Ford Fanuc R30ia R30ib Nextgen E180

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 – Grinding Applications

Table of Contents
1 SAMPLE TEACH PENDANT PROGRAMS ........................................ 5
1.1 PG21 (Mainline) ................................................................................................. 5
1.2 PG21_GRIND ..................................................................................................... 7
1.3 PG21_GRINDAR ................................................................................................ 9
1.4 PG08 – Maintenance Position .......................................................................... 11
1.5 PG09 – Minor Maintenance Position............................................................... 13
1.6 PG10 – Disk Change Main ............................................................................... 14
1.7 DROPTOOL1.................................................................................................... 17
1.8 DROPTOOL2.................................................................................................... 19
1.9 PICKTOOL1 ..................................................................................................... 21
1.10 PICKTOOL2 ..................................................................................................... 23
1.11 GRP1_OPN ....................................................................................................... 25
1.12 GRP1_CLS ........................................................................................................ 26
1.13 SPEEDRAMPUP .............................................................................................. 27
1.14 CHK_WARE (Background Logic) .................................................................... 29
1.15 SET_PC_FORCE (Background Logic) ............................................................ 30
1.16 RETSLIDE (Background Logic) ....................................................................... 31
1.17 HOME_IO – Reset Input/Output MACRO........................................................ 32
2 1734 ETHERNET/IP ROCKWELL IO MODEL SETUP ................... 35
2.1 Rack Hardware Configuration ......................................................................... 35
2.2 Rack IO Configuration...................................................................................... 36
2.3 Robot Ethernet/IP Grinder Configuration ........................................................ 37
2.4 Chassis Size Using RSLinx ............................................................................... 38
2.5 Chassis Size Using Web Browser ..................................................................... 39
3 SOFTWARE I/F PANELS ................................................................... 41
3.1 MH Software I/F Panel ..................................................................................... 41
3.2 Tool Change Software I/F Panel ...................................................................... 43
4 GRINDING PMC LOGIC (S-LOGIC) FOR R-30IA CONTROLLERS
44
5 GRINDING PMC LOGIC (S-LOGIC) FOR R-30IB CONTROLLERS
45
Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Grinding_Appendix - 2016_02_12.doc Page 2 of 45

Revision History
Revision Modification Date Description
1.0 2012-05-11 Initial Release
1.1 2012-11-15 Added 1734 Ethernet/IP Rockwell IO Model Setup
section.
Updated PMC: Created Prompt Box Rung for Resume
Tolerance in LEVEL2. Y73.0
Updated PMC: 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.
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.
Updated PMC: Added K0016.1 (VAC 4 ON PB) and
K0016.2 (BLOWOFF 4 ON PB) to rung output
D0612.1 (MH IF PB TO) in INTERFACE logic.
1.3 2013-01-14 Fixed Exit Zone 14 bit in HOME_IO.
1.4 2013-03-18 Added R-30iB specific PMC.
Moved R0.7 Part Present to MH from STUD.
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].
1.6 2014-06-24 Updated iA PMC: Moved R0.7 Part Present to MH
from STUD.
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.
Updated iB PMC: Facility code reset logic modified.
Updated HOME_IO to reset Robot at Minor
Maintenance:
Added DO[587:RBT AT MINMAINT]=OFF
1.7 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.
1.8 2016-02-12 Updated PMC: 2015-10-30 : Added Logic to allow
Robot Cycle Start from Multiple Home Positions;
Added Logic to require a TP Interface Button Press to
(Un)Lock the Tool Changer while in Teach; Added
logic to not allow the signal for the Lock Command to
go low when the Tool Change Application Bit is
inactive

1 Sample Teach Pendant Programs
1.1 PG21 (Mainline)

/PROG PG21
/ATTR
OWNER = MNEDITOR;
COMMENT = "Mainline";
PROG_SIZE = 2082;
CREATE = DATE 11-10-15 TIME 00:04:34;
MODIFIED = DATE 11-11-08 TIME 01:19:20;
FILE_NAME = PG21;
VERSION = 0;
LINE_COUNT = 95;
MEMORY_SIZE = 2486;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
SPOT Welding Equipment Number : 1 ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
CYCLE_TARGET = 0.00 ;
/MN
1: !******************************** ;
6: !Fanuc R30iA Next Generation Spec ;
7: !-------------------------------- ;
8: ;
9: !Verify Program ;
10: PROGRAM VERIFY(21) ;
11: ;
12: !Set Payload ;
13: PAYLOAD[2] ;
14: ;
15: !Setup App Specific Outputs ;
16: SETUP OUTPUTS ;
17: ;
18: !Set Grind Speed To 2500 RPM ;
19: R[112:Requested Speed]=2500 ;
20: !Start Grinder Speed Ramp Up ;
21: RUN SPEEDRAMPUP ;
22: ;
23: !Move to Home ;
24: GO TO HOME POS ;
25: ;
26: !Move to Pounce Position ;
27: GO TO POUNCE ;
28: ;
29: !Clr to Adv Xfer ;
30: DO[954:CLRTOADVXFR]=ON ;
31: ;
32: !Clr to Ret Xfer ;
33: DO[955:CLRTORETXFR]=ON ;
34: ;
35: !Clear to Unclamp ;
36: DO[956:CLRTOUNCLMP]=OFF ;
37: ;

38: !Robot waiting in loop ;
39: DO[24:RBT IN LOOP]=ON ;
40: ;
41: !Wait Continue from Pounce or Ret ;
42: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
43: ;
44: !Robot NOT waiting in loop ;
45: DO[24:RBT IN LOOP]=OFF ;
49: ;
50: !If Return to Home jump to label ;
51: IF DI[13:RETURN TO HOME]=ON,JMP LBL[13] ;
46: ;
47: !If Continue from Pounce jump to ;
48: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
52: ;
53: !Continue from Pounce ;
54: LBL[9:Pounce Cont] ;
9: ;
12: ;
57: DO[954:CLRTOADVXFR]=OFF ;
58: ;
60: DO[955:CLRTORETXFR]=OFF ;
61: ;
64: ;
65: !Enter Zone10 w/Station ;
66: ENTER ZONE(10) ;
67: ;
68: !Calls Grind Routine ;
69: IF DI[10:AUTO REPEAT MD]=ON,JMP LBL[110] ;
70: CALL PG21_GRIND ;
71: JMP LBL[111] ;
72: LBL[110] ;
73: CALL PG21_GRINDAR ;
74: LBL[111] ;
75: ;
77: DO[956:CLRTOUNCLMP]=ON ;
78: ;
81: ;
84: ;
85: !Exit Zone10 ;
86: EXIT ZONE(10) ;
87: ;
88: LBL[13:End Program] ;
89: ;
90: !Robot waiting in loop ;
92: ;
93: !Move to Home ;
95: ;
/POS
/END

1.2 PG21_GRIND
/PROG PG21_GRIND
/ATTR
OWNER = MNEDITOR;
COMMENT = "Grind";
PROG_SIZE = 2589;
CREATE = DATE 11-10-28 TIME 05:14:06;
FILE_NAME = PG21_GRI;
VERSION = 0;
LINE_COUNT = 80;
MEMORY_SIZE = 3029;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
7: ! Application: Roof Abrasive Fin ;
8: !Tool: UTOOL 1 ;
9: ! X: -20.99 Y: -0.64 Z: 74 ;
10: ! W: 0.00 P: -60.00 R: ;
11: !-------------------------------- ;
12: !Set Robot UTool Number ;
13: UTOOL_NUM=1 ;
14: ;
15: !Set Robot UFrame Number ;
16: UFRAME_NUM=0 ;
17: ;
18: !Set Push Corp Force to 6 LBS ;
19: R[110:Set PC Force]=6 ;
20: ;
21:J P[1] 80% CNT30 ;
22: ;
23: !Wait for Cmd RPM = Act RPM ;
24: LBL[2] ;
25: IF GO[52:VELCOMMANDBITS]=R[115:Ramp Up/Actual],JMP LBL[3] ;
26: JMP LBL[2] ;
27: !Continue ;
28: LBL[3] ;
29: ;
30: !Activate Force ;
31: DO[665:SETACTIVERETRACT]=ON ;
32: !Wait For Actual Force ;
33: !=> Set Force ;
34: LBL[12] ;
35: IF R[111:Act PC Force]>=R[110:Set PC Force],JMP LBL[11] ;
36: JMP LBL[12] ;
37: ;
38: LBL[11] ;
39: ;
40:L P[2] 800mm/sec CNT100 ;
41:L P[3] 55mm/sec CNT100 ;

42: ;
43: !Set Flag To Monitor ;
44: !Disk Ware ;
45: F[15:Start Ware Mon]=(ON) ;
46: ;
47:L P[4] 55mm/sec CNT100 ;
48:L P[5] 55mm/sec CNT100 ;
49:L P[6] 55mm/sec CNT100 ;
50:L P[7] 55mm/sec CNT100 ;
51:L P[8] 55mm/sec CNT100 ;
52:L P[9] 55mm/sec CNT100 ;
53: ;
55: !Disk Ware ;
56: F[15:Start Ware Mon]=(OFF) ;
57: ;
58:L P[10] 200mm/sec CNT30 ;
59: ;
60: !Deactivate Force ;
61: DO[665:SETACTIVERETRACT]=OFF ;
62: ;
63: !Turn Motor Off ;
64: DO[679:SPINDLEENABLE]=OFF ;
66: ;
67: !Wait For Head Retracted ;
68: WAIT DI[666:Minus Limit]=ON ;
69: ;
70:J P[11:CLEAR] 80% CNT30 ;
71: ;
72: !If Stopped During Proces ;
73: !Skip Setting Complete ;
74: IF (F[10:EStop During Process]=ON),JMP LBL[1] ;
75: ;
76: !Set Grind Comp To PLC ;
77: DO[111:WELDSEQCOMP2PLC1]=PULSE,1.0sec ;
78: ;
79: LBL[1] ;
80: ;
/POS
/END

