Ford FANUC R30iA R30iB NextGen E83

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 ARC Welding (Lincoln Interface)

Table of Contents
1 Style Program Naming ............................................................................................... 5
2 Style Sample Teach Pendant Programs ..................................................................... 6

2.1 PG21 – ARC WELDING .................................................................................................................. 6
2.2 PG08 – MAINTENANCE POSITION .................................................................................................. 9
2.3 PG09 – MINOR MAINTENANCE POSITION......................................................................................11
2.4 PG10 – ARC TIP CLEAN & TCP ALIGN .........................................................................................13
2.5 TORCH_CLEAN – REAM / TRIM TORCH TIP ...............................................................................15
2.6 TORCH_TRIM – CUT WIRE ........................................................................................................17
2.7 TORCH_SPRAY – NOZZLE SPRAY ...............................................................................................18
2.8 WELD01 – WELDING PROGRAM ..................................................................................................19
2.9 HOME_IO – RESET INPUT/OUTPUT MACRO ..............................................................................21
3 Torchmate3 for TCP Adjustment............................................................................. 23
4 Lincoln Power Wave Communication ..................................................................... 27
5 Interface Panels ........................................................................................................ 28

5.1 FORD_ARC................................................................................................................................28
6 PMC Logic (S-Logic) for R-30iA Controllers......................................................... 29
7 PMC Logic (S-Logic) for R-30iB Controllers ......................................................... 30
Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Arc_Appendix - 2014_06_24 Page 2 of 30

Revision History
Revision Modification Date Description
1.0 2012-05-11 Initial Release
1.1 2012-10-31 Updated TP programs PG21, PG08, PG10,
TORCH_CLEAN, and TORCH_TRIM.
Removed TRCHCOL TP program.
Updated Ford Arc Softawre I/F Panel.
Added TORCH_SPRAY TP program.
PMC update: Modified the battery low alarm rung
Y001.1
PMC update: Created Prompt Box Rung for Resume
Tolerance in LEVEL2. Y73.0
PMC update: Added SRVO-408 filtering. Added safety
chain fault error decoding to send a bit to the PLC.
1.2 2012-12-21 Created direct Exit Zones in HOME_IO.
1.3 2013-01-14 Fixed Exit Zone 14 bit in HOME_IO.
Added section for Lincoln Power Wave
Communication.
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 PMC for R-30iB.
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.
Updated HOME_IO added reset for Robot at Minor
Maintenance;
added DO[587:RBT AT MINMAINT]=OFF;

1 Style Program Naming
Style programs contain the motion statements that perform the process pertinent to the
particular robot (including but not limited to: Spot Welding, Dispensing, MH (Part Transfer),
Mig Welding, Laser Welding, and Vision Systems).
These programs are started automatically by the robot operating software and are initiated
based on a binary number passed to the robot from the cell controller. The following scheme
is to be used when determining the program names for programs that are product specific.
The names and style numbers defined for the FORD V.O. Standards are listed in the table
below. Program Name is limited to 8 characters => P G X X X X X X.
Some robot applications might have combination application, example: Material Handling
Application with Pedestal Spot Welding. Listed below are the Robot Program Name
associated with the application. Combine the Robot Program Name if application is
applicable.
Table 1: Style Program Naming

1.1.1.1.1 Program Program Comment Program Description Style
Name (16 Char. Max) Number
(8 Char. Max)
MH Style Programs
PG21 ARC OPERATION Main style program #1 to use for ARC 21
PROG#1 Operation
PROG#2 Operation
PROG#3 Operation
PROG#4 Operation
PROG#5 Operation
PG08 MAINTENANCE Style program to move robot to 8

Maintenance Position
PG10 TIP ALIGNMENT Tip clean and TCP check for Arc Welding 10

2 Style Sample Teach Pendant Programs
2.1 PG21 – Arc Welding

/PROG PG21
/ATTR
OWNER = MNEDITOR;
COMMENT = "Style 1 Main";
PROG_SIZE = 2244;
CREATE = DATE 10-08-08 TIME 14:23:38;
MODIFIED = DATE 10-09-27 TIME 12:53:04;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 113;
MEMORY_SIZE = 2692;
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;
/MN
1: !***************************** ;
2: ! Arc Weld PG21 ;
3: ! NextGen Bitmap ;
4: !***************************** ;
5: ;
6: !Verify Program ;
7: PROGRAM VERIFY(21) ;
8: ;
9: !Setup App Specific Outputs ;
10: ! Runs HOME_IO ;
11: SETUP OUTPUTS ;
12: ;
13: !Move to Home ;
14: GO TO HOME POS ;
15: ;
16: ! Move to pounce position ;
17: GO TO POUNCE ;
18: ;
19: !Clr to Adv Xfer ;
20: DO[954:CLRTOADVXFR]=ON ;
21: ;
22: !Clr to Ret Xfer ;
23: DO[955:CLRTORETXFR]=ON ;
24: ;
25: !Clr to Unclamp ;
26: DO[956:CLRTOUNCLMP]=OFF ;
27: ;
28: !-------------------------------- ;
29: LBL[33:Loop Back] ;

30: ;
31: ! Turn ON Robot in LOOP ;
32: DO[24:RBT IN LOOP]=ON ;
33: ;
34: !-------------------------------- ;
35: !Wait Continue from Pounce ;
36: ! or Return to Home ;
37: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
38: ;
39: ! Turn OFF Robot in LOOP ;
40: DO[24:RBT IN LOOP]=OFF ;
41: ;
42: !If Return to Home ;
43: ! jump to LB[13] ;
44: IF DI[13:RETURN TO HOME]=ON,JMP LBL[13] ;
45: ;
46: !If Continue from Pounce ;
47: ! jump to LB[9] ;
48: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
49: ;
50: JMP LBL[33] ;
51: ;
52: !-------------------------------- ;
53: !Continue from Pounce ;
54: LBL[9] ;
55: ;
56: !Clr to Return Xfer ;
57: DO[955:CLRTORETXFR]=OFF ;
58: ;
60: DO[954:CLRTOADVXFR]=OFF ;
61: ;
62: !Clr to Unclamp ;
63: DO[956:CLRTOUNCLMP]=OFF ;
64: ;
65: !Enter Zone1 ;
66: ENTER ZONE(1) ;
67: ;
68: !Calls Weld Routine ;
69: ! Contains Weld Points ;
70: CALL WELD01 ;
71: ;
72: !Robot is Home at End ;
73: ! of Weld Program ;
74: ;
75: !Clr to Return Xfer ;
77: ;
80: ;
82: DO[956:CLRTOUNCLMP]=ON ;
83: ;

84: !Exit Zone1 ;
85: EXIT ZONE(1) ;
86: ;
100: ;
101: !-------------------------------- ;
102: LBL[13:End Program] ;
103: ;
104: !-------------------------------- ;
105: !Move to Home ;
107: ;
/POS
/END

2.2 PG08 – Maintenance Position
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance";
PROG_SIZE = 1429;
CREATE = DATE 09-12-21 TIME 10:16:30;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 59;
MEMORY_SIZE = 1697;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/MN
1: !***************************** ;
4: ! Maintenance Program ;
5: ! ;
6: !***************************** ;
7: UFRAME_NUM=1 ;
8: UTOOL_NUM=1 ;
9: ;
10: !Set Robot Payload ;
11: PAYLOAD[2] ;
12: ;
15: ;
17: SETUP OUTPUTS ;
18: ;
19: !Move to Home ;
21: ;
22: !Approach Maintenance ;
23:J P[1] 20% CNT100 ;
24:J P[2] 20% CNT100 ;
25: ;
26: !Maintenance Position ;
27:L P[3:Maintenance] 200mm/sec CNT0 ;
28: ;
29: !Maint Position ON ;
30: DO[6:RBT AT MAINT]=ON ;
31: ;

