
WOFF4ON
N00325 K0002.0 D0612.0 K0002.0

J 1795 CLMP1 CLOSE
CLMP1CLS ALL_IF_P CLMP1CLS
B_TO
N00326 K0002.1 D0612.0 K0002.1

K 1798 CLMP1 OPEN
CLMP1OPN ALL_IF_P CLMP1OPN
B_TO
N00327 K0002.2 D0612.0 K0002.2

L 1801 CLMP2 CLOSE
B_TO
N00328 K0002.3 D0612.0 K0002.3

M 1804 CLMP2 OPEN
B_TO
N00329 K0002.4 D0612.0 K0002.4

N 1807 CLMP3 CLOSE
B_TO
N00330 K0002.5 D0612.0 K0002.5

O 1810 CLMP3 OPEN
B_TO
N00331 K0002.6 D0612.0 K0002.6

A 1813 CLMP4 CLOSE
B_TO
N00332 K0002.7 D0612.0 K0002.7

B 1816 CLMP4 OPEN
B_TO
N00333 K0003.0 D0612.0 K0003.0

C 1819 CLMP5 CLOSE
B_TO
N00334 K0003.1 D0612.0 K0003.1

D 1822 CLMP5 OPEN
B_TO
N00335 K0003.2 D0612.0 K0003.2

E 1825 CLMP6 CLOSE
B_TO
N00336 K0003.3 D0612.0 K0003.3

F 1828 CLMP6 OPEN
B_TO
N00337 K0003.4 D0612.0 K0003.4

G 1831 CLMP7 CLOSE
B_TO
N00338 K0003.5 D0612.0 K0003.5

H 1834 CLMP7 OPEN
B_TO
N00339 K0003.6 D0612.0 K0003.6

I 1837 CLMP8 CLOSE
B_TO
N00340 K0003.7 D0612.0 K0003.7

J 1840 CLMP8 OPEN
B_TO
N00341 K0004.0 D0612.0 K0004.0

K 1843 CLMP9 CLOSE
B_TO
N00342 K0004.1 D0612.0 K0004.1

L 1846 CLMP9 OPEN
B_TO
N00343 K0004.2 D0612.0 K0004.2

M 1849 CLMP10 CLOSE
CLP10CLS ALL_IF_P CLP10CLS
B_TO
N00344 K0004.3 D0612.0 K0004.3

N 1852 CLMP10 OPEN
CLP10OPN ALL_IF_P CLP10OPN
B_TO
N00345 K0014.2 D0612.0 K0014.2

O 1855
VAC_1_ON ALL_IF_P VAC_1_ON
_PB B_TO _PB
N00346 K0014.3 D0612.0 K0014.3

A 1858
_PB B_TO _PB
N00347 K0014.4 D0612.0 K0014.4

B 1861
_PB B_TO _PB
N00348 K0016.1 D0612.0 K0016.1

C 1864
_PB B_TO _PB
N00349 K0014.5 D0612.0 K0014.5

D 1867
BLOWOFF_ ALL_IF_P BLOWOFF_
1_ON_PB B_TO 1_ON_PB
N00350 K0014.6 D0612.0 K0014.6

E 1870
N00351 K0014.7 D0612.0 K0014.7

F 1873
N00352 K0016.2 D0612.0 K0016.2

G 1876
N00353 K0000.4 Y0012.6

H 1879 RERUN PROCESS
RERUNPRC DO_103_R
PB ERUNPRC
N00354 K0000.5 Y0012.7

I 1881 ACCEPT PROCESS
ACCPTPRC DO_104_A
PB CCPTPRC
N00355 K0000.6 Y0013.0

J 1883 REJECT PROCESS
REJCTPRC DO_105_R
PB EJCTPRC
N00356 K0000.7 Y0013.1

K 1885 INSPECTION SELECTED
INSPCTSE DO_106_I
LPB NSP_SEL
K0001.3 K0001.5
L
VISIONIN ABORTPRO
TERVENSS CESS
N00357 K0000.4 D0612.0 K0000.4