1.3 PG21_GRINDAR
/PROG PG21_GRINDAR
/ATTR
OWNER = SHIFT;
COMMENT = "ONLY! auto rpt";
PROG_SIZE = 2589;
CREATE = DATE 11-11-02 TIME 03:13:22;
FILE_NAME = PG21_GRI;
VERSION = 0;
LINE_COUNT = 80;
MEMORY_SIZE = 3029;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
7: ! Application: Roof Abrasive Fin ;
8: !Tool: UTOOL 1 ;
9: ! X: -20.99 Y: -0.64 Z: 74 ;
10: ! W: 0.00 P: -60.00 R: ;
11: !-------------------------------- ;
13: UTOOL_NUM=1 ;
14: ;
16: UFRAME_NUM=0 ;
17: ;
18: !Set Push Corp Force to 6 LBS ;
19: R[110:Set PC Force]=6 ;
20: ;
21:J P[1] 50% CNT30 ;
22:L P[2] 800mm/sec CNT25 ;
23: ;
24: !Wait for Cmd RPM = Act RPM ;
25: LBL[2] ;
26: IF GO[52:VELCOMMANDBITS]=R[115:Ramp Up/Actual],JMP LBL[3] ;
27: JMP LBL[2] ;
28: !Continue ;
29: LBL[3] ;
30: ;
32: DO[665:SETACTIVERETRACT]=ON ;
33: !Wait For Actual Force ;
34: !=> Set Force ;
35: LBL[4] ;
36: IF R[111:Act PC Force]>=R[110:Set PC Force],JMP LBL[5] ;
37: JMP LBL[4] ;
38: ;
39: LBL[5] ;
40: ;
41:L P[3] 350mm/sec CNT25 ;

42: ;
44: !Disk Ware ;
45: F[15:Start Ware Mon]=(ON) ;
46: ;
47:L P[4] 67mm/sec CNT100 ;
48:L P[5] 67mm/sec CNT100 ;
49:L P[6] 67mm/sec CNT100 ;
50:L P[7] 67mm/sec CNT100 ;
51:L P[8] 67mm/sec CNT100 ;
52:L P[9] 67mm/sec CNT25 ;
53: ;
55: !Disk Ware ;
57: ;
58:L P[10] 500mm/sec CNT10 ;
59: ;
60: !Deactivate Force ;
62: ;
63: !Turn Motor Off ;
66: ;
67: !Wait For Head Retracted ;
68: WAIT DI[666:Minus Limit]=ON ;
69: ;
70:J P[11:CLEAR] 80% CNT30 ;
71: ;
72: !If Stopped During Proces ;
73: !Skip Setting Complete ;
74: IF (F[10:EStop During Process]=ON),JMP LBL[1] ;
75: ;
76: !Set Grind Comp To PLC ;
77: DO[111:WELDSEQCOMP2PLC1]=PULSE,1.0sec ;
78: ;
79: LBL[1] ;
80: ;
/POS
/END

1.4 PG08 – Maintenance Position
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 2025;
CREATE = DATE 09-10-02 TIME 10:57:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 74;
MEMORY_SIZE = 2357;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! ;
3: ! Moves robot to Maint Position ;
4: ! ;
5: ! NOTE: This program has ;
6: ! GP[1:robot] ;
7: ! ;
8: !***************************** ;
9: ;
12: ;
13: !CLR TO ADV. TRANSFER ;
15: ;
16: !Set Robot UTOOL Number ;
17: UTOOL_NUM=1 ;
18: ;
19: !Set Robot UFRAME Number ;
20: UFRAME_NUM=1 ;
21: ;
23: ! Runs HOME_IO ;
24: SETUP OUTPUTS ;
25: ;
26: !Move to Home ;
28: ;
30: UFRAME_NUM=1 ;
31: ;
32: !------------------------------ ;

33: !Approach to Maint Pos ;
34:J P[1] 20% CNT10 ;
35:J P[2] 20% CNT10 ;
36: ;
37: !Maintenance Position ;
38:J P[3] 10% CNT10 ;
39: ;
40: !Maint Position ON ;
41: DO[6:RBT AT MAINT]=ON ;
42: ;
43: !Open Spindle Guard ;
44: OPEN GRIPPER1 ;
45: ;
46: !Wait for guard open ;
47: WAIT DI[73:CLMP 1 OPENED]=ON ;
48: ;
49: ! Turn ON Robot in LOOP ;
51: ;
52: !Wait for Maintenance Clear ;
53: WAIT DI[7:MAINT POS CLR]=ON ;
54: ;
55: ! Turn OFF Robot in LOOP ;
57: ;
58: !Close Spindle Guard ;
59: CLOSE GRIPPER1 ;
60: ;
61: !Wait for guard close ;
62: WAIT DI[74:CLMP 1 CLOSED]=ON ;
63: ;
69: !Maint Position OFF ;
70: DO[6:RBT AT MAINT]=OFF ;
64: !------------------------------ ;
65: !Depart from Maint Pos ;
66:J P[2] 20% CNT10 ;
67:J P[1] 20% CNT10 ;
68: ;
71: ;
72: !Move to Home ;
74: ;
/POS
/END

1.5 PG09 – Minor Maintenance Position
/PROG PG09
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 2025;
CREATE = DATE 09-10-02 TIME 10:57:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 74;
MEMORY_SIZE = 2357;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! ;
3: ! Moves robot to Maint Position ;
4: ! ;
5: ! NOTE: This program has ;
6: ! GP[1:robot] ;
7: ! ;
8: !***************************** ;
9: ;
12: ;
15: ;
16: !Set Robot UTOOL Number ;
17: UTOOL_NUM=1 ;
18: ;
20: UFRAME_NUM=1 ;
21: ;
23: ! Runs HOME_IO ;
24: SETUP OUTPUTS ;
25: ;
26: !Move to Home ;
28: ;
30: UFRAME_NUM=1 ;
31: ;

32: !------------------------------ ;
33: !Approach to Maint Pos ;
34:J P[1] 20% CNT10 ;
35:J P[2] 20% CNT10 ;
36: ;
37: !Maintenance Position ;
38:J P[3] 10% CNT10 ;
39: ;
40: !Maint Position ON ;
41: DO[587:RBT AT MIN MAINT]=ON ;
42: ;
44: OPEN GRIPPER1 ;
45: ;
48: ;
49: ! Turn ON Robot in LOOP ;
51: ;
52: !Wait for Maintenance Clear ;
53: WAIT DI[7:MAINT POS CLR]=ON ;
54: ;
55: ! Turn OFF Robot in LOOP ;
57: ;
60: ;
63: ;
70: DO[587:RBT AT MIN MAINT]=OFF ;
64: !------------------------------ ;
65: !Depart from Maint Pos ;
66:J P[2] 20% CNT10 ;
67:J P[1] 20% CNT10 ;
68: ;
70: DO[587:RBT AT MIN MAINT]=OFF ;
71: ;
72: !Move to Home ;
74: ;
/POS
/END
1.6 PG10 – Disk Change Main

/PROG PG10
/ATTR
OWNER = MNEDITOR;
COMMENT = "Disk Change Main";
PROG_SIZE = 1366;
CREATE = DATE 11-10-22 TIME 03:57:56;
FILE_NAME = PG11;
VERSION = 0;

LINE_COUNT = 61;
MEMORY_SIZE = 1818;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !TOOL CHANGE PROGRAM ;
3: ;
4: !DROP LOOP ;
5: LBL[10] ;
6: IF DI[67:PART PRESENT 1]=OFF AND DI[305:TOOL ON STND
1]=OFF,JMP LBL[1] ;
2]=OFF,JMP LBL[2] ;
3]=OFF,JMP LBL[3] ;
4]=OFF,JMP LBL[4] ;
10: JMP LBL[10] ;
11: ;
12: LBL[1] ;
13: CALL DROPTOOL1 ;
14: JMP LBL[20] ;
15: ;
16: LBL[2] ;
18: JMP LBL[20] ;
19: ;
20: LBL[3] ;
22: JMP LBL[20] ;
23: ;
24: LBL[4] ;
26: JMP LBL[20] ;
27: ;
28: !PICK LOOP ;
29: LBL[20] ;
30: IF (DI[67:PART PRESENT 1]=ON AND DI[305:TOOL ON STND 1]=ON AND
F[12:Pick Stand 2]=OFF AND F[13:Pick Stand 3]=OFF AND F[14:Pick Stand
4]=OFF),JMP LBL[11] ;
31: ;
33: ;
35: ;
37: ;

38: JMP LBL[20] ;
39: ;
40: LBL[11] ;
41: CALL PICKTOOL1 ;
42: JMP LBL[30] ;
43: ;
44: LBL[12] ;
46: JMP LBL[30] ;
47: ;
48: LBL[13] ;
50: JMP LBL[30] ;
51: ;
52: LBL[14] ;
54: JMP LBL[30] ;
55: ;
56: LBL[30] ;
57: F[11:Pick Stand 1]=(OFF) ;
61: ;
/POS
/END