32: !Wait for Maintenance Clear ;
33: WAIT DI[7:MAINT POS CLR]=ON ;
34: ;
35:L P[2] 500mm/sec CNT100 ;
36:J P[1] 20% CNT100 ;
37: ;
38: !Maint Position OFF ;
39: DO[6:RBT AT MAINT]=OFF ;
40: ;
41: !Move to Home ;
43: ;
45: UFRAME_NUM=1 ;
44: UTOOL_NUM=1 ;
46: ;
47:J PR[5:Torch Srvc Comm] 100% FINE ;
48: ;
49: !Advance and trim wire ;
50: CALL TORCH_TRIM ;
51: ;
51:L PR[5:Torch Srvc Comm] 1200mm/sec CNT25 ;
52: ;
53:L P[3] 800mm/sec CNT25 ;
53: ;
55: !Enter Zone1 with OP Station ;
56: ENTER ZONE(1) ;
57: ;
52: !Call program to run Torchmate ;
53: TorchMate Adjust ;
54: ;
61:L P[4] 1000mm/sec CNT50 ;
62: ;
63: CALL TORCH_CLEAN ;
64: ;
65:L P[5] 1000mm/sec CNT50 ;
66: ;
69: ;
70: !Exit Zone1 with OP Station ;
71: EXIT ZONE(1) ;
72: ;
73:L P[3] 1000mm/sec CNT50 ;
74: ;
57: !Move to Home ;
59: ;
/POS
/END

2.3 PG09 – Minor Maintenance Position
/PROG PG09
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance";
PROG_SIZE = 1429;
CREATE = DATE 09-12-21 TIME 10:16:30;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 59;
MEMORY_SIZE = 1697;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/MN
1: !***************************** ;
4: ! Maintenance Program ;
5: ! ;
6: !***************************** ;
7: UFRAME_NUM=1 ;
8: UTOOL_NUM=1 ;
9: ;
11: PAYLOAD[2] ;
12: ;
15: ;
17: SETUP OUTPUTS ;
18: ;
19: !Move to Home ;
21: ;
22: !Approach Maintenance ;
23:J P[1] 20% CNT100 ;
24:J P[2] 20% CNT100 ;
25: ;
26: !Maintenance Position ;
27:L P[3:Maintenance] 200mm/sec CNT0 ;
28: ;
29: !Maint Position ON ;
30: DO[587:RBT AT MIN MAINT]=ON ;
31: ;

32: !Wait for Maintenance Clear ;
33: WAIT DI[7:MAINT POS CLR]=ON ;
34: ;
35:L P[2] 500mm/sec CNT100 ;
36:J P[1] 20% CNT100 ;
37: ;
38: !Maint Position OFF ;
39: DO[587:RBT AT MIN MAINT]=OFF ;
40: ;
41: !Move to Home ;
43: ;
45: UFRAME_NUM=1 ;
44: UTOOL_NUM=1 ;
46: ;
47:J PR[5:Torch Srvc Comm] 100% FINE ;
48: ;
49: !Advance and trim wire ;
51: ;
51:L PR[5:Torch Srvc Comm] 1200mm/sec CNT25 ;
52: ;
53:L P[3] 800mm/sec CNT25 ;
53: ;
55: !Enter Zone1 with OP Station ;
56: ENTER ZONE(1) ;
57: ;
54: ;
61:L P[4] 1000mm/sec CNT50 ;
62: ;
64: ;
65:L P[5] 1000mm/sec CNT50 ;
66: ;
69: ;
70: !Exit Zone1 with OP Station ;
71: EXIT ZONE(1) ;
72: ;
73:L P[3] 1000mm/sec CNT50 ;
74: ;
57: !Move to Home ;
59: ;
/POS
/END

2.4 PG10 – Arc Tip Clean & TCP Align
/PROG PG10
/ATTR
OWNER = MNEDITOR;
COMMENT = "TORCH CLEAN/ALIGN";
PROG_SIZE = 1089;
CREATE = DATE 10-08-08 TIME 14:23:38;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 38;
MEMORY_SIZE = 1441;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/MN
1: !***************************** ;
4: ! Clean Torch and then ;
5: ! Align ;
6: !***************************** ;
8: UFRAME_NUM=1 ;
7: UTOOL_NUM=1 ;
9: ;
11: PAYLOAD[2] ;
12: ;
15: ;
17: SETUP OUTPUTS ;
18: ;
19: !Move to Home ;
21: ;
23: ;
31: ;
32: UTOOL_NUM=1 ;
33: UFRAME_NUM=1 ;
35: ;
36: !Move to Home ;

38: ;
/POS
/END

2.5 TORCH_CLEAN – Ream / Trim Torch Tip
/PROG TORCH_CLEAN Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Torch Clean";
PROG_SIZE = 1203;
CREATE = DATE 10-08-31 TIME 09:33:46;
FILE_NAME = REAMR;
VERSION = 0;
LINE_COUNT = 35;
MEMORY_SIZE = 1567;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
ARC Welding Equipment : 1,*,*,*,*;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
CYCLE_TARGET = 0.00 ;
/MN
1: !***************************** ;
2: ! Torch Tip Cleaning / Reaming ;
3: ! NextGen I/O ;
4: ! ;
5: ! ;
6: ! ;
7: !***************************** ;
8: ;
10: UFRAME_NUM=1 ;
9: UTOOL_NUM=1 ;
11: ;
12:J PR[5:Torch Serv Comm] 100% FINE ;
13: ;
14: DO[645:Inch Backward]=PULSE,0.2sec ;
15: ;
16: !Above cleaner ;
17:J P[1] 50% CNT10 ;
18: ;
19: ! Nozzle UnClamped/Clear ;
20: WAIT DI[465:Gas Nozzle Unclamped]=ON ;
21: ;
22:L P[2] 500mm/sec CNT10 ;
23:L P[3] 250mm/sec FINE ;
24: ;
25: DO[468:ACTV TRCH CLN]=ON ;
25: ;

27: !Wait Cleaner Unclamped/Active ;
28: WAIT DI[465:Gas Nozzle Unclamped]=OFF ;
29: ;
29: WAIT 2.00(sec) ;
30: DO[468:ACTV TRCH CLN]=OFF ;
31: WAIT .20(sec) ;
36: ;
33: !Wait Cleaner unclamped/complete ;
34: WAIT DI[465:Gas Nozzle Unclamped]=ON ;
35: ;
37: ;
38: CALL TORCH_SPRAY ;
39: ;
40: ;
/POS
/END

2.6 TORCH_TRIM – Cut Wire
/PROG TORCH_TRIM Macro
/ATTR
OWNER = MNEDITOR;COMMENT = "Torch Wire Trim";
PROG_SIZE = 914;
CREATE = DATE 10-08-31 TIME 09:33:46;
FILE_NAME = REAMR;
VERSION = 0;
LINE_COUNT = 21;
MEMORY_SIZE = 1198;
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 Trim Program ;
3: !Make sure robot can ;
4: !reach this from ;
5: !previous program ;
6: ! ;
7: !***************************** ;
8: ;
9: !Advance wire ;
10: DO[644:Inch Forward]=PULSE,0.7sec ;
11: ;
12: UFRAME_NUM=1 ;
13: UTOOL_NUM=1 ;
14: ;
15:L P[1] 500mm/sec CNT0 ;
18: ;
19: DO[479:WIRE CUTTER]=PULSE,0.2sec ;
20: WAIT .50(sec) ;
21: ;
20:L P[2] 500mm/sec CNT0 ;
21:L P[1] 1000mm/sec CNT50 ;
/POS
/END