M 1890 S RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00358 K0000.4 D0612.0 K0000.4

N 1893 R RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00359 K0000.5 D0612.0 K0000.5

O 1896 S ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00360 K0000.5 D0612.0 K0000.5

A 1899 R ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00361 K0000.6 D0612.0 K0000.6

B 1902 S REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00362 K0000.6 D0612.0 K0000.6

C 1905 R REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00363 K0000.7 D0612.0 K0000.7

D 1908 S INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00364 K0000.7 D0612.0 K0000.7

E 1911 R INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00365 K0011.4 D0612.0 K0011.4

F 1914 TOOL CHANGER OPEN GUN COVER
TC_OPENG ALL_IF_P TC_OPENG
UNCOVER B_TO UNCOVER
N00366 K0011.5 D0612.0 K0011.5

G 1917 TOOL CHANGER CLOSE GUN COVER
TC__CLOS ALL_IF_P TC__CLOS
GUNCOVER B_TO GUNCOVER
N00367 X0008.2 R0000.7

H 1920 PART PRESENT ON EOAT
DI_67_PR PART_PRE
T_PRES1 SENT
X0008.3
I
DI_68_PR
T_PRES2
X0008.4
J
DI_69_PR
T_PRES3
X0008.5
K
DI_70_PR
T_PRES4
X0008.6
L
DI_71_PR
T_PRES5
X0008.7
M
DI_72_PR
T_PRES6
N00368
N 1927 SUB72
SPE
N00369 ### APPLICATION ###