1.7 DROPTOOL1
/PROG DROPTOOL1
/ATTR
OWNER = MNEDITOR;
COMMENT = "Drop Tool 1";
PROG_SIZE = 2310;
CREATE = DATE 11-10-25 TIME 02:05:10;
FILE_NAME = DROPTOOL;
VERSION = 0;
LINE_COUNT = 72;
MEMORY_SIZE = 2782;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !****************************** ;
2: ! DROP TOOL 1 ;
3: !****************************** ;
4: ;
6: UTOOL_NUM=1 ;
7: ;
9: UFRAME_NUM=0 ;
10: ;
13: ;
14: !Check Limit ;
15: WAIT (DI[665:Plus Limit]=OFF AND DI[666:Minus Limit]=ON) ;
16: ;
17:J P[1:COMMON] 50% FINE ;
18: ;
19:J P[2:PNC_TO_STAND_1] 50% CNT30 ;
20:J P[3] 50% CNT30 ;
21: ;
23: OPEN GRIPPER1 ;
24: ;
26: WAIT DI[73:CLMP 1 OPENED]=ON AND DI[305:TOOL ON STND 1]=OFF
;
27: ;
28: !Move to Drop Approach ;
29:L P[4:BEFORE_DROP] 300mm/sec FINE ;
30: !Move to Drop Tool 1 ;
31: ;
32: !AT DROP 1 ;
33:L P[5:AT_DROP] 300mm/sec FINE ;
34: ;
35: WAIT .50(sec) ;
36: ;
37: !RELEASE SPINDLE ;

38: OPEN GRIPPER2 ;
39: ;
40: WAIT 1.00(sec) ;
41: ;
42: DO[59:RBT AT DRP OFF 1]=ON ;
43: WAIT (DI[305:TOOL ON STND 1]) ;
44: DO[59:RBT AT DRP OFF 1]=OFF ;
45: ;
46: !Move Clear of Tool Common Wait ;
47:L P[6:AFTER_DROP] 300mm/sec FINE ;
48: ;
49:L P[7] 500mm/sec FINE ;
50: ;
51: !################################ ;
52: ;
53: IF (DI[306:TOOL ON STND 2] AND DI[68:PART PRESENT
2]=ON),F[12:Pick Stand 2]=(ON) ;
54: IF (F[12:Pick Stand 2]=ON),JMP LBL[999] ;
55: ;
56: !################################ ;
57: ;
58: !CLOSE Spindle Guard ;
60: ;
63: ;
64:J P[8] 50% CNT30 ;
65: ;
67: ;
69: ;
70: !################################ ;
71: !Drop To Stand 1 and Pick From 2 ;
72: LBL[999] ;
/POS
/END

1.8 DROPTOOL2
/PROG DROPTOOL2
/ATTR
OWNER = MNEDITOR;
COMMENT = "Drop Tool 2";
PROG_SIZE = 2310;
CREATE = DATE 11-10-25 TIME 02:05:38;
FILE_NAME = DROPTOOL;
VERSION = 0;
LINE_COUNT = 72;
MEMORY_SIZE = 2782;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !****************************** ;
2: ! DROP TOOL 2 ;
3: !****************************** ;
4: ;
6: UTOOL_NUM=1 ;
7: ;
9: UFRAME_NUM=0 ;
10: ;
13: ;
14: !Check Limit ;
16: ;
18: ;
20:J P[3] 50% CNT30 ;
21: ;
23: OPEN GRIPPER1 ;
24: ;
26: WAIT DI[73:CLMP 1 OPENED]=ON AND DI[306:TOOL ON STND 2]=OFF
;
27: ;
28: !Move to Drop Approach ;
29:L P[4:BEFORE_DROP] 300mm/sec FINE ;
30: !Move to Drop Tool 2 ;
31: ;
32: !AT DROP 2 ;
33:L P[5:AT_DROP] 300mm/sec FINE ;
34: ;
35: WAIT .50(sec) ;
36: ;

38: OPEN GRIPPER2 ;
39: ;
40: WAIT 1.00(sec) ;
41: ;
42: DO[60:RBT AT DRP OFF 2]=ON ;
43: WAIT (DI[306:TOOL ON STND 2]) ;
45: ;
47:L P[6:AFTER_DROP] 300mm/sec FINE ;
48: ;
50: ;
51: !################################ ;
52: ;
53: IF (DI[305:TOOL ON STND 1] AND DI[67:PART PRESENT
1]=ON),F[11:Pick Stand 1]=(ON) ;
54: IF (F[11:Pick Stand 1]=ON),JMP LBL[999] ;
55: ;
56: !################################ ;
57: ;
58: !CLOSE Spindle Guard ;
60: ;
63: ;
64:J P[8] 50% CNT30 ;
65: ;
67: ;
69: ;
70: !################################ ;
71: !Drop To Stand 2 and Pick From 1 ;
72: LBL[999] ;
/POS
/END

1.9 PICKTOOL1
/PROG PICKTOOL1
/ATTR
OWNER = MNEDITOR;
COMMENT = "Pick tool 1";
PROG_SIZE = 2778;
CREATE = DATE 11-10-25 TIME 02:03:48;
FILE_NAME = PICKTOOL;
VERSION = 0;
LINE_COUNT = 94;
MEMORY_SIZE = 3162;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !****************************** ;
2: !PICK TOOL 1 ;
3: !****************************** ;
4: ;
6: UTOOL_NUM=1 ;
7: ;
9: UFRAME_NUM=0 ;
10: ;
11: !################################ ;
12: ;
13: IF (DI[305:TOOL ON STND 1] AND DI[67:PART PRESENT 1]=ON AND
F[11:Pick Stand 1]),JMP LBL[20] ;
14: ;
15: !################################ ;
16: ;
19: ;
20: !Check Limit ;
22: ;
24: ;
26: ;
27: !################################ ;
28: ;
29: !IF PICK STAND 1 AFTER DROP 2 ;
30: LBL[20] ;
31: ;
32: !################################ ;
33: ;
34:J P[3] 50% CNT30 ;
35: ;
37: OPEN GRIPPER2 ;

38: ;
40: OPEN GRIPPER1 ;
41: ;
44: ;
45: !Move to Pick Approach ;
46:L P[4:BEFORE_PICK] 300mm/sec FINE ;
47: !Move to Pick Tool 1 ;
48: ;
49: !AT PICK 1 ;
50:L P[5:AT_PICK] 300mm/sec FINE ;
51: ;
52: DO[49:RBT @ PKUP POS 1]=ON ;
53: ;
54: WAIT .50(sec) ;
55: ;
56: !ENGAGE SPINDLE ;
58: ;
59: WAIT 1.00(sec) ;
60: ;
62:L P[6:AFTER_PICK] 300mm/sec FINE ;
63: ;
64: WAIT (DI[305:TOOL ON STND 1]=OFF) ;
65: WAIT (DI[67:PART PRESENT 1]=OFF) ;
66: ;
67: DO[49:RBT @ PKUP POS 1]=OFF ;
68: ;
71: ;
72: !MOVE TO CHECK DISK ;
74: ;
75: !CHECK DISK ;
76: DO[41:RBT AT DSK CHK 1]=ON ;
77: WAIT (DI[41:RBT AT DSK CHK 1 ]) ;
78: DO[41:RBT AT DSK CHK 1]=OFF ;
79: DO[121:AUTO TD 1]=OFF ;
80: ;
82:L P[11] 300mm/sec CNT30 ;
83: ;
86: ;
89: ;
90:J P[12] 50% CNT30 ;
91: ;
93: ;
/POS
/END

1.10 PICKTOOL2
/PROG PICKTOOL2
/ATTR
OWNER = MNEDITOR;
COMMENT = "Pick tool 2";
PROG_SIZE = 2786;
CREATE = DATE 11-10-25 TIME 02:04:18;
FILE_NAME = PICKTOOL;
VERSION = 0;
LINE_COUNT = 95;
MEMORY_SIZE = 3166;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !****************************** ;
2: !PICK TOOL 2 ;
3: !****************************** ;
4: ;
6: UTOOL_NUM=1 ;
7: ;
9: UFRAME_NUM=0 ;
10: ;
11: !################################ ;
12: ;
13: IF (DI[306:TOOL ON STND 2] AND DI[68:PART PRESENT 2]=ON AND
F[12:Pick Stand 2]),JMP LBL[20] ;
14: ;
15: !################################ ;
16: ;
19: ;
20: !Check Limit ;
22: ;
23:J P[1:COMMON] 50% CNT30 ;
24: ;
26: ;
27: !################################ ;
28: ;
29: !IF PICK STAND 2 AFTER DROP 1 ;
30: LBL[20] ;
31: ;
32: !################################ ;
33: ;
34:J P[3] 50% CNT30 ;
35: ;
37: OPEN GRIPPER2 ;

38: ;
40: OPEN GRIPPER1 ;
41: ;
44: ;
45: !Move to Pick Approach ;
46:L P[4:BEFORE_PICK] 300mm/sec FINE ;
47: !Move to Pick Tool 2 ;
48: ;
49: !AT PICK 2 ;
50:L P[5:AT_PICK] 300mm/sec FINE ;
51: ;
52: DO[50:RBT @ PKUP POS 2]=ON ;
53: ;
54: WAIT .50(sec) ;
55: ;
56: !ENGAGE SPINDLE ;
58: ;
59: WAIT 1.00(sec) ;
60: ;
62:L P[6:AFTER_PICK] 300mm/sec FINE ;
63: ;
64: WAIT (DI[306:TOOL ON STND 2]=OFF) ;
65: WAIT (DI[68:PART PRESENT 2]=OFF) ;
66: ;
68: ;
71: ;
72: !MOVE TO CHECK DISK ;
74: ;
75: !CHECK DISK ;
76: DO[41:RBT AT DSK CHK 1]=ON ;
77: WAIT (DI[41:RBT AT DSK CHK 1 ]) ;
79: DO[121:AUTO TD 1]=OFF ;
80: ;
82:L P[11] 300mm/sec CNT30 ;
83: ;
86: ;
89: ;
90:J P[12] 50% CNT30 ;
91: ;
93: ;
95: ;
/POS
/END