2.7 TORCH_SPRAY – Nozzle Spray
/PROG TORCH_SPRAY Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Torch Nzl Spay";
PROG_SIZE = 864;
CREATE = DATE 07-05-17 TIME 01:30:10;
FILE_NAME = TORCH_TR;
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: ! Nozzle Spray Program ;
3: ! Make Sure Robot can ;
4: ! Reach this From ;
5: ! Previous Program ;
6: ! ;
7: !***************************** ;
8: ;
9: UFRAME_NUM=1 ;
10: UTOOL_NUM=1 ;
11: ;
12:L P[1] 500mm/sec CNT10 ;
13:L P[2] 500mm/sec CNT10 ;
14: ;
15: DO[478:SPRAY ANTI-SPTR]=PULSE,0.2sec ;
16: WAIT .50(sec) ;
17: ;
18:L P[2] 500mm/sec CNT10 ;
19:L P[1] 1000mm/sec CNT50 ;
/POS
/END

2.8 WELD01 – Welding Program
/PROG WELD01
/ATTR
OWNER = SHIFT;
COMMENT = "Weld Style 1";
PROG_SIZE = 1776;
CREATE = DATE 10-08-31 TIME 12:49:16;
FILE_NAME = WELD01NE;
VERSION = 0;
LINE_COUNT = 55;
MEMORY_SIZE = 2052;
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 ;
3: !Arc Weld Program ;
4: ! ;
5: !Robot: ;
6: !Application: MIG Weld ;
7: !-------------------------------- ;
8: UFRAME_NUM=1 ;
9: UTOOL_NUM=1 ;
10: ;
12: PAYLOAD[2] ;
13: ;
14:J P[1] 100% CNT100 ;
15: ;
16: !Start 1st Weld ;
17:L P[2] 500mm/sec FINE
: Arc Start[1] ;
18:L P[3] WELD_SPEED FINE
: Arc End[1] ;
19: ;
20:L P[4] 2000mm/sec CNT30 ;
21:L P[5] 2000mm/sec CNT20 ;
22: ;
23: !Start 2nd Weld ;
: Arc Start[2] ;
: Arc End[2] ;

26: ;
27:L P[8] 2000mm/sec CNT30 ;
28:L P[9] 2000mm/sec CNT20 ;
29: ;
30: !Start 3rd Weld ;
: Arc Start[3] ;
32: !End Mig Weld ;
: Arc End[3] ;
34: ;
35:L P[12] 2000mm/sec CNT100 ;
36: ;
37: !Continue Welding as Needed ;
38: ;
39: ! WELDING COMPLETED ;
40: DO[475:WELD SEQ COMP]=PULSE,3.0sec ;
41: ;
42:J P[32] 100% CNT80 ;
43: ;
45: ;
46:J P[33] 100% CNT100 ;
47: ;
48: !Exit Zones if needed ;
49: !EXIT ZONE(nn) ;
50: ;
51:J PR[3:Pounce] 100% CNT50 ;
52: ;
/POS
/END

2.9 HOME_IO – Reset Input/Output MACRO
/PROG HOME_IO Macro
DEFAULT_GROUP = *,*,*,*,*;
/APPL
/MN
1: !******************************** ;
2: !MACRO SET AT HOME I-O ;
3: ! ;
4: !Also runs Automatically when ;
5: ! robot goes from non-home pos ;
6: ! to home pos ;
7: ! ;
8: ! NOTE: This program has NO ;
9: ! GP[1:robot] and ;
11: !***************************** ;
12: ;
13: !CLR TO ADV. TRANSFER ;
15: ;
16: !CLR TO RET. TRANSFER ;
18: ;
19: !CLEAR TO UNCLAMP ;
21: ;
23: !ROBOT USER DEFINE OFF ;
24: DO[41:UDEF RBT OUT 1]=OFF ;
32: ;
34: !RESET FAULT RESET ;
35: DO[959:FAULTRESET]=OFF ;
36: ;
38: !RESET ROBOT LOOP ;
39: DO[24:RBT IN LOOP]=OFF ;
40: DO[963:PRGRM FLT]=OFF ;
41: ;
43: !AT REPAIR OFF ;
44: DO[6:RBT AT MAINT]=OFF ;
44: DO[587:RBT AT MINMAINT]=OFF ;
45: ;
58: !RESET TCP ALIGN/TORCH CLNR ;
66: DO[468:ACTV TRCH CLN]=OFF ;
66: DO[480:TIP ALIGN]=OFF ;
68: ;
69: !CLEAR EXIT ZONES ;
70: DO[900:CLROFZONE1]=ON ;

84: ;
85: ! Reset the register that holds ;
86: ! the program number to run ;
87: R[153:ProgSelNum]=0 ;
88: ;
/POS
/END

3 Torchmate3 for TCP Adjustment
TorchMate compensates for variation of the TCP in x and y, or in x, y, and z directions. It
operates in a manner similar to touch sensing. A voltage is applied to the welding wire and an
input is received when the wire contacts the TorchMate touch block. TorchMate does not
compensate for variation in orientation (w, p, and r).
TorchMate3 supports mastering and TorchMate Adjust in T1/T2 modes. Following the
current T1 specification, TorchMate3 sets the intermediate motion speed to 250mm/sec or
less and the touch motion speed is set to the speed in the TorchMate schedule. In T2 mode,
the software sets the speed to high speed (1200 mm/sec) for air moves and the schedule value
for the touch motion. It also supports mastering on the Mate Controller, which does not
support a T2 mode.
Multi-equipment for single robot cases is supported by teaching another Utool on the same
robot group and assigning the equipment number in the TorchMate SETUP DATA screen.
TorchMate3 allows you to select an automatic error recovery method – REDO, SKIP,
ABORT, or PROMPT – that is applied when a production TorchMate error occurs.
TorchMate3 includes two monitor features, Collision Monitor and Touchup Monitor, that can
be set up to notify the user when TorchMate Adjust should be executed. These monitors
remind you to use TorchMate Adjust after collisions or before point touchup.
Before you can define the TorchMate tool frame and master TCP, you must install a touch
block on a stationary object within the robot workcell.
Align the touch plate so that the edges are parallel to the robot WORLD frame. The touch
plate x, y, and z axes should be parallel to the robot WORLD x, y, and z axes.
For Multi-Arm installations, each robot should have its own touch block aligned to its
WORLD frame.
On the teach pendant, press the COORD key until you have selected the WORLD coordinate
system.

Adjust the touch plate until its edges are parallel to the robot WORLD frame. Jog the robot
along the edges to check the alignment of the touch plate. It should be parallel to the
WORLD frame within 0.5 mm from end to end.
Verify the alignment of the touch plate. It should be parallel to the WORLD frame within 0.5
mm from end to end.
After you have defined the tool frame, you must calibrate the tool center point (TCP). You
perform TorchMate mastering to establish the TorchMate master TCP.
You do not always need to recalibrate the TCP when you replace a worn-out torch with an
identical new one. If the new torch is nested in the mount exactly like the original torch, then
remastering TorchMate is not necessary. Run the appropriate TM_ADJST macro to adjust
the TCP for the new torch.
You can perform the TorchMate adjustment using either of the following methods:
Manually, by running the TM_ADJST, TM_ADJ2, ..., TM_ADJ8 macro. Make sure you run
the TM_ADJST macro that corresponds to the motion group number of the robot you want to
adjust with TorchMate.
Automatically , by incorporating the TorchMate adjustment instruction into a teach pendant
program.
After you have made an adjustment, you can monitor the Tool Offset Data.