O 1928 SUB71 P0009
SP APPLICATION
N00370 D0000.0 Y0048.0

A 1930 MATERIAL HANLDING APPLICATION
MH_APP DO_385_M
H_APP
N00371 D0000.1 Y0048.1

B 1932 WELD 1 APPLICATION
WELD_1_A DO_386__
PP WLD1_APP
N00372 D0000.2 Y0048.2

C 1934 WELD 2 APPLICATION
WELD_2_A DO_387_W
PP LD2_APP
N00373 D0000.3 Y0048.3

D 1936 NUT FEED APPLICATION
NUT_FEED DO_388_N
_APP UTFD_APP
N00374 D0000.4 Y0048.4

E 1938 SEALER 1 APPLICATION
SEAL_1_A DO_389_S
PP LR_1_APP
N00375 D0000.5 Y0048.5

F 1940 SEALER 2 APPLICATION
SEAL_2__ DO_390_S
APP LR_2_APP
N00376 D0000.6 Y0048.6

G 1942 STUD WELD 1 APPLICATION
STUD_1_A DO_391_S
PP TDW_1APP
N00377 D0000.7 Y0048.7

H 1944 STUD WELD 2 APPLICATION
STUD_2_A DO_392_S
PP TDW_2APP
N00378 D0001.0 Y0049.0

I 1946 TOOL CHANGE APPLICATION
TOOL_CHA DO_393_T
NGE_APP C_APP
N00379 D0001.1 Y0049.1

J 1948 RIVET 1 APPLICAYION
RIVET_1_ DO_394_R
APP VT_1_APP
N00380 D0001.2 Y0049.2

K 1950 RIVET 2 APPLICATION
RIVET_2_ DO_395_R
APP VT_2_APP
N00381 D0001.3 Y0049.3

L 1952 NUT RUNNER APPLICATION
NUT_RUNN DO_396_N
ER_APP UTR_APP
N00382 D0001.4 Y0049.4

M 1954 MIG WELD APPLICATION
MIG_WELD DO_397_M
_APP IGW_APP
N00383 D0001.5 Y0049.5

N 1956 ROLL HEMMER APPLICATION
ROLLER_H DO_398_R
EMM_APP LLHEM_AP
N00384 D0001.6 Y0049.6

O 1958 LASER CUT APPLICATION
LASER_CU DO_399_L
T_APP SRCT_APP
N00385 D0001.7 Y0049.7

A 1960 PLASMA CUT APPLICATION
PLASMA_C DO_400_P
UT_APP LSMA_APP
N00386 D0002.0 Y0050.0

B 1962 LASER WELD APPLICATION
LASER_WE DO_401_L
LD_APP SRWLDAPP
N00387 D0002.1 Y0050.1

C 1964 OPERATOR LOAD APPLICATION
OPER_LOA DO_402_O
D_APP P_LD_APP
N00388 D0002.2 Y0050.2

D 1966 VISION APPLICATION
VISION_A DO_403_V
PP IS_APP
N00389 D0002.3 Y0050.3

E 1968 PROGRAM LOCATOR APPLICATION
PROG_LOC DO_404_P
_APP RG_LCAPP
N00390 D0002.4 Y0050.4

F 1970 INTERFACE DEFINITION BIT 21
IF_DEF__ DO_405__
21 INDEFB21
N00391 D0002.5 Y0050.5

G 1972 NUT FEEDER 2 APPLICATION
NUT_FEED DO_406_N
ER_2_APP TFD_2APP
N00392 D0002.6 Y0050.6

H 1974 INTERFACE DEFINITION BIT 23
IF_DEF__ DO_407_I
23 NDEF_B23
N00393 D0002.7 Y0050.7

I 1976 INTERFACE DEFINITION BIT 24
IF_DEF__ DO_408_I
24 NDEF_B24
N00394 D0003.0 Y0051.0

J 1978 INTERFACE DEFINITION BIT 25
IF_DEF__ DO_409_I
25 NDEF_B25
N00395 D0003.1 Y0051.1

K 1980 INTERFACE DEFINITION BIT 26
IF_DEF__ DO_410_I
26 NDEF_B26
N00396 D0003.2 Y0051.2

L 1982 INTERFACE DEFINITION BIT 27
IF_DEF__ DO_411_I
27 NDEF_B27
N00397 D0003.3 Y0051.3

M 1984 INTERFACE DEFINITION BIT 28
IF_DEF__ DO_412_I
28 NDEF_B28
N00398 D0003.4 Y0051.4

N 1986 INTERFACE DEFINITION BIT 29
IF_DEF__ DO_413_I
29 NDEF_B29
N00399 D0003.5 Y0051.5

O 1988 INTERFACE DEFINITION BIT 30
IF_DEF__ DO_414_I
30 NDEF_B30
N00400 D0003.6 Y0051.6

A 1990 INTERFACE DEFINITION BIT 31
IF_DEF__ DO_415_I
31 NDEF_B31
N00401 D0003.7 Y0051.7

B 1992 INTERFACE DEFINITION BIT 32
IF_DEF__ DO_416_I
32 NDEF_B32
N00402
C 1994 SUB72
SPE
N00403 ### LASER_CONTROLLER ###

D 1995 SUB71 P0018
SP LASER_CONTROLLER
N00404 X0064.3 R0208.1

E 1997 LASER IS ON
DI_516_L DI857_LA
ASERISON SER_ON
X0001.1
F
DI_10_AU
TO_REPT
N00405 X0083.2 R0208.2

G 2000 LASER READY
DI_667_L DI858_LA
ASERRDY SER_RDY
X0001.1
H
DI_10_AU
TO_REPT
N00406 X0083.3 R0208.3

I 2003 LASER PRG ACTIVE
DI_668_P DI859_PR
RGACTIV G_ACTIVE
X0001.1
J
DI_10_AU
TO_REPT
N00407 R0999.4 X0060.1 R0999.4

K 2006 R LASER FAULT FROM MON_LASR.PC
DO_18997 DI_482_E DO_18997
_LSRFLT XTERRRST _LSRFLT
K0012.1
L
LASER_RE
SET_PB
N00408 R0999.7 X0060.1 R0999.7

M 2011 R SHUTTER FAULT FROM MON_LASR.PC
DO_19000 DI_482_E DO_19000
_SHUTFLT XTERRRST _SHUTFLT
K0012.1
N
LASER_RE
SET_PB
O
N00409 X0084.3 R0209.1