1.11 GRP1_OPN
/PROG GRP1_OPN Macro
/ATTR
OWNER = ASCBIN;
COMMENT = "OPEN GRIPPER 1";
PROG_SIZE = 488;
CREATE = DATE 10-02-23 TIME 06:58:04;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 14;
MEMORY_SIZE = 804;
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: !OPENS CLAMP#1 ;
3: ! ;
4: ! NOTE: This program has NO ;
5: ! GP[1:robot] and ;
6: ! GP[2:servogun] motion ;
7: ! ;
8: !******************************** ;
9: ! ;
10: !GRIPPER 1 CLOSE ;
11: DO[74:CLOSE CLAMP 1]=OFF ;
12: ;
13: !GRIPPER 1 OPEN ;
14: DO[73:OPEN CLAMP 1]=ON ;
/POS
/END

1.12 GRP1_CLS
/PROG GRP1_CLS Macro
/ATTR
OWNER = ASCBIN;
COMMENT = "CLOSE GRIPPER 1";
PROG_SIZE = 490;
CREATE = DATE 10-02-23 TIME 06:58:04;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 14;
MEMORY_SIZE = 806;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !CLOSES CLAMP#1 ;
3: ! ;
7: ! ;
8: !******************************** ;
9: ! ;
10: !GRIPPER 1 OPEN ;
11: DO[73:OPEN CLAMP 1]=OFF ;
12: ;
13: !GRIPPER 1 CLOSE ;
14: DO[74:CLOSE CLAMP 1]=ON ;
/POS
/END

1.13 SPEEDRAMPUP
/PROG SPEEDRAMPUP Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Speed Ramp UP";
PROG_SIZE = 1308;
CREATE = DATE 11-10-29 TIME 04:37:52;
FILE_NAME = GRINDSPE;
VERSION = 0;
LINE_COUNT = 51;
MEMORY_SIZE = 1736;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
2: ! Speed Ramp Up and Verification ;
3: !******************************** ;
4: LBL[100:Begin Spd RampUp] ;
5: ;
6: GO[52:VELCOMMANDBITS]=0 ;
7: ;
8: !Jump to 500 if Speed entered ;
9: !is greater than 5000 RPM ;
10: IF R[112:Requested Speed]>5000,JMP LBL[500] ;
11: ;
12: !Reset motor speed fault ;
13: DO[47:UDEF RBT OUT 7]=OFF ;
14: ;
15: !Calculate the needed speed ;
16: R[113]=(R[112:Requested Speed]*2) ;
17: ;
18: R[114]=(R[113]/10) ;
19: ;
20: R[115:Ramp Up/Actual]=(R[113]-R[114]+100) ;
21: ;
22: !Wait to Turn Motor On ;
23: DO[679:SPINDLEENABLE]=ON ;
24: ;
25: LBL[200:Check Speed] ;
26: ;
27: !Check to see if the Velocity com ;
28: !the calculated speed ;
29: IF GO[52:VELCOMMANDBITS]>=R[115:Ramp Up/Actual],JMP LBL[1000]
;
30: ;
31: IF GO[52:VELCOMMANDBITS]<R[115:Ramp Up/Actual],JMP LBL[300] ;
32: ;
33: JMP LBL[1000] ;
34: ;
35: LBL[300:Increase Speed] ;
36: ;

37: !Add the increment speed to the v ;
38: GO[52:VELCOMMANDBITS]=(GO[52:VELCOMMANDBITS]+100) ;
39: WAIT .02(sec) ;
40: ;
41: JMP LBL[200] ;
42: ;
43: LBL[500:Speed Error] ;
44: ;
45: !Speed To Fast Error ;
46: DO[47:UDEF RBT OUT 7]=ON ;
47: ;
48: JMP LBL[100] ;
49: ;
50: LBL[1000] ;
51: ;
/POS
/END

1.14 CHK_WARE (Background Logic)
NOTE1: Add this program to the background logic in MENUS, SETUP,
BGLOGIC MENU.
/PROG CHK_WARE Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Check Disk Ware";
PROG_SIZE = 520;
CREATE = DATE 11-10-27 TIME 22:04:42;
FILE_NAME = CHECK_DI;
VERSION = 0;
LINE_COUNT = 10;
MEMORY_SIZE = 984;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !If Auto Repeat JMP Over Error ;
2: IF (DI[10:AUTO REPEAT MD]),JMP LBL[10] ;
3: ;
4: !IF Limit ON Set Error ;
5: IF (!DI[665:Plus Limit] AND F[15:Start Ware Mon] OR
!F[15:Start Ware Mon]),JMP LBL[10] ;
6: ;
7: !Worn Disk Error ;
8: DO[121:AUTO TD 1]=ON ;
9: ;
10: LBL[10] ;
/POS
/END

1.15 SET_PC_FORCE (Background Logic)
BGLOGIC MENU.
/PROG SET_PC_FORCE Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Push Corp Force";
PROG_SIZE = 510;
CREATE = DATE 11-10-27 TIME 05:33:46;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 12;
MEMORY_SIZE = 966;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !Set Force and Do Calculation ;
2: ;
3: !Check for High Force ;
4: IF (R[110:Set PC Force]>10),JMP LBL[1] ;
5: ;
6: !Set Force Calculation ;
7: GO[51:COMMANDFORCEBITS]=(R[110:Set PC Force]*100+50) ;
8: ;
9: !Chk Act Force ;
10: R[111:Act PC Force]=(GI[51:ACTUALFORCEBITS]/100) ;
11: ;
12: LBL[1] ;
/POS
/END

1.16 RETSLIDE (Background Logic)
BGLOGIC MENU.
/PROG RETSLIDE Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Retract Slide";
PROG_SIZE = 532;
CREATE = DATE 11-10-26 TIME 22:27:54;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 13;
MEMORY_SIZE = 984;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !If EStopped During Process ;
2: !Set Flag 10 ;
3: IF (DI[1:EXT RUN ENABLE] AND !DI[11:PLC AUTO] AND !DI[12:PLC
MANUAL] AND F[15:Start Ware Mon]),F[10:EStop During Process]=(ON) ;
4: ;
5: IF (!DI[1:EXT RUN ENABLE] AND F[15:Start Ware Mon]),F[10:EStop
During Process]=(ON) ;
6: ;
7: IF (!F[10:EStop During Process]),JMP LBL[1] ;
8: ;
9: !Retract Head and Turn Off Motor ;
12: ;
13: LBL[1] ;
/POS
/END

1.17 HOME_IO – Reset Input/Output MACRO
/PROG HOME_IO Macro
/ATTR
OWNER = ASCBIN;
COMMENT = "SET AT HOME I-O";
PROG_SIZE = 1952;
CREATE = DATE 10-02-23 TIME 06:58:08;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 105;
MEMORY_SIZE = 2288;
TASK_PRIORITY = 60,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 1,
ABORT_REQUEST = 7,
PAUSE_REQUEST = 3;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !MACRO SET AT HOME I-O ;
3: ! ;
4: !Also runs Automatically when ;
5: ! robot goes from non-home pos ;
6: ! to home pos ;
7: ! ;
11: !***************************** ;
12: ;
15: ;
16: !CLR TO RET. TRANSFER ;
18: ;
19: !CLEAR TO UNCLAMP ;
21: ;
22: ;
23: !ROBOT USER DEFINE OFF ;
31: DO[48:Worn Disk]=OFF ;
32: ;
33: ;
34: !RESET FAULT RESET ;
35: DO[959:FAULTRESET]=OFF ;

36: ;
37: ;
38: !RESET ROBOT LOOP ;
40: DO[977:WTRSVRPULSRST]=OFF ;
41: DO[963:PRGRM FLT]=OFF ;
42: ;
43: !AT REPAIR OFF ;
44: DO[587:RBT AT MINMAINT]=OFF ;
45: ;
46: ;
47: !RESET PICKUP POS ;
56: ;
57: ;
58: !RESET WRK POS ;
59: DO[177:MDL WRK POS 1]=OFF ;
67: ;
68: ;
69: !CLEAR EXIT ZONES ;
70: DO[900:CLROFZONE1]=ON ;
84: ;
85: ;
86: !PEDESTAL APPLICATION ONLY ;
87: DO[971:PEDDMPAPP]=ON ;
88: ;
89: !Turn OFF Weld Mode ;
90: DO[115:WELD/NO WELD MD1]=OFF ;
91: ;
92: ! Reset the register that holds ;
93: ! the program number to run ;
94: R[153:ProgSelNum]=0 ;

95: ;
96: !Reset Grinder IO ;
97: F[10:EStop During Process]=(OFF) ;
103: GO[51:COMMANDFORCEBITS]=0 ;
104: GO[52:VELCOMMANDBITS]=0 ;
105: ;
/POS
/END

2 1734 Ethernet/IP Rockwell IO Model Setup
2.1 Rack Hardware Configuration

Table 1: Hardware Configurations
Slot 0 Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7
1734-
Module Type AENT IB8 IE2V IE2V IE2V OB8 OB8 OE2V
24VDC Analog Analog Analog 24VDC 24VDC Analog

Sink Voltage Voltage Voltage Source Source Voltage
I/O Type Input Input Input Input Output Output Output
Channels 8 2 2 2 8 8 2
Bytes
Consumed 0 0 0 0 0 1 1 4
Bytes Produced 8 1 6 6 6 1 1 2
Chassis Size = 8
(Base module + number of I/O Cards installed)
Set via Third party tools ie. RSLinx/RSNetworx

2.2 Rack IO Configuration
Table 2: IO Configurations
I/O I/O Start Num
Slot Type Module Description Rack point pts
1734-
Slot 0 DI AENT Status bits 89 1 64
Slot 1 DI 1734-IE2V 8 Digital inputs 89 65 8
Slot 2 GI 1734-IE2V ch 0 Analog Input 89 73 16
GI 1734-IE2V ch 1 Analog Input 89 89 16
DI 1734-IE2V Status bits ch 0 89 105 8
Slot 5 DO 1734-OB8 8 Digital Outputs 89 1 8
DI 1734-OB8 Status bits 89 217 8
Slot 6 DO 1734-OB8 8 Digital Outputs 89 9 8
DI 1734-OB8 Status bits 89 225 8
1734-
Slot 7 GO OE2V CH 0 Analog Ouput 89 17 16
1734-
GO OE2V CH 1 Analog Ouput 89 33 16
1734-
DI OE2V Status bits ch 0 89 233 8
1734-
DI OE2V Status bits ch 1 89 241 8
Table 3: EtherNet/IP Setup

Vendor ID 1
Device Type 12
Product code 108
Input Size 31
Output size 6
RPI 32
Assembly
instance(input) 101
Assembly
instance(output) 100
Configuration instance 102

2.3 Robot Ethernet/IP Grinder Configuration

2.4 Chassis Size Using RSLinx
 Using RSLinx, right click on the 1734 Ethernet/IP adapter and choose "Module Configuration" .
 Navigate to the "Chassis Configuration" to set/verify the Chassis Size.
 Chassis Size = Ethernet/IP base module + number of I/O cards installed.