TORCHMATE SETUP SCREENS

For setup details consult the FANUC Robotics SYSTEM R-30iA ArcTool Setup and
Operations Manual

4 Lincoln Power Wave Communication
If the communication between the Lincoln Electric and the controller needs to be re-
established, follow the proceeding steps to re-connect.
1. Bring the robot to a controlled start.

2. While at the ArcTool Setup screen, press F3 CHECK to attempt to re-establish the
connection.
3. Press ENTER when prompted.

4. The system will attempt to re-connect and prompt if it fails.
5. If this operation continues to fail, document the events that led to the error and consult
your FANUC Robotics technical representative for further details.

5 Interface Panels
5.1 FORD_ARC

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

[FORD_NEXTGEN_ENETSafe_ARC_2013_12_19]
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
Y0000.1
F ROBOT AT HOME
DO 2 RBT
@ HOME
N00019 F1000.7 Y1000.7

G 63
TPENABLE
Y0119.7 Y0000.3
H ROBOT IN TEACH
DO 960 DO 4 RBT
AUTO KEY IN TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

I 67
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
FC1 FC2 FC4 FC8 FC16 FC32 FC64
1 R1402.7 R1405.0
J S
ECO24 FACILITY
FC128 CODE 11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

K 76
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

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

N 91 FENCE FAULT
FACILITY ERROR 4 RB FAULT FENCE
CODE 11 RESET FAULT
R1405.2
O
FENCE
FAULT
Ladder Diagram 4
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

A 96 POWER FAIL RECOVERY
INT EXT FAULT BRK PWR COMMAND SYSTEM PWR FAIL
MTR ON FL RCVRY ENABLE READY RECVRY
R0000.2
B
INT EXT
CYC STRT
K0010.3
C
PWR FAIL
RECVRY
N00024 K0010.3 ACT R1466.0

D 104 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

E 108
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
F
DRP AUTO DO 3 RBT
FAULT IN AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

G 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

H 125 INPUT SIMULATED
DO 958 I DO 581 I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

I 127 S DROP AUTO FAULT
FC AVAIL APPL FC ZERO FAULT RB FAULT DRP AUTO
ALARMS RESET FAULT
N00028 F1000.5 R1404.5

J 133 R DROP AUTO FAULT
FAULT DRP AUTO
FAULT
G1000.4
K
RB FAULT
RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

L 136
FAULT ECO33 ECO FC AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 140
FC AVAIL ECO17 ECO18 ECO19 ECO20 ECO21 ECO22
FC1 FC2 FC4 FC8 FC16 FC32
1 R1402.6 R1402.7 R1404.3

N S
ECO23 ECO24 SPOT
FC64 FC128 ALARM
O
Ladder Diagram 5
N00031 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 150
1 R1402.6 R1402.7 R0330.0

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

C 160
1 R1402.6 R1402.7 R0330.1

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

E 170
1 R1402.6 R1402.7 R0330.2

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

G 180
1 R1402.6 R1402.7 R0330.3

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

I 190
1 R1402.6 R1402.7 R0330.4

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

K 200
1 R1402.6 R1402.7 R1406.0

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

M 210
1 R1402.6 R1402.7 R1404.2

N
ECO23 ECO24 FC ZERO
FC64 FC128
O
Ladder Diagram 6
N00038 R1404.1 ACT R1404.3

A 220 SUB57 0001 R
ECO DIFU SPOT
RETRIEVE ALARM
R0330.0
B R
ARC
ALARM
R0330.1
C R
SEALER
ALARM
R0330.2
D R
SERVOGUN
ALARM
R0330.3
E R
TOOLCHNG
ALARM
R0330.4
F R
SYSTEM
ALARM
R1405.0
G R
FACILITY
CODE 11
R1406.0
H R
FACILITY
CODE 15
N00039 R1404.4 ACT R1404.6

I 231 SUB 3 0006
FC AVAIL TMR RETRIEVE
DELAY
N00040 R1404.6 R1404.1

J 235 S
RETRIEVE ECO
DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

K 237 SUB 3 0007 R
ECO TMR ECO
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

L 241 S WELD FAULT #1
FC AVAIL SPOT FC ZERO FAULT DO 126 W
ALARM LD FLT 1
N00043 X0083.1 Y0015.5

M 246 R WELD FAULT #1
DI 666 I DO 126 W
NCYCLE1 LD FLT 1
N00044 K0010.1 K0010.0 R0000.1

N 248
EXT MTR TEACH INT EXT
ON MEMORY MTR ON
O
Ladder Diagram 7
N00045 X0000.2 K0010.0 K0010.5 K0010.1

A 251 S EXTERNAL MOTORS ON
DI 3 EXT TEACH MAINT ME EXT MTR
MTR ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

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

F 264 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

G 268
EXT CYC TEACH MAINT ME INT EXT
START MEMORY M CYC STRT
N00048 X0000.3 K0010.0 K0010.2

H 272 S EXTERNAL CYCLE START
DI 4 EXT TEACH EXT CYC
CY STRT MEMORY START
X1026.5 Y0000.4 F1000.5

I
SI13 RES DO 5 RBT FAULT
ETSW CNT FLT
X1025.1
J
FAULT
RESET
X0000.1 X0001.2
K
DI 2 EX DI 11
RNEN RST PLC AUTO
K0010.3
L
PWR FAIL
RECVRY
R0340.0
M
MANUAL
WELD
N00049 Y0000.2 Y0000.4 G1000.4 K0010.2

N 285 R EXTERNAL CYCLE START
DO 3 RBT DO 5 RBT RB FAULT EXT CYC
IN AUTO CNT FLT RESET START
O
Ladder Diagram 8
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 289
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 R0508.0
B PROGRAM 1
DI 24 PG PROGRAM
SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 298
1 X0002.7 R0508.1
D PROGRAM 2
DI 24 PG PROGRAM
SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 307
1 X0002.7 R0508.2
F PROGRAM 3
DI 24 PG PROGRAM
SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 316
1 X0002.7 R0508.3
H PROGRAM 4
DI 24 PG PROGRAM
SLCT128 4
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 325
1 X0002.7 R0508.4
J PROGRAM 5
DI 24 PG PROGRAM
SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 334
1 X0002.7 R0508.5
L PROGRAM 6
DI 24 PG PROGRAM
SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 343
1 X0002.7 R0508.6
N PROGRAM 7
DI 24 PG PROGRAM
SLCT128 7
O
Ladder Diagram 9
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 352
1 X0002.7 R0508.7
B PROGRAM 8
DI 24 PG PROGRAM
SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 361
1 X0002.7 R0509.0
D PROGRAM 9
DI 24 PG PROGRAM
SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 370
1 X0002.7 R0509.1
F PROGRAM 10
DI 24 PG PROGRAM
SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 379
1 X0002.7 R0509.2
H PROGRAM 11
DI 24 PG PROGRAM
SLCT128 11
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 388
1 X0002.7 R0509.3
J PROGRAM 12
DI 24 PG PROGRAM
SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 397
1 X0002.7 R0509.4
L PROGRAM 13
DI 24 PG PROGRAM
SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 406
1 X0002.7 R0509.5
N PROGRAM 14
DI 24 PG PROGRAM
SLCT128 14
O
Ladder Diagram 10
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 415
1 X0002.7 R0509.6
B PROGRAM 15
DI 24 PG PROGRAM
SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 424
1 X0002.7 R0509.7
D PROGRAM 16
DI 24 PG PROGRAM
SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 433
1 X0002.7 R0510.0
F PROGRAM 17
DI 24 PG PROGRAM
SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 442
1 X0002.7 R0510.1
H PROGRAM 18
DI 24 PG PROGRAM
SLCT128 18
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 451
1 X0002.7 R0510.2
J PROGRAM 19
DI 24 PG PROGRAM
SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 460
1 X0002.7 R0510.3
L PROGRAM 20
DI 24 PG PROGRAM
SLCT128 20
O
Ladder Diagram 11
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 469
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 F1000.6