A 2016 LASER FAULT
DI_676_L DI865_FA
ASERFLT ULT
R0999.4 Y0061.5
B LASER FAULT
DO_18997 DO_494_L
_LSRFLT SR_FAULT
R0999.7
C
DO_19000
_SHUTFLT
N00410 X0084.1 R0209.2

D 2021 LASER SIK OPEN
DI_674_S DI866_SI
IK K_OPEN
N00411 G1000.1 Y1025.5 Y0000.3 Y0000.2 Y0083.0

E 2023 LASER EXTERNAL ACTIVATION
*HOLD MOTORS__ DO_4_RBT DO_3_RBT DO_665_E
ENABLE _IN_TCH _IN_AUTO XTACTIV
Y0083.0
F
DO_665_E
XTACTIV
N00412 Y0083.0 Y0083.1

G 2029 LASER LOCK OPERATING UNIT
DO_665_E DO_666__
XTACTIV LCKOPUNT
N00413 Y0083.0 X0083.0 X0001.1 Y0083.2

H 2031 LASER ON
DO_665_E DI_665_A DI_10_AU DO_667_L
XTACTIV CTACTIVE TO_REPT ASRON
N00414 X0083.1 X0001.1 Y0083.3

I 2035 LASER STANDBY
DI_666_L DI_10_AU DO_668_S
ASER_ON TO_REPT TANDBY
N00415 R0303.0 ACT D0601.0

J 2038 SUB 3 0001 DELAY FOR LASER START
R303_DEL TMR D601_DLY
AYTIM 4LASRSTR
N00416 Y0000.0 Y0000.3 Y1025.5 R0301.0

K 2042 START STATICAL SAFETIES
DO_1_RUN DO_4_RBT MOTORS__ R301_STA
_ENB_ACK _IN_TCH ENABLE TSAFE
N00417 Y0108.1 X0001.1 D0601.0 R0302.0

L 2046 START STATICAL ENABLES
DO866_WL DI_10_AU D601_DLY R302_STA
DENBL TO_REPT 4LASRSTR TENBLES
N00418 Y0000.0 G1000.1 R0208.2 R0303.0

M 2050 AUX FLAG FOR DELAY TIMER
DO_1_RUN *HOLD DI858_LA R303_DEL
_ENB_ACK SER_RDY AYTIM
R0208.3
N
DI859_PR
G_ACTIVE
N00419 Y0108.0 R0301.0 R0302.0 F1000.5 Y0083.4

O 2056 LASER START STATICAL
DO865_ST R301_STA R302_STA FAULT DO_669_S
RTSTAT TSAFE TENBLES TRTSTAT
N00420 Y0108.4 Y0083.6

A 2061 LASER PROGRAM STOP
DO869_ST DO_671_P
OP RGSTOP
N00421 Y0108.5 Y0084.2

B 2063 LASER PILOT LASER ON
DO870_PI DO_675_P
LOTLIGHT ILTLSRON
N00422 Y0108.6 Y0084.3

C 2065 LASER RESET
DO871_LA DO_676_R
SRRESET ESET
Y0107.7 R0209.1
D
DO864_RE DI865_FA
SETERR ULT
X0060.1
E
DI_482_E
XTERRRST
K0012.1
F
LASER_RE
SET_PB
Y0112.2
G
DO899_BR
ZHDRST
N00423 Y0108.7 Y0084.4