2.5 Chassis Size Using Web Browser
Log in information for 1734-AENT configuration screen
Username: admin
Password: password

3 Software I/F Panels
3.1 MH Software I/F Panel

The Software Interface Panels are located under MENU, using F1 – F5 buttons or by
pressing MENU, 0-Next, 8 Browser, F1-TYPE.

3.2 Tool Change Software I/F Panel
The Software Interface Panels are located under MENU, using F1 – F5 buttons or by
pressing MENU, 0-Next, 8 Browser, F1-TYPE.

4 Grinding PMC Logic (S-Logic) for R-30iA Controllers
NOTE: The PMC uses the MH application.

[FORD_NEXTGEN_ENETSafe_MH_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 I DO 126 W
NCYCLE1 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 SUB 2
END2
N00160 ### P0001 ###

D 1268 SUB71 P0001
SP TOOL CHANGING
N00161 X0080.0 R0347.0

E 1270 GUN ID NOT 0
DI 641 GUN ID
TOOL ID1 NOT 0
X0080.1
F
DI 642
TOOL ID2
X0080.2
G
DI 643
TOOL ID4
X0080.3
H
DI 644
TOOL ID8
N00162 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

I 1275
DI 641 DI 642 DI 643 DI 644 GUN 1 ON
TOOL ID1 TOOL ID2 TOOL ID4 TOOL ID8 ARM
N00163 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

J 1280
DI 641 DI 642 DI 643 DI 644 GUN 2 ON
N00164 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

K 1285
DI 641 DI 642 DI 643 DI 644 GUN 3 ON
N00165 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

L 1290
DI 641 DI 642 DI 643 DI 644 GUN 4 ON
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

M 1295
DI 641 DI 642 DI 643 DI 644 GUN 5 ON
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

N 1300
DI 641 DI 642 DI 643 DI 644 GUN 6 ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

O 1305
DI 641 DI 642 DI 643 DI 644 GUN 7 ON
Ladder Diagram 28
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

A 1310
DI 641 DI 642 DI 643 DI 644 GUN 8 ON
N00170 R0321.0 R0328.6

B 1315 TOOL ON ROBOT
GUN 1 ON TOOLONRO
ARM BOT
R0322.0
C
GUN 2 ON
ARM
R0323.0
D
GUN 3 ON
ARM
R0324.0
E
GUN 4 ON
ARM
R0325.0
F
GUN 5 ON
ARM
R0326.0
G
GUN 6 ON
ARM
R0326.1
H
GUN 7 ON
ARM
R0326.2
I
GUN 8 ON
ARM
N00171 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

J 1324
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
K ANY GEO TOOL PRESENT ON ROBOT
GUN 8 ON GEOTOOLP
ARM RSNT
N00172 X0080.0 Y0038.0

L 1333
DI 641 DO 305
TOOL ID1 TOOL ID1
N00173 X0080.1 Y0038.1

M 1335
DI 642 DO 306
TOOL ID2 TOOL ID2
N00174 X0080.2 Y0038.2

N 1337
DI 643 DO 307
TOOL ID4 TOOL ID4
N00175 X0080.3 Y0038.3

O 1339
DI 644 DO 308
TOOL ID8 TOOL ID8
Ladder Diagram 29
N00176 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

A 1341
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
B GUN 1-8 (ALL TOOLS IN STAND)
DI 312 GUN 1-8
TCSTND8
N00177 Y0117.4 K0011.1

C 1350 TOOL CHANGER RELEASE
DO 941 TC
TC UNLCK RELEASED
N00178 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

D 1352 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

E
TPENABLE DO 960 TC LOCK TOOLONRO
AUTO KEY PB BOT
N00179 X0079.0 Y0040.6

F 1365
DI 633 DO 327 T
TC LOCKD CCOUPMON
N00180 Y0117.4 Y0117.3 Y0000.2 Y0079.0

G 1367 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

H
TPENABLE DO 960 TC UNLOC
AUTO KEY K PB
N00181 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

I 1376
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

J
TPENABLE DO 960 TC UNLOC TOOLONRO
AUTO KEY K PB BOT
1 R0328.6 Y0079.1
K TOOL CHANGER UNLOCK
TOOLONRO DO 634 T
BOT C UNLOCK
2
L
N00182 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

M 1390 TC LOCK PUSH BUTTON
TC LOCK TC UNLOC TPENABLE DO 960 TC LOCK
PB K PB AUTO KEY PB
N00183 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

N 1395 TC UNLOCK PUSH BUTTON
TC UNLOC TC LOCK TPENABLE DO 960 TC UNLOC
K PB PB AUTO KEY K PB
N00184 X0079.1 Y0040.7

O 1400
DI 634 DO 328 T
TC ULCKD CRELMON
Ladder Diagram 30
N00185 R0328.6 K0008.0 R0218.4

A 1402 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI 940 T
BOT NT SS C NOTOOL
N00186 Y0117.5 Y0117.6 Y0000.2 Y0038.5

B 1405 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

C
TC OPENG TC CLOS DO 4 RBT
UNCOVER GUNCOVER IN TCH
N00187 Y0117.5 Y0117.6 Y0000.2 Y0038.6

D 1413 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

E
TC CLOS TC OPENG DO 4 RBT
GUNCOVER UNCOVER IN TCH
N00188 X0038.0 R0321.0 R0329.0

F 1421 GUN1 POSITION
DI 305 GUN 1 ON GUN1 POS
TCSTND1 ARM ITION
X0038.0 X0039.3
G
DI 305 DI 316 G
TCSTND1 EOTPDCK
N00189 X0038.1 R0322.0 R0329.1

H 1427 GUN2 POSITION
TCSTND2 ARM ITION
X0038.1 X0039.3
I
DI 306 DI 316 G
TCSTND2 EOTPDCK
N00190 X0038.2 R0323.0 R0329.2

J 1433 GUN3 POSITION
TCSTND3 ARM ITION
X0038.2 X0039.3
K
DI 307 DI 316 G
TCSTND3 EOTPDCK
N00191 X0038.3 R0324.0 R0329.3

L 1439 GUN4 POSITION
TCSTND4 ARM ITION
X0038.3 X0039.3
M
DI 308 DI 316 G
TCSTND4 EOTPDCK
N00192 X0038.4 R0325.0 R0329.4

N 1445 GUN5 POSITION
TCSTND5 ARM ITION
X0038.4 X0039.3
O
DI 309 DI 316 G
TCSTND5 EOTPDCK
Ladder Diagram 31
N00193 X0038.5 R0326.0 R0329.5

A 1451 GUN6 POSITION
TCSTND6 ARM ITION
X0038.5 X0039.3
B
DI 310 DI 316 G
TCSTND6 EOTPDCK
N00194 X0038.6 R0326.1 R0329.6

C 1457 GUN7 POSITION
TCSTND7 ARM ITION
X0038.6 X0039.3
D
DI 311 DI 316 G
TCSTND7 EOTPDCK
N00195 X0038.7 R0326.2 R0329.7

E 1463 GUN8 POSITION
TCSTND8 ARM ITION
X0038.7 X0039.3
F
DI 312 DI 316 G
TCSTND8 EOTPDCK
N00196 R0329.0 R0328.7

G 1469 ALL GUN1-8 POSITION
GUN1 POS GUN1-8 P
ITION OSITION
R0329.1
H
GUN2 POS
ITION
R0329.2
I
GUN3 POS
ITION
R0329.3
J
GUN4 POS
ITION
R0329.4
K
GUN5 POS
ITION
R0329.5
L
GUN6 POS
ITION
R0329.6
M
GUN7 POS
ITION
R0329.7
N
GUN8 POS
ITION
O
Ladder Diagram 32
N00197 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1478
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

B TOOL 1 IN OPDOCK
DI 311 DI 312 TOOL1INO
TCSTND7 TCSTND8 PDOCK
N00198 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1488
1 X0038.6 X0038.7 R0320.1

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

E 1498
1 X0038.6 X0038.7 R0320.2

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

G 1508
1 X0038.6 X0038.7 R0320.3

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

I 1518
1 X0038.6 X0038.7 R0320.4

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

K 1528
1 X0038.6 X0038.7 R0320.5

L TOOL 6 IN OPDOCK
N00203 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1538
1 X0038.6 X0038.7 R0320.6

N TOOL 7 IN OPDOCK
O
Ladder Diagram 33
N00204 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1548
1 X0038.6 X0038.7 R0320.7