B
DO 3 RBT PAUSED PROGRAM DI 11 AT HOME
IN AUTO RUNNING PLC AUTO
F1000.6 R0508.0
C
AT HOME PROGRAM
1
R0508.1
D
PROGRAM
2
R0508.2
E
PROGRAM
3
R0508.3
F
PROGRAM
4
R0508.4
G
PROGRAM
5
R0508.5
H
PROGRAM
6
R0508.6
I
PROGRAM
7
R0508.7
J
PROGRAM
8
R0509.0
K
PROGRAM
9
R0509.1
L
PROGRAM
10
R0509.2
M
PROGRAM
11
R0509.3
N
PROGRAM
12
R0509.4
O
PROGRAM
13
Ladder Diagram 12
R0509.5
A
PROGRAM
14
R0509.6
B
PROGRAM
15
R0509.7
C
PROGRAM
16
R0510.0
D
PROGRAM
17
R0510.1
E
PROGRAM
18
R0510.2
F
PROGRAM
19
R0510.3
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 Y0058.0 G1000.5

J UOP CYCLE START
INT EXT CYCLE DO 5 RBT BREAK A FAULT DO465 MI UOP CYC
MTR ON STRT DLY CNT FLT NO HOLD GRDY START
N00071 G1000.5 F1000.2 ACT D0603.0

K 520 SUB 3 0008 S CYCLE START DELAY
UOP CYC PROGRAM TMR CYCLE
START RUNNING STRT DLY
N00072 D0603.0 ACT D0603.0

L 525 SUB 3 0009 R CYCLE START DELAY
CYCLE TMR CYCLE
STRT DLY STRT DLY
N00073 F1000.2 D0603.0

M 529 R CYCLE START DELAY
PROGRAM CYCLE
RUNNING STRT DLY
N00074
N 531 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

O 532 SUB 3 0011 TEACH MEMORY DELAY
DO 960 TMR TEACH ME
AUTO KEY M DELAY
Ladder Diagram 13
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 536 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 543 MAINTENANCE MODE
AUTO/MAI IN MAINT
NT SS
N00078 R0350.0 ACT D0610.0

E 545 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 549 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 558 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 563
DI 17 PG PNS 1
SLCT 1
N00082 X0002.1 G1001.1

K 565
DI 18 PG PNS 2
SLCT 2
N00083 X0002.2 G1001.2

L 567
DI 19 PG PNS 3
SLCT 4
N00084 X0002.3 G1001.3

M 569
DI 20 PG PNS 4
SLCT 8
N00085 X0002.4 G1001.4

N 571
DI 21 PG PNS 5
SLCT 16
N00086 X0002.5 G1001.5

O 573
DI 22 PG PNS 6
SLCT 32
Ladder Diagram 14
N00087 X0002.6 G1001.6

A 575
DI 23 PG PNS 7
SLCT 64
N00088 X0002.7 G1001.7

B 577
DI 24 PG PNS 8
SLCT128
N00089 X0000.6 K0008.0 Y0120.5

C 579 MAINTENANCE POSITION CLEAR
DI 7 MAI AUTO/MAI DO 966 M
NT PSCLR NT SS ANTP CLR
N00090 K0008.0 Y0001.4

D 582 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO 13 SN
NT SS DRBT MNT
N00091 Y0112.3 Y0003.0

E 584 CLEAR OF ZONE #1
DO 900 DO 25 CL
CLR ZN 1 R ZON 1
N00092 Y0112.4 Y0003.1

F 586 CLEAR OF ZONE #2
DO 901 DO 26 CL
CLR ZN 2 R ZON 2
N00093 Y0112.5 Y0003.2

G 588 CLEAR OF ZONE #3
DO 902 DO 27 CL
CLR ZN 3 R ZON 3
N00094 Y0112.6 Y0003.3

H 590 CLEAR OF ZONE #4
DO 903 DO 28 CL
CLR ZN 4 R ZON 4
N00095 Y0112.7 Y0003.4

I 592 CLEAR OF ZONE #5
DO 904 DO 29 CL
CLR ZN 5 R ZON 5
N00096 Y0113.0 Y0003.5

J 594 CLEAR OF ZONE #6
DO 905 DO 30 CL
CLR ZN 6 R ZON 6
N00097 Y0113.1 Y0003.6

K 596 CLEAR OF ZONE #7
DO 906 DO 31 CL
CLR ZN 7 R ZON 7
N00098 Y0113.2 Y0003.7

L 598 CLEAR OF ZONE #8
DO 907 DO 32 CL
CLR ZN 8 R ZON 8
N00099 Y0113.3 Y0004.0

M 600 CLEAR OF ZONE #9
DO 908 DO 33 CL
CLR ZN 9 R ZON 9
N00100 Y0113.4 Y0004.1

N 602 CLEAR OF ZONE #10
DO 909 C DO 34 CL
LR ZN 10 R ZON 10
N00101 Y0113.5 Y0004.2

O 604 CLEAR OF ZONE #11
DO 910 C DO 35 CL
LR ZN 11 R ZON 11
Ladder Diagram 15
N00102 Y0113.6 Y0004.3

A 606 CLEAR OF ZONE #12
DO 911 C DO 36 CL
LR ZN 12 R ZON 12
N00103 Y0113.7 Y0004.4

B 608 CLEAR OF ZONE #13
DO 912 C DO 37 CL
LR ZN 13 R ZON 13
N00104 Y0116.4 Y0004.5

C 610 CLEAR OF ZONE #14
DO 933 C DO 38 CL
LR ZN 14 R ZON 14
N00105 Y0118.7 Y0004.6

D 612 CLR OF INDEPENDENT MOTION ZN1
DO952 CL DO 39 CL
RMOTZN1 R INDMOT
N00106 Y0119.0 Y0004.7

E 614 CLR OF INDEPENDENT MOTION ZN2
DO953 CL DO 40 CL
RMOTZN2 R INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

F 616 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 619 CLEAR TO RETURN TRANSFER
LRET XFR RNENBL RET XFR
N00109 Y0119.3 X0000.0 Y0001.0

H 622 CLEAR TO UNCLAMP
LR UNCLP RNENBL 2 UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 625 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 628
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 637
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 16
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 655
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 673
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 691
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 709
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 727
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 17
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 745
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 763 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 767
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 785 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 787
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 805
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 18
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 823
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 841
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 859
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 877
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 895
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 19
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 913
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 931
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 949
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 967
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 985
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 20
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1003
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 1021
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 1039 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 21
N00137 R0388.0 Y0073.1

A 1051 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 1053
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 1071
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 1089
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 1107
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 22
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1125
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 1143
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 1161
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 1179
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 1197 FILTERED FAULT
FILTERED COMMAND FILTERED
FAULT ENABLE FAULT
R0398.0
N
FILTER
FLT GRP1
R0399.0
O
FILTER
FLT GRP2
Ladder Diagram 23
N00147 R0365.0 R0398.0

A 1202 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 24
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 25
N00149 R0330.0 F1000.5 R1456.0

A 1232
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
H 1241 SUB66 P0006
CALLU UALM
N00151
I 1243 SUB66 P0007
CALLU INTERFACE
N00152
J 1245 SUB66 P0030
CALLU ARC WELD
N00153
K 1247 SUB 2
END2
N00154 ### UALM ###