H 2073 LASER FAULT EXTERNAL
DO872_FA DO_677_F
ILUREEXT LTEXT
N00424 Y0109.0 Y0084.5

I 2075 LASER INQUIRY INPUT 1
DO873_IN DO_678_I
QUIRSYN1 NQRYIN1
N00425 Y0109.1 Y0084.6

J 2077 LASER INQUIRY INPUT 2
DO874_IN DO_679__
QUIRSYN2 INQRYIN2
N00426 X0084.3 G1008.6

K 2079 LASER UNIT ERROR
DI_676_L UALM_7
ASERFLT
N00427 X0083.2 G1008.7

L 2081 LASER UNIT NOT READY ERROR
DI_667_L UALM_8
ASERRDY
N00428 X0083.1 Y0060.0

M 2083
DI_666_L DO_481_L
ASER_ON ASERON
N00429 X0083.3 Y0060.2

N 2085
DI_668_P DO_483_L
RGACTIV ASERISON
N00430 X0083.5 Y0060.1

O 2087
DI_670_P DO_482_A
RGCANCEL BTPRCS
N00431 X0084.7 Y0060.4

A 2089
DI_680_C DO_485_C
HILLRDY HILLERON
N00432 X0083.4 Y0061.1

B 2091
DI_669_P DO_490_L
RGCOMP SRPGCOMP
N00433 X0083.2 Y0061.2

C 2093
DI_667_L DO_491_L
ASERRDY SRSTDBY
N00434 X0084.6 Y0061.3

D 2095
DI_679_C DO_492_L
OMM_OK SRCOMMOK
N00435 K0012.0 Y0000.3 Y0084.2

E 2097 LASER PILOT LASER ON
PILOTLAS DO_4_RBT DO_675_P
ERONSS _IN_TCH ILTLSRON
N00436 K0012.1 D0612.0 K0012.1

F 2100 S LASER RESET PB
LASER_RE ALL_IF_P LASER_RE
SET_PB B_TO SET_PB
N00437 K0012.1 D0612.0 K0012.1

G 2103 R LASER RESET PB
LASER_RE ALL_IF_P LASER_RE
SET_PB B_TO SET_PB
N00438 K0012.2 D0612.0 K0012.2

H 2106 S LASER GLASS NOT PRESENT SS
LASERGLS ALL_IF_P LASERGLS
SNOTPRSS B_TO SNOTPRSS
N00439 K0012.2 D0612.0 K0012.2

I 2109 R LASER GLASS NOT PRESENT SS
LASERGLS ALL_IF_P LASERGLS
SNOTPRSS B_TO SNOTPRSS
N00440 R0999.3 X0060.1 R0999.3

J 2112 R LASER WARN FROM MON_LASR.PC
DO_18996 DI_482_E DO_18996
_LSRWRN XTERRRST _LSRWRN
K0012.1
K
LASER_RE
SET_PB
N00441 X0084.4 Y0061.4

L 2117 LASER WARNING
DI_677_L DO_493_L
ASERWARN SR_WARNG
R0999.3
M
DO_18996
_LSRWRN
O
N00442 X0060.1 Y0091.7

A 2120 BRAZE RESET / INITALIZATION
DI_482_E DO_736_R
XTERRRST ESETINIT
K0012.1
B
LASER_RE
SET_PB
Y0112.2
C
DO899_BR
ZHDRST
N00443 K0012.2 Y0060.7

D 2124
LASERGLS DO_488_L
SNOTPRSS SRCOUPRQ
N00444
E 2126 SUB72
SPE
N00445 ### LASER_BRAZE_HEAD ###

F 2127 SUB71 P0019
SP LASER_BRAZE_HEAD
N00446 X0091.5 Y0062.2

G 2129
DI_734_S DO_499_G
LDERR LASFLT
N00447 X0091.6 Y0062.3

H 2131
DI_735_S DO_500_D
LDWRN IRTYWARN
N00448 X0091.7 Y0063.0

I 2133
DI_736_S DO_505_G
LDDRAW LSSNPRES
N00449 X0092.5 Y0060.3

J 2135
DI742_CR DO_484_L
ASHSENS SRHDCOLL
X0092.6
K
DI_743__
CRASHEPS
N00450 X0093.0 Y0063.3

L 2138
DI_745_C DO_508_L
OMM_OK SRCOMMOK
N00451 X0091.1 Y0060.5

M 2140
DI_730_E DO_486_L
RRSIG SRHDERR
N00452 X0091.0 Y0060.6

N 2142
DI_729_R DO_487_L
DYSIG SRHDRDY
N00453 X0092.0 Y0063.5

O 2144 LASER CROSSJET MAX PRESSURE
DI_737_C DO_510_C
RSSJTMAX RSJETMAX
N00454 X0092.1 Y0063.6

A 2146 LASER CROSSJET MIN PRESSURE
DI_738_C DO_511_C
RSSJTMIN RSJETMIN
N00455
B 2148 SUB72
SPE
N00456 ### LASER_WIRE_FEED ###