B TOOL 8 IN OPDOCK
N00205 R0320.0 R0319.0

C 1558 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
D
TOOL2INO
PDOCK
R0320.2
E
TOOL3INO
PDOCK
R0320.3
F
TOOL4INO
PDOCK
R0320.4
G
TOOL5INO
PDOCK
R0320.5
H
TOOL6INO
PDOCK
R0320.6
I
TOOL7INO
PDOCK
R0320.7
J
TOOL8INO
PDOCK
N00206 X0082.6 Y0038.7

K 1567
DI 663 T DO 312 T
CCOMMOK CCOMMOK
N00207 X0082.7 Y0039.2

L 1569
DI 664 T DO 315 T
CTLSLDPW LSLIDPWR
N00208 X0079.4 X0079.5 G1008.4

M 1571 RTL1&L2SWITCHMISMATCH
DI 637 DI 638 UALM 5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
N
DI 637 DI 638
RDY2LCK1 RDY2LCK2
N00209 R0328.6 G1008.5

O 1577 NO TOOL ON ARM
TOOLONRO UALM 6
BOT
Ladder Diagram 34
N00210 K0013.1 R0000.7 Y0126.7

A 1579 NO TOOL ON EOAT SS
NOTOOLON PART PRE DO 1016
EOATSS SENT NOEOATSS
N00211 K0013.1 R0000.7 K0013.1

B 1582 R NO TOOL ON EOAT SS
NOTOOLON PART PRE NOTOOLON
EOATSS SENT EOATSS
N00212 Y0039.3 Y0039.3

C 1585 S WRONG TOOL IN STAND
DO 316 W DO 316 W
RNGTLSTD RNGTLSTD
N00213 Y0039.3 X1025.1 Y0000.1 Y0039.3

D 1587 R WRONG TOOL IN STAND
DO 316 W FAULT DO 2 RBT DO 316 W
RNGTLSTD RESET @ HOME RNGTLSTD
N00214
E 1591 SUB72
SPE
N00215 ### AIR SWITCH ###

F 1592 SUB71 P0004
SP AIR SWITCH
N00216 X1020.6 Y0001.5

G 1594 END OF ARM AIR ON
RI 7 AIR DO 14 EO
FL SW A AIR ON
N00217
H 1596 SUB72
SPE
N00218 ### P0006 ###

I 1597 SUB71 P0006
SP UALM
N00219 Y0120.2 X1025.1 Y0120.2

J 1599 PROGRAM FAULT
DO 963 FAULT DO 963
PRG FLT RESET PRG FLT
N00220 Y0120.2 G1008.0

K 1602 PROGRAM VERIFY FAULT
DO 963 UALM1
PRG FLT
N00221 K0010.0 Y0119.7 Y0000.3 G1010.6

L 1604 TEACH MEMORY ON
TEACH DO 960 DO 4 RBT UALM23
MEMORY AUTO KEY IN TCH
N00222 R0000.0 G1011.0

M 1608 GUN DISABLED SELECTOR SWITCH
ALWAYS UALM 25
ON
N00223 R0000.0 G1011.1

N 1610 RETRACT ENABLED
ALWAYS UALM 26
ON
N00224 Y0002.7 G1011.4

O 1612 IN PROGRAM LOOP
DO 24 RB UALM 29
T LOOP
Ladder Diagram 35
N00225 Y0039.3 G1009.7

A 1614 TC PRESS FAULT RESET
DO 316 W UALM 16
RNGTLSTD
N00226
B 1616 SUB72
SPE
N00227 ### INTERFACE ###

C 1617 SUB71 P0007
SP INTERFACE
N00228 D0612.1 ACT D0612.0

D 1619 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH IF PB TMR ALL IF P
TO B TO
D0612.2
E
SEAL IF
PB TO
D0612.3
F
STUD IF
PB TO
O
Ladder Diagram 36
N00229 K0002.0 D0612.1

A 1625 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 37
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 38
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 39
N00230 K0009.4 D0612.2

A 1660 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
Y0108.7
M
DO 872 A
CKBRKN1
Y0108.2
N
DO 867 A
CKBRKN2
Y0029.3
O
DO 236 A
CKNOZCH1
Ladder Diagram 40
Y0033.3
A
DO 268 A
CKNOZCH2
O
Ladder Diagram 41
N00231 K0011.7 D0612.3

A 1677 STUD IF PB TO
STUDSKPR STUD IF
EMSTDPB1 PB TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
Y0099.5
L
DO 798
STRFEDH1
Y0099.6
M
DO 799
STRFEDH2
Y0099.7
N
DO 800
STRFEDH3
Y0100.0
O
DO 801
STRFEDH4
Ladder Diagram 42
Y0100.1
A
DO 802
STRFEDH5
N00232
B 1694 SUB72
SPE
N00233 ### P0008 ###

C 1695 SUB71 P0008
SP MH
N00234 Y0000.3 K0004.4 R1410.0

D 1697 MANUAL GRIP ENABLE
DO 4 RBT MAN GRP MAN GRP
IN TCH ENBLE SS ENABLE
N00235 R1410.0 ACT

E 1700 SUB10 0000
MAN GRP JMP
ENABLE
N00236 R0000.0 Y0114.0

F 1703 OPEN CLAMP 1
ALWAYS DO 913
ON OPNCLMP1
N00237 R0000.0 Y0114.1

G 1705 CLOSE CLAMP 1
ALWAYS DO 914
ON CLSCLMP1
N00238 R0000.0 Y0114.2

H 1707 OPEN CLAMP 2
ALWAYS DO 915
ON OPNCLMP2
N00239 R0000.0 Y0114.3

I 1709 CLOSE CLAMP 2
ALWAYS DO 916
ON CLSCLMP2
N00240 R0000.0 Y0114.4

J 1711 OPEN CLAMP 3
ALWAYS DO 917
ON OPNCLMP3
N00241 R0000.0 Y0114.5

K 1713 CLOSE CLAMP 3
ALWAYS DO 918
ON CLSCLMP3
N00242 R0000.0 Y0114.6

L 1715 OPEN CLAMP 4
ALWAYS DO 919
ON OPNCLMP4
N00243 R0000.0 Y0114.7

M 1717 CLOSE CLAMP 4
ALWAYS DO 920
ON CLSCLMP4
N00244 R0000.0 Y0115.0

N 1719 OPEN CLAMP 5
ALWAYS DO 921
ON OPNCLMP5
N00245 R0000.0 Y0115.1

O 1721 CLOSE CLAMP 5
ALWAYS DO 922
ON CLSCLMP5
Ladder Diagram 43
N00246 R0000.0 Y0115.2

A 1723 OPEN CLAMP 6
ALWAYS DO 923
ON OPNCLMP6
N00247 R0000.0 Y0115.3

B 1725 CLOSE CLAMP 6
ALWAYS DO 924
ON CLSCLMP6
N00248 R0000.0 Y0115.4

C 1727 OPEN CLAMP 7
ALWAYS DO 925
ON OPNCLMP7
N00249 R0000.0 Y0115.5

D 1729 CLOSE CLAMP 7
ALWAYS DO 926
ON CLSCLMP7
N00250 R0000.0 Y0115.6

E 1731 OPEN CLAMP 8
ALWAYS DO 927
ON OPNCLMP8
N00251 R0000.0 Y0115.7

F 1733 CLOSE CLAMP 8
ALWAYS DO 928
ON CLSCLMP8
N00252 R0000.0 Y0116.0

G 1735 OPEN CLAMP 9
ALWAYS DO 929
ON OPNCLMP9
N00253 R0000.0 Y0116.1

H 1737 CLOSE CLAMP 9
ALWAYS DO 930
ON CLSCLMP9
N00254 R0000.0 Y0116.2

I 1739 OPEN CLAMP 10
ALWAYS DO 931
ON OPNCLP10
N00255 R0000.0 Y0116.3

J 1741 CLOSE CLAMP 10
ALWAYS DO 932
ON CLSCLP10
N00256 R0000.0 Y0127.2

K 1743 VACUUM 1 ON
ALWAYS DO1019 V
ON AC1ON
N00257 R0000.0 Y0127.3

L 1745 BLOWOFF 1 ON
ALWAYS DO1020 B
ON LWOF1ON
N00258 R0000.0 Y0127.4

M 1747 VACUUM 2 ON
ALWAYS DO1021 V
ON AC2ON
N00259 R0000.0 Y0127.5

N 1749 BLOWOFF 2 ON
ALWAYS DO1022 B
ON LWOF2ON
N00260 R0000.0 Y0127.6

O 1751 VACUUM 3 ON
ALWAYS DO1023 V
ON AC3ON
Ladder Diagram 44
N00261 R0000.0 Y0127.7

A 1753 BLOWOFF 3 ON
ALWAYS DO1024 B
ON LWOF3ON
N00262 R0000.0 Y0118.5

B 1755 VACUUM 4 ON
ALWAYS DO 950 V
ON AC4ON
N00263 R0000.0 Y0118.6

C 1757 BLOWOFF 4 ON
ALWAYS DO 951 B
ON LWOF4ON
N00264
D 1759 SUB30
JMPE
N00265 R1410.0 ACT R0001.1

E 1760 SUB 3 0038
MAN GRP TMR MAN GRP
ENABLE TO
N00266 R0001.1 ACT

F 1764 SUB10 0000
MAN GRP JMP
TO
N00267 K0002.1 X1026.1 Y0114.0

G 1767 OPEN CLAMP 1
CLMP1OPN SI9 DO 913
AUTOMDSW OPNCLMP1
N00268 Y0114.0 Y0009.0

H 1770 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

J 1775 CLOSE CLAMP #1
DO 914 DO 74 CL
CLSCLMP1 S CLMP1
N00271 K0002.3 X1026.1 Y0114.2

K 1777 OPEN CLAMP 2
CLMP2OPN SI9 DO 915
AUTOMDSW OPNCLMP2
N00272 Y0114.2 Y0009.2

L 1780 OPEN CLAMP #2
DO 915 DO 75 OP
OPNCLMP2 N CLMP2
N00273 K0002.2 X1026.1 Y0114.3

CLMP2CLS SI9 DO 916
AUTOMDSW CLSCLMP2
N00274 Y0114.3 Y0009.3

N 1785 CLOSE CLAMP #2
DO 916 DO 76 CL
CLSCLMP2 S CLMP2
N00275 K0002.5 X1026.1 Y0114.4

O 1787 OPEN CLAMP 3
CLMP3OPN SI9 DO 917
AUTOMDSW OPNCLMP3
Ladder Diagram 45
N00276 Y0114.4 Y0009.4