L 1248 SUB71 P0006
SP UALM
N00155 Y0120.2 X1025.1 Y0120.2

M 1250 PROGRAM FAULT
DO 963 FAULT DO 963
PRG FLT RESET PRG FLT
N00156 Y0120.2 G1008.0

N 1253 PROGRAM VERIFY FAULT
DO 963 UALM1
PRG FLT
N00157 K0010.0 Y0119.7 Y0000.3 G1010.6

O 1255 TEACH MEMORY ON
TEACH DO 960 DO 4 RBT UALM23
MEMORY AUTO KEY IN TCH
Ladder Diagram 26
N00158 R0000.0 G1011.0

A 1259 GUN DISABLED SELECTOR SWITCH
ALWAYS UALM 25
ON
N00159 R0000.0 G1011.1

B 1261 RETRACT ENABLED
ALWAYS UALM 26
ON
N00160 Y0002.7 G1011.4

C 1263 IN PROGRAM LOOP
DO 24 RB UALM 29
T LOOP
N00161 Y0039.3 G1009.7

D 1265 TC PRESS FAULT RESET
DO 316 W UALM 16
RNGTLSTD
N00162
E 1267 SUB72
SPE
N00163 ### INTERFACE ###

F 1268 SUB71 P0007
SP INTERFACE
N00164 K0016.4 ACT D0612.0

G 1270 SUB 3 0040 ALL INTERFACE PB TIMEOUT
TORCH CL TMR ALL IF P
NR SS B TO
N00165 K0016.4 D0612.0 K0016.4

H 1274 S TORCH CLEANER SELECTOR SWITCH
TORCH CL ALL IF P TORCH CL
NR SS B TO NR SS
N00166 K0016.4 D0612.0 K0016.4

I 1277 R TORCH CLEANER SELECTOR SWITCH
TORCH CL ALL IF P TORCH CL
NR SS B TO NR SS
N00167
J 1280 SUB72
SPE
N00168 ### P0030 ###

K 1281 SUB71 P0030
SP ARC WELD
N00169 X0080.5 Y0058.0

L 1283
DI 646 P DO465 MI
WRFLT GRDY
O
Ladder Diagram 27
N00170 X0080.2 Y0058.2

A 1285
DI 643 G DO467 MI
AS FAULT GERR
X0080.3
B
DI 644 W
IREFAULT
X0080.4
C
DI 645 W
TRFAULT
X0080.5
D
DI 646 P
WRFLT
N00171 X0080.6 Y0058.7

E 1290
DI 647 W DO472 WR
IRESTICK STUCK
N00172 R0000.0 Y0049.4

F 1292 MIG WELD APPLICATION
ALWAYS DO 397 M
ON IGW APP
N00173
G 1294 SUB72
SPE
O
7 PMC Logic (S-Logic) for R-30iB Controllers

[FORD_NEXTGEN_ENETSafe_ARC_R30iB_2013_12_09]
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
Y0000.1
F ROBOT AT HOME
DO_2_RBT
_@_HOME
N00019 F1000.7 Y1000.7

G 63
TPENABLE
Y0119.7 Y0000.3
H ROBOT IN TEACH
DO_960__ DO_4_RBT
AUTO_KEY _IN_TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

I 67
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.0
J S
ECO24___ FACILITY
FC128 _CODE_11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

K 76
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

L
2 R1401.7 R1405.1
M
ECO16 ERROR_4
N00022 R1405.0 R1405.1 G1000.4 R1405.2

N 91 FENCE FAULT
FACILITY ERROR_4 RB_FAULT FENCE___
_CODE_11 _RESET FAULT
R1405.2
O
FENCE___
FAULT
Ladder Diagram 4
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

A 96 POWER FAIL RECOVERY
INT_EXT_ FAULT BRK_PWR_ COMMAND_ SYSTEM__ PWR_FAIL
MTR_ON FL_RCVRY ENABLE READY _RECVRY
R0000.2
B
INT_EXT_
CYC_STRT
K0010.3
C
PWR_FAIL
_RECVRY
N00024 K0010.3 ACT R1466.0

D 104 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

E 108
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
F
DRP_AUTO DO_3_RBT
_FAULT _IN_AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

G 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

H 125 INPUT SIMULATED
DO_958_I DO_581_I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

I 127 S DROP AUTO FAULT
FC_AVAIL APPL____ FC_ZERO FAULT RB_FAULT DRP_AUTO
ALARMS _RESET _FAULT
N00028 F1000.5 R1404.5

J 133 R DROP AUTO FAULT
FAULT DRP_AUTO
_FAULT
G1000.4
K
RB_FAULT
_RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

L 136
FAULT ECO33___ ECO_____ FC_AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 140
FC_AVAIL ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___
1 R1402.6 R1402.7 R1404.3

N S
ECO23___ ECO24___ SPOT____
FC64 FC128 ALARM
O
Ladder Diagram 5
N00031 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 150
1 R1402.6 R1402.7 R0330.0

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

C 160
1 R1402.6 R1402.7 R0330.1

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

E 170
1 R1402.6 R1402.7 R0330.2

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

G 180
1 R1402.6 R1402.7 R0330.3

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

I 190
1 R1402.6 R1402.7 R0330.4

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

K 200
1 R1402.6 R1402.7 R1406.0

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

M 210
1 R1402.6 R1402.7 R1404.2

N
ECO23___ ECO24___ FC_ZERO
FC64 FC128
O
Ladder Diagram 6
N00038 R1404.1 ACT R1404.3

A 220 SUB57 0001 R
ECO_____ DIFU SPOT____
RETRIEVE ALARM
R0330.0
B R
ARC_____
ALARM
R0330.1
C R
SEALER__
ALARM
R0330.2
D R
SERVOGUN
_ALARM
R0330.3
E R
TOOLCHNG
__ALARM
R0330.4
F R
SYSTEM__
_ALARM
R1405.0
G R
FACILITY
_CODE_11
R1406.0
H R
FACILITY
_CODE_15
N00039 R1404.4 ACT R1404.6

I 231 SUB 3 0006
FC_AVAIL TMR RETRIEVE
_DELAY
N00040 R1404.6 R1404.1

J 235 S
RETRIEVE ECO_____
_DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

K 237 SUB 3 0007 R
ECO_____ TMR ECO_____
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

L 241 S WELD FAULT #1
FC_AVAIL SPOT____ FC_ZERO FAULT DO_126_W
ALARM LD_FLT_1
N00043 X0083.1 Y0015.5

M 246 R WELD FAULT #1
DI_666_I DO_126_W
NCYCLE1 LD_FLT_1
N00044 K0010.1 K0010.0 R0000.1

N 248
EXT_MTR_ TEACH___ INT_EXT_
ON MEMORY MTR_ON
O
Ladder Diagram 7
N00045 X0000.2 K0010.0 K0010.5 K0010.1

A 251 S EXTERNAL MOTORS ON
DI_3_EXT TEACH___ MAINT_ME EXT_MTR_
MTR_ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

B
SI13_RES DO_5_RBT FAULT
ETSW _CNT_FLT
X1025.1
C
FAULT___
RESET
X0000.1 X0001.2
D
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
K0010.3
E
PWR_FAIL
_RECVRY
N00046 Y0000.2 Y0000.4 G1000.4 K0010.1