C 2149 SUB71 P0020
SP LASER_WIRE_FEED
N00457 K0011.6 Y0000.3 Y0099.4 Y0099.3

D 2151 WIREFEED INCH FORWARD
INCHFORW DO_4_RBT DO_797__ DO_796__
ARDSS _IN_TCH INCHREV INCHFORW
N00458 K0011.6 Y0000.3 Y0000.2 K0011.6

E 2155 WIREFEED INCH FORWARD SS
INCHFORW DO_4_RBT DO_3_RBT INCHFORW
ARDSS _IN_TCH _IN_AUTO ARDSS
N00459 K0011.7 Y0000.3 Y0099.3 Y0099.4

F 2159 WIREFEED INCH REVERSE
INCHREVE DO_4_RBT DO_796__ DO_797__
RSESS _IN_TCH INCHFORW INCHREV
N00460 K0011.7 Y0000.3 Y0000.2 K0011.7

G 2163 WIREFEED INCH REVERSE SS
INCHREVE DO_4_RBT DO_3_RBT INCHREVE
RSESS _IN_TCH _IN_AUTO RSESS
N00461 X0106.0 Y0062.6

H 2167 WIREFEED READY
DI_849_R DO_503_F
EADY EEDREADY
N00462 R0999.5 X0060.1 R0999.5

I 2169 R WIRE WARN FROM MON_LASR.PC
DO_18998 DI_482_E DO_18998
_WIREWAR XTERRRST _WIREWAR
K0012.1
J
LASER_RE
SET_PB
N00463 R0999.5 Y0061.6

K 2174 LASER WIRE SPEED OUT WINDOW1
DO_18998 DO_495_L
_WIREWAR SRWIRSP1
N00464 R0999.6 X0060.1 R0999.6

L 2176 R WIRE FAULT FROM MON_LASR.PC
DO_18999 DI_482_E DO_18999
_WIREFLT XTERRRST _WIREFLT
K0012.1
M
LASER_RE
SET_PB
N00465 R0999.6 Y0061.7

N 2181 LASER WIRE SPEED OUT WINDOW2
DO_18999 DO_496_L
_WIREFLT SRWIRSP1
N00466 Y0110.7 F1000.5 Y0099.0

O 2183 WIREFEED START WIRE FEED
DO888_SR FAULT DO_793__
TWIREFD WIREFEED
N00467
A 2186 SUB72
SPE

Ford Fanuc R30ia R30ib Nextgen E181

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VEHICLE OPERATION STRUCTURE AND STANDARDS

FORD Robot Programming Guide - FANUC Implementation

Appendix Laser Braze (PDT)

4 PMC Logic (S-Logic) for R-30iB Controllers......................................................... 64

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

/PROG PG10 Process

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

/PROG BRAZE01 Process

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

/PROG BRAZE_START Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

/PROG LASERCOL Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

/PROG HYAG_MON Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

/PROG WIREFEED Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

/PROG WIRE_OFF Macro

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Laser_Braze_PDT_Appendix - 2016_02_12.doc

N00001 R0000.0 R0000.0

N00002 R0000.0 G1000.0

N00003 X0000.0 R0100.5 G1000.1

N00004 X1026.4 R0100.5

N00005 X1026.5 R0100.5

N00006 R0000.0 G1000.2

N00007 X1000.3 G1000.3

N00008 X1025.1 G1000.4

N00009 X1000.6 G1000.6