A 1790 OPEN CLAMP #3
DO 917 DO 77 OP
OPNCLMP3 N CLMP 3
N00277 K0002.4 X1026.1 Y0114.5

CLMP3CLS SI9 DO 918
AUTOMDSW CLSCLMP3
N00278 Y0114.5 Y0009.5

C 1795 CLOSE CLAMP #3
DO 918 DO 78 CL
CLSCLMP3 S CLMP3
N00279 K0002.7 X1026.1 Y0114.6

D 1797 OPEN CLAMP 4
CLMP4OPN SI9 DO 919
AUTOMDSW OPNCLMP4
N00280 Y0114.6 Y0009.6

E 1800 OPEN CLAMP #4
DO 919 DO 79 OP
OPNCLMP4 N CLMP4
N00281 K0002.6 X1026.1 Y0114.7

CLMP4CLS SI9 DO 920
AUTOMDSW CLSCLMP4
N00282 Y0114.7 Y0009.7

G 1805 CLOSE CLAMP #4
DO 920 DO 80 CL
CLSCLMP4 S CLMP4
N00283 K0003.1 X1026.1 Y0115.0

H 1807 OPEN CLAMP 5
CLMP5OPN SI9 DO 921
AUTOMDSW OPNCLMP5
N00284 Y0115.0 Y0010.0

I 1810 OPEN CLAMP #5
DO 921 DO 81 OP
OPNCLMP5 N CLMP5
N00285 K0003.0 X1026.1 Y0115.1

CLMP5CLS SI9 DO 922
AUTOMDSW CLSCLMP5
N00286 Y0115.1 Y0010.1

K 1815 CLOSE CLAMP #5
DO 922 DO 82 CL
CLSCLMP5 S CLMP5
N00287 K0003.3 X1026.1 Y0115.2

L 1817 OPEN CLAMP 6
CLMP6OPN SI9 DO 923
AUTOMDSW OPNCLMP6
N00288 Y0115.2 Y0010.2

M 1820 OPEN CLAMP #6
DO 923 DO 83 OP
OPNCLMP6 N CLMP6
N00289 K0003.2 X1026.1 Y0115.3

N 1822 CLOSE CLAMP 6
CLMP6CLS SI9 DO 924
AUTOMDSW CLSCLMP6
N00290 Y0115.3 Y0010.3

O 1825 CLOSE CLAMP #6
DO 924 DO 84 CL
CLSCLMP6 S CLMP 6
Ladder Diagram 46
N00291 K0003.5 X1026.1 Y0115.4

A 1827 OPEN CLAMP 7
CLMP7OPN SI9 DO 925
AUTOMDSW OPNCLMP7
N00292 Y0115.4 Y0010.4

B 1830 OPEN CLAMP #7
DO 925 DO 85 OP
OPNCLMP7 N CLMP 7
N00293 K0003.4 X1026.1 Y0115.5

C 1832 CLOSE CLAMP 7
CLMP7CLS SI9 DO 926
AUTOMDSW CLSCLMP7
N00294 Y0115.5 Y0010.5

D 1835 CLOSE CLAMP #7
DO 926 DO 86 CL
CLSCLMP7 S CLAMP7
N00295 K0003.7 X1026.1 Y0115.6

E 1837 OPEN CLAMP 8
CLMP8OPN SI9 DO 927
AUTOMDSW OPNCLMP8
N00296 Y0115.6 Y0010.6

F 1840 OPEN CLAMP #8
DO 927 DO 87 OP
OPNCLMP8 N CLMP8
N00297 K0003.6 X1026.1 Y0115.7

CLMP8CLS SI9 DO 928
AUTOMDSW CLSCLMP8
N00298 Y0115.7 Y0010.7

H 1845 CLOSE CLAMP #8
DO 928 DO 88 CL
CLSCLMP8 S CLAMP8
N00299 K0004.1 X1026.1 Y0116.0

I 1847 OPEN CLAMP 9
CLMP9OPN SI9 DO 929
AUTOMDSW OPNCLMP9
N00300 Y0116.0 Y0011.0

J 1850 OPEN CLAMP #9
DO 929 DO 89 OP
OPNCLMP9 N CLMP9
N00301 K0004.0 X1026.1 Y0116.1

CLMP9CLS SI9 DO 930
AUTOMDSW CLSCLMP9
N00302 Y0116.1 Y0011.1

L 1855 CLOSE CLAMP #9
DO 930 DO 90 CL
CLSCLMP9 S CLMP9
N00303 K0004.3 X1026.1 Y0116.2

M 1857 OPEN CLAMP 10
CLP10OPN SI9 DO 931
AUTOMDSW OPNCLP10
N00304 Y0116.2 Y0011.2

N 1860 OPEN CLAMP #10
DO 931 DO 91 OP
OPNCLP10 N CLMP10
N00305 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9 DO 932
AUTOMDSW CLSCLP10
Ladder Diagram 47
N00306 Y0116.3 Y0011.3

A 1865 CLOSE CLAMP #10
DO 932 DO 92 CL
CLSCLP10 S CLMP10
N00307 K0014.2 X1026.1 K0014.1 Y0127.2

B 1867 VACUUM 1 ON
VAC 1 ON SI9 VAC/BLOW DO1019 V
PB AUTOMDSW OFFTIMER AC1ON
N00308 Y0127.2 Y0008.0

C 1871
DO1019 V DO 65 VA
AC1ON C 1 ON
N00309 K0014.5 X1026.1 K0014.1 Y0127.3

D 1873 BLOWOFF 1 ON
BLOWOFF SI9 VAC/BLOW DO1020 B
1 ON PB AUTOMDSW OFFTIMER LWOF1ON
N00310 Y0127.3 Y0008.1

E 1877
DO1020 B DO 66 BL
LWOF1ON WOFF1ON
N00311 K0014.3 X1026.1 K0014.1 Y0127.4

F 1879 VACUUM 2 ON
N00312 Y0127.4 Y0008.2

G 1883
DO1021 V DO 67 VA
AC2ON C 2 ON
N00313 K0014.6 X1026.1 K0014.1 Y0127.5

H 1885 BLOWOFF 2 ON
N00314 Y0127.5 Y0008.3

I 1889
DO1022 B DO 68 BL
LWOF2ON WOFF2ON
N00315 K0014.4 X1026.1 K0014.1 Y0127.6

J 1891 VACUUM 3 ON
N00316 Y0127.6 Y0008.4

K 1895
DO1023 V DO 69 VA
AC3ON C 3 ON
N00317 K0014.7 X1026.1 K0014.1 Y0127.7

L 1897 BLOWOFF 3 ON
N00318 Y0127.7 Y0008.5

M 1901
DO1024 B DO 70 BL
LWOF3ON WOFF3ON
N00319 K0016.1 X1026.1 K0014.1 Y0118.5

N 1903 VACUUM 4 ON
VAC 4 ON SI9 VAC/BLOW DO 950 V
N00320 Y0118.5 Y0008.6

O 1907
DO 950 V DO 71 VA
AC4ON C 4 ON
Ladder Diagram 48
N00321 K0016.2 X1026.1 K0014.1 Y0118.6

A 1909 BLOWOFF 4 ON
BLOWOFF SI9 VAC/BLOW DO 951 B
N00322 Y0118.6 Y0008.7

B 1913
DO 951 B DO 72 BL
LWOF4ON WOFF4ON
N00323
C 1915 SUB30
JMPE
N00324 Y0008.0 ACT K0014.1

D 1916 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO 65 VA TMR VAC/BLOW
C 1 ON OFFTIMER
Y0008.1
E
DO 66 BL
WOFF1ON
Y0008.2
F
DO 67 VA
C 2 ON
Y0008.3
G
DO 68 BL
WOFF2ON
Y0008.4
H
DO 69 VA
C 3 ON
Y0008.5
I
DO 70 BL
WOFF3ON
Y0008.6
J
DO 71 VA
C 4 ON
Y0008.7
K
DO 72 BL
WOFF4ON
N00325 K0002.0 D0612.0 K0002.0

L 1927 CLMP1 CLOSE
CLMP1CLS ALL IF P CLMP1CLS
B TO
N00326 K0002.1 D0612.0 K0002.1

M 1930 CLMP1 OPEN
CLMP1OPN ALL IF P CLMP1OPN
B TO
N00327 K0002.2 D0612.0 K0002.2

N 1933 CLMP2 CLOSE
B TO
N00328 K0002.3 D0612.0 K0002.3

O 1936 CLMP2 OPEN
B TO
Ladder Diagram 49
N00329 K0002.4 D0612.0 K0002.4

A 1939 CLMP3 CLOSE
B TO
N00330 K0002.5 D0612.0 K0002.5

B 1942 CLMP3 OPEN
B TO
N00331 K0002.6 D0612.0 K0002.6

C 1945 CLMP4 CLOSE
B TO
N00332 K0002.7 D0612.0 K0002.7

D 1948 CLMP4 OPEN
B TO
N00333 K0003.0 D0612.0 K0003.0

E 1951 CLMP5 CLOSE
B TO
N00334 K0003.1 D0612.0 K0003.1

F 1954 CLMP5 OPEN
B TO
N00335 K0003.2 D0612.0 K0003.2

G 1957 CLMP6 CLOSE
B TO
N00336 K0003.3 D0612.0 K0003.3

H 1960 CLMP6 OPEN
B TO
N00337 K0003.4 D0612.0 K0003.4

I 1963 CLMP7 CLOSE
B TO
N00338 K0003.5 D0612.0 K0003.5

J 1966 CLMP7 OPEN
B TO
N00339 K0003.6 D0612.0 K0003.6

K 1969 CLMP8 CLOSE
B TO
N00340 K0003.7 D0612.0 K0003.7

L 1972 CLMP8 OPEN
B TO
N00341 K0004.0 D0612.0 K0004.0

M 1975 CLMP9 CLOSE
B TO
N00342 K0004.1 D0612.0 K0004.1

N 1978 CLMP9 OPEN
B TO
N00343 K0004.2 D0612.0 K0004.2

O 1981 CLMP10 CLOSE
CLP10CLS ALL IF P CLP10CLS
B TO
Ladder Diagram 50
N00344 K0004.3 D0612.0 K0004.3