F 264 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

G 268
EXT_CYC_ TEACH___ MAINT_ME INT_EXT_
START MEMORY M CYC_STRT
N00048 X0000.3 K0010.0 K0010.2

H 272 S EXTERNAL CYCLE START
DI_4_EXT TEACH___ EXT_CYC_
_CY_STRT MEMORY START
X1026.5 Y0000.4 F1000.5

I
SI13_RES DO_5_RBT FAULT
ETSW _CNT_FLT
X1025.1
J
FAULT___
RESET
X0000.1 X0001.2
K
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
K0010.3
L
PWR_FAIL
_RECVRY
R0340.0
M
MANUAL__
WELD
N00049 Y0000.2 Y0000.4 G1000.4 K0010.2

N 285 R EXTERNAL CYCLE START
DO_3_RBT DO_5_RBT RB_FAULT EXT_CYC_
_IN_AUTO _CNT_FLT _RESET START
O
Ladder Diagram 8
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 289
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 R0508.0
B PROGRAM 1
DI_24_PG PROGRAM_
_SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 298
1 X0002.7 R0508.1
D PROGRAM 2
DI_24_PG PROGRAM_
_SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 307
1 X0002.7 R0508.2
F PROGRAM 3
DI_24_PG PROGRAM_
_SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 316
1 X0002.7 R0508.3
H PROGRAM 4
DI_24_PG PROGRAM_
_SLCT128 4
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 325
1 X0002.7 R0508.4
J PROGRAM 5
DI_24_PG PROGRAM_
_SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 334
1 X0002.7 R0508.5
L PROGRAM 6
DI_24_PG PROGRAM_
_SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 343
1 X0002.7 R0508.6
N PROGRAM 7
DI_24_PG PROGRAM_
_SLCT128 7
O
Ladder Diagram 9
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 352
1 X0002.7 R0508.7
B PROGRAM 8
DI_24_PG PROGRAM_
_SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 361
1 X0002.7 R0509.0
D PROGRAM 9
DI_24_PG PROGRAM_
_SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 370
1 X0002.7 R0509.1
F PROGRAM 10
DI_24_PG PROGRAM_
_SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 379
1 X0002.7 R0509.2
H PROGRAM 11
DI_24_PG PROGRAM_
_SLCT128 11
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 388
1 X0002.7 R0509.3
J PROGRAM 12
DI_24_PG PROGRAM_
_SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 397
1 X0002.7 R0509.4
L PROGRAM 13
DI_24_PG PROGRAM_
_SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 406
1 X0002.7 R0509.5
N PROGRAM 14
DI_24_PG PROGRAM_
_SLCT128 14
O
Ladder Diagram 10
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 415
1 X0002.7 R0509.6
B PROGRAM 15
DI_24_PG PROGRAM_
_SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 424
1 X0002.7 R0509.7
D PROGRAM 16
DI_24_PG PROGRAM_
_SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 433
1 X0002.7 R0510.0
F PROGRAM 17
DI_24_PG PROGRAM_
_SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 442
1 X0002.7 R0510.1
H PROGRAM 18
DI_24_PG PROGRAM_
_SLCT128 18
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 451
1 X0002.7 R0510.2
J PROGRAM 19
DI_24_PG PROGRAM_
_SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 460
1 X0002.7 R0510.3
L PROGRAM 20
DI_24_PG PROGRAM_
_SLCT128 20
O
Ladder Diagram 11
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 469
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 F1000.6

B
DO_3_RBT PAUSED PROGRAM_ DI_11___ AT_HOME
_IN_AUTO RUNNING PLC_AUTO
F1000.6 R0508.0
C
AT_HOME PROGRAM_
1
R0508.1
D
PROGRAM_
2
R0508.2
E
PROGRAM_
3
R0508.3
F
PROGRAM_
4
R0508.4
G
PROGRAM_
5
R0508.5
H
PROGRAM_
6
R0508.6
I
PROGRAM_
7
R0508.7
J
PROGRAM_
8
R0509.0
K
PROGRAM_
9
R0509.1
L
PROGRAM_
10
R0509.2
M
PROGRAM_
11
R0509.3
N
PROGRAM_
12
R0509.4
O
PROGRAM_
13
Ladder Diagram 12
R0509.5
A
PROGRAM_
14
R0509.6
B
PROGRAM_
15
R0509.7
C
PROGRAM_
16
R0510.0
D
PROGRAM_
17
R0510.1
E
PROGRAM_
18
R0510.2
F
PROGRAM_
19
R0510.3
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 Y0058.0 G1000.5

J UOP CYCLE START
INT_EXT_ CYCLE___ DO_5_RBT BREAK_A_ FAULT DO465_MI UOP_CYC_
MTR_ON STRT_DLY _CNT_FLT NO_HOLD GRDY START
N00071 G1000.5 F1000.2 ACT D0603.0

K 520 SUB 3 0008 S CYCLE START DELAY
UOP_CYC_ PROGRAM_ TMR CYCLE___
START RUNNING STRT_DLY
N00072 D0603.0 ACT D0603.0

L 525 SUB 3 0009 R CYCLE START DELAY
CYCLE___ TMR CYCLE___
STRT_DLY STRT_DLY
N00073 F1000.2 D0603.0

M 529 R CYCLE START DELAY
PROGRAM_ CYCLE___
RUNNING STRT_DLY
N00074
N 531 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

O 532 SUB 3 0011 TEACH MEMORY DELAY
DO_960__ TMR TEACH_ME
AUTO_KEY M_DELAY
Ladder Diagram 13
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 536 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 543 MAINTENANCE MODE
AUTO/MAI IN_MAINT
NT_SS
N00078 R0350.0 ACT D0610.0

E 545 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 549 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 558 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 563
DI_17_PG PNS_1
_SLCT_1
N00082 X0002.1 G1001.1

K 565
DI_18_PG PNS_2
_SLCT_2
N00083 X0002.2 G1001.2

L 567
DI_19_PG PNS_3
_SLCT_4
N00084 X0002.3 G1001.3

M 569
DI_20_PG PNS_4
_SLCT_8
N00085 X0002.4 G1001.4

N 571
DI_21_PG PNS_5
_SLCT_16
N00086 X0002.5 G1001.5

O 573
DI_22_PG PNS_6
_SLCT_32
Ladder Diagram 14
N00087 X0002.6 G1001.6

A 575
DI_23_PG PNS_7
_SLCT_64
N00088 X0002.7 G1001.7

B 577
DI_24_PG PNS_8
_SLCT128
N00089 X0000.6 K0008.0 Y0120.5

C 579 MAINTENANCE POSITION CLEAR
DI_7_MAI AUTO/MAI DO_966_M
NT_PSCLR NT_SS ANTP_CLR
N00090 K0008.0 Y0001.4

D 582 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO_13_SN
NT_SS DRBT_MNT
N00091 Y0112.3 Y0003.0

E 584 CLEAR OF ZONE #1
DO_900__ DO_25_CL
CLR_ZN_1 R_ZON_1
N00092 Y0112.4 Y0003.1

F 586 CLEAR OF ZONE #2
DO_901__ DO_26_CL
CLR_ZN_2 R_ZON_2
N00093 Y0112.5 Y0003.2

G 588 CLEAR OF ZONE #3
DO_902__ DO_27_CL
CLR_ZN_3 R_ZON_3
N00094 Y0112.6 Y0003.3

H 590 CLEAR OF ZONE #4
DO_903__ DO_28_CL
CLR_ZN_4 R_ZON_4
N00095 Y0112.7 Y0003.4

I 592 CLEAR OF ZONE #5
DO_904__ DO_29_CL
CLR_ZN_5 R_ZON_5
N00096 Y0113.0 Y0003.5

J 594 CLEAR OF ZONE #6
DO_905__ DO_30_CL
CLR_ZN_6 R_ZON_6
N00097 Y0113.1 Y0003.6

K 596 CLEAR OF ZONE #7
DO_906__ DO_31_CL
CLR_ZN_7 R_ZON_7
N00098 Y0113.2 Y0003.7

L 598 CLEAR OF ZONE #8
DO_907__ DO_32_CL
CLR_ZN_8 R_ZON_8
N00099 Y0113.3 Y0004.0

M 600 CLEAR OF ZONE #9
DO_908__ DO_33_CL
CLR_ZN_9 R_ZON_9
N00100 Y0113.4 Y0004.1

N 602 CLEAR OF ZONE #10
DO_909_C DO_34_CL
LR_ZN_10 R_ZON_10
N00101 Y0113.5 Y0004.2

O 604 CLEAR OF ZONE #11
DO_910_C DO_35_CL
LR_ZN_11 R_ZON_11
Ladder Diagram 15
N00102 Y0113.6 Y0004.3

A 606 CLEAR OF ZONE #12
DO_911_C DO_36_CL
LR_ZN_12 R_ZON_12
N00103 Y0113.7 Y0004.4

B 608 CLEAR OF ZONE #13
DO_912_C DO_37_CL
LR_ZN_13 R_ZON_13
N00104 Y0116.4 Y0004.5

C 610 CLEAR OF ZONE #14
DO_933_C DO_38_CL
LR_ZN_14 R_ZON_14
N00105 Y0118.7 Y0004.6

D 612 CLR OF INDEPENDENT MOTION ZN1
DO952_CL DO_39_CL
RMOTZN1 R_INDMOT
N00106 Y0119.0 Y0004.7

E 614 CLR OF INDEPENDENT MOTION ZN2
DO953_CL DO_40_CL
RMOTZN2 R_INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

F 616 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 619 CLEAR TO RETURN TRANSFER
LRET_XFR _RNENBL _RET_XFR
N00109 Y0119.3 X0000.0 Y0001.0

H 622 CLEAR TO UNCLAMP
LR_UNCLP _RNENBL _2_UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 625 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 628
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 637
_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
Ladder Diagram 16
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 655
_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 673
_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 691
_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 709
_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 727
_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 17
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 745
_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 763 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 767
_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 785 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 787
_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 805
_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 18
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 823
_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 841
_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 859
_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 877
_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 895
_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
Ladder Diagram 19
N00129 F1008.1 ACT R0388.1

A 913 SUB24 0001 F10008.1 SYRST DELAY ON
SYSRST TMRB F1008.1_
DELAY ON
B 0000000124
N00130 R0387.0 R0388.1 R0388.0

C 918 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 924 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 926
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 944
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 962
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
Ladder Diagram 20
N00135 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 980
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 998
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 1016
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 1034
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 1052
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
Ladder Diagram 21
N00140 R0397.0 F1000.0 R0397.0

A 1070 FILTERED FAULT
FILTERED COMMAND_ FILTERED
_FAULT ENABLE _FAULT
R0398.0
B
FILTER__
FLT_GRP1
R0399.0
C
FILTER__
FLT_GRP2
O
Ladder Diagram 22
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
Ladder Diagram 23
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
Ladder Diagram 24
N00143 R0330.0 F1000.5 R1456.0

A 1105
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
H 1114 SUB66 P0006
CALLU UALM
N00145
I 1116 SUB66 P0007
CALLU INTERFACE
N00146
J 1118 SUB66 P0030
CALLU ARC_WELD
N00147
K 1120 SUB 2
END2
N00148 ### UALM ###

L 1121 SUB71 P0006
SP UALM
N00149 Y0120.2 X1025.1 Y0120.2

M 1123 PROGRAM FAULT
DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00150 Y0120.2 G1008.0

N 1126 PROGRAM VERIFY FAULT
DO_963__ UALM1
PRG_FLT
N00151 K0010.0 Y0119.7 Y0000.3 G1010.6

O 1128 TEACH MEMORY ON
TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
Ladder Diagram 25
N00152 R0000.0 G1011.0

A 1132 GUN DISABLED SELECTOR SWITCH
ALWAYS__ UALM_25
ON
N00153 R0000.0 G1011.1

B 1134 RETRACT ENABLED
ALWAYS__ UALM_26
ON
N00154 Y0002.7 G1011.4

C 1136 IN PROGRAM LOOP
DO_24_RB UALM_29
T_LOOP
N00155 Y0039.3 G1009.7

D 1138 TC PRESS FAULT RESET
DO_316_W UALM_16
RNGTLSTD
N00156
E 1140 SUB72
SPE
N00157 ### INTERFACE ###

F 1141 SUB71 P0007
SP INTERFACE
N00158 K0016.4 ACT D0612.0

G 1143 SUB 3 0040 ALL INTERFACE PB TIMEOUT
TORCH_CL TMR ALL_IF_P
NR_SS B_TO
N00159 K0016.4 D0612.0 K0016.4

H 1147 S TORCH CLEANER SELECTOR SWITCH
TORCH_CL ALL_IF_P TORCH_CL
NR_SS B_TO NR_SS
N00160 K0016.4 D0612.0 K0016.4

I 1150 R TORCH CLEANER SELECTOR SWITCH
TORCH_CL ALL_IF_P TORCH_CL
NR_SS B_TO NR_SS
N00161
J 1153 SUB72
SPE
N00162 ### ARC_WELD ###

K 1154 SUB71 P0030
SP ARC_WELD
N00163 X0080.5 Y0058.0

L 1156
DI_646_P DO465_MI
WRFLT GRDY
O
Ladder Diagram 26
N00164 X0080.2 Y0058.2

A 1158
DI_643_G DO467_MI
AS_FAULT GERR
X0080.3
B
DI_644_W
IREFAULT
X0080.4
C
DI_645_W
TRFAULT
X0080.5
D
DI_646_P
WRFLT
N00165 X0080.6 Y0058.7

E 1163
DI_647_W DO472_WR
IRESTICK STUCK
N00166 R0000.0 Y0049.4

F 1165 MIG WELD APPLICATION
ALWAYS__ DO_397_M
ON IGW_APP
N00167
G 1167 SUB72
SPE

Ford FANUC R30iA R30iB NextGen E83

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VEHICLE OPERATION STRUCTURE AND STANDARDS

FORD Robot Programming Guide - FANUC Implementation

Appendix ARC Welding (Lincoln Interface)

2 Style Sample Teach Pendant Programs ..................................................................... 6

4 Lincoln Power Wave Communication ..................................................................... 27

5 Interface Panels ........................................................................................................ 28

7 PMC Logic (S-Logic) for R-30iB Controllers ......................................................... 30

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Table 1: Style Program Naming

PG08 MAINTENANCE Style program to move robot to 8

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2.1 PG21 – Arc Welding

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1. Bring the robot to a controlled start.

3. Press ENTER when prompted.

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N00001 R0000.0 R0000.0

N00002 R0000.0 G1000.0

N00003 X0000.0 R0100.5 G1000.1

N00004 X1026.4 R0100.5

N00005 X1026.5 R0100.5

N00006 R0000.0 G1000.2

N00007 X1000.3 G1000.3

N00008 X1025.1 G1000.4

N00009 X1000.6 G1000.6

N00010 R0000.0 G1000.7

N00011 F1000.0 Y1000.0

N00012 F1000.1 Y1000.1

N00013 F1000.2 Y1000.2

N00014 F1000.3 Y1000.3

N00015 F1000.4 Y1000.4

N00016 F1000.5 ACT R0338.0

N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

N00018 F1000.6 Y1000.6

N00019 F1000.7 Y1000.7

N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

N00022 R1405.0 R1405.1 G1000.4 R1405.2

N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3