A 1984 CLMP10 OPEN
CLP10OPN ALL IF P CLP10OPN
B TO
N00345 K0014.2 D0612.0 K0014.2

B 1987
VAC 1 ON ALL IF P VAC 1 ON
PB B TO PB
N00346 K0014.3 D0612.0 K0014.3

C 1990
PB B TO PB
N00347 K0014.4 D0612.0 K0014.4

D 1993
PB B TO PB
N00348 K0016.1 D0612.0 K0016.1

E 1996
PB B TO PB
N00349 K0014.5 D0612.0 K0014.5

F 1999
BLOWOFF ALL IF P BLOWOFF
1 ON PB B TO 1 ON PB
N00350 K0014.6 D0612.0 K0014.6

G 2002
N00351 K0014.7 D0612.0 K0014.7

H 2005
N00352 K0016.2 D0612.0 K0016.2

I 2008
N00353 K0000.4 Y0012.6

J 2011 RERUN PROCESS
RERUNPRC DO 103 R
PB ERUNPRC
N00354 K0000.5 Y0012.7

K 2013 ACCEPT PROCESS
ACCPTPRC DO 104 A
PB CCPTPRC
N00355 K0000.6 Y0013.0

L 2015 REJECT PROCESS
REJCTPRC DO 105 R
PB EJCTPRC
N00356 K0000.7 Y0013.1

M 2017 INSPECTION SELECTED
INSPCTSE DO 106 I
LPB NSP SEL
K0001.3 K0001.5
N
VISIONIN ABORTPRO
TERVENSS CESS
N00357 K0000.4 D0612.0 K0000.4

O 2022 S RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
Ladder Diagram 51
N00358 K0000.4 D0612.0 K0000.4

A 2025 R RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
N00359 K0000.5 D0612.0 K0000.5

B 2028 S ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
N00360 K0000.5 D0612.0 K0000.5

C 2031 R ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
N00361 K0000.6 D0612.0 K0000.6

D 2034 S REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00362 K0000.6 D0612.0 K0000.6

E 2037 R REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00363 K0000.7 D0612.0 K0000.7

F 2040 S INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00364 K0000.7 D0612.0 K0000.7

G 2043 R INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00365 K0011.4 D0612.0 K0011.4

H 2046 TOOL CHANGER OPEN GUN COVER
TC OPENG ALL IF P TC OPENG
UNCOVER B TO UNCOVER
N00366 K0011.5 D0612.0 K0011.5

I 2049 TOOL CHANGER CLOSE GUN COVER
TC CLOS ALL IF P TC CLOS
GUNCOVER B TO GUNCOVER
N00367 X0008.2 R0000.7

J 2052 PART PRESENT ON EOAT
DI 67 PR PART PRE
T PRES1 SENT
X0008.3
K
DI 68 PR
T PRES2
X0008.4
L
DI 69 PR
T PRES3
X0008.5
M
DI 70 PR
T PRES4
X0008.6
N
DI 71 PR
T PRES5
X0008.7
O
DI 72 PR
T PRES6
Ladder Diagram 52
N00368
A 2059 SUB72
SPE
N00369 ### APPLICATION ###

B 2060 SUB71 P0009
SP APPLICATION
N00370 D0000.0 Y0048.0

C 2062 MATERIAL HANLDING APPLICATION
MH APP DO 385 M
H APP
N00371 D0000.1 Y0048.1

D 2064 WELD 1 APPLICATION
WELD 1 A DO 386
PP WLD1 APP
N00372 D0000.2 Y0048.2

E 2066 WELD 2 APPLICATION
WELD 2 A DO 387 W
PP LD2 APP
N00373 D0000.3 Y0048.3

F 2068 NUT FEED APPLICATION
NUT FEED DO 388 N
APP UTFD APP
N00374 D0000.4 Y0048.4

G 2070 SEALER 1 APPLICATION
SEAL 1 A DO 389 S
PP LR 1 APP
N00375 D0000.5 Y0048.5

H 2072 SEALER 2 APPLICATION
SEAL 2 DO 390 S
APP LR 2 APP
N00376 D0000.6 Y0048.6

I 2074 STUD WELD 1 APPLICATION
STUD 1 A DO 391 S
PP TDW 1APP
N00377 D0000.7 Y0048.7

J 2076 STUD WELD 2 APPLICATION
STUD 2 A DO 392 S
PP TDW 2APP
N00378 D0001.0 Y0049.0

K 2078 TOOL CHANGE APPLICATION
TOOL CHA DO 393 T
NGE APP C APP
N00379 D0001.1 Y0049.1

L 2080 RIVET 1 APPLICAYION
RIVET 1 DO 394 R
APP VT 1 APP
N00380 D0001.2 Y0049.2

M 2082 RIVET 2 APPLICATION
RIVET 2 DO 395 R
APP VT 2 APP
N00381 D0001.3 Y0049.3

N 2084 NUT RUNNER APPLICATION
NUT RUNN DO 396 N
ER APP UTR APP
N00382 D0001.4 Y0049.4

O 2086 MIG WELD APPLICATION
MIG WELD DO 397 M
APP IGW APP
Ladder Diagram 53
N00383 D0001.5 Y0049.5

A 2088 ROLL HEMMER APPLICATION
ROLLER H DO 398 R
EMM APP LLHEM AP
N00384 D0001.6 Y0049.6

B 2090 LASER CUT APPLICATION
LASER CU DO 399 L
T APP SRCT APP
N00385 D0001.7 Y0049.7

C 2092 PLASMA CUT APPLICATION
PLASMA C DO 400 P
UT APP LSMA APP
N00386 D0002.0 Y0050.0

D 2094 LASER WELD APPLICATION
LASER WE DO 401 L
LD APP SRWLDAPP
N00387 D0002.1 Y0050.1

E 2096 OPERATOR LOAD APPLICATION
OPER LOA DO 402 O
D APP P LD APP
N00388 D0002.2 Y0050.2

F 2098 VISION APPLICATION
VISION A DO 403 V
PP IS APP
N00389 D0002.3 Y0050.3

G 2100 PROGRAM LOCATOR APPLICATION
PROG LOC DO 404 P
APP RG LCAPP
N00390 D0002.4 Y0050.4

H 2102 INTERFACE DEFINITION BIT 21
IF DEF DO 405
21 INDEFB21
N00391 D0002.5 Y0050.5

I 2104 NUT FEEDER 2 APPLICATION
NUT FEED DO 406 N
ER 2 APP TFD 2APP
N00392 D0002.6 Y0050.6

J 2106 INTERFACE DEFINITION BIT 23
IF DEF DO 407 I
23 NDEF B23
N00393 D0002.7 Y0050.7

K 2108 INTERFACE DEFINITION BIT 24
IF DEF DO 408 I
24 NDEF B24
N00394 D0003.0 Y0051.0

L 2110 INTERFACE DEFINITION BIT 25
IF DEF DO 409 I
25 NDEF B25
N00395 D0003.1 Y0051.1

M 2112 INTERFACE DEFINITION BIT 26
IF DEF DO 410 I
26 NDEF B26
N00396 D0003.2 Y0051.2

N 2114 INTERFACE DEFINITION BIT 27
IF DEF DO 411 I
27 NDEF B27
N00397 D0003.3 Y0051.3

O 2116 INTERFACE DEFINITION BIT 28
IF DEF DO 412 I
28 NDEF B28
Ladder Diagram 54
N00398 D0003.4 Y0051.4

A 2118 INTERFACE DEFINITION BIT 29
IF DEF DO 413 I
29 NDEF B29
N00399 D0003.5 Y0051.5

B 2120 INTERFACE DEFINITION BIT 30
IF DEF DO 414 I
30 NDEF B30
N00400 D0003.6 Y0051.6

C 2122 INTERFACE DEFINITION BIT 31
IF DEF DO 415 I
31 NDEF B31
N00401 D0003.7 Y0051.7

D 2124 INTERFACE DEFINITION BIT 32
IF DEF DO 416 I
32 NDEF B32
N00402
E 2126 SUB72
SPE
N00403 ### P0012 ###

F 2127 SUB71 P0012
SP DISPENSE1
N00404 X0000.0 R0355.0

G 2129 INTERNAL EXTERNAL RUN ENABLE
DI 1 EXT INT EXT
RNENBL RUN ENAB
N00405 R0355.0 ACT D0601.0

H 2131 SUB 3 0016 EXTERNAL RUN ENABLE DELAY
INT EXT TMR EXT RUN
RUN ENAB ENBL DLY
N00406 Y0118.0 Y0118.0 Y0083.2 R0355.1

I 2135 START DISPENSE1
DO 945 S DO 945 S DO 667 R START DI
TRTDISP1 TRTDISP1 UN MODE SPENSE1
R0355.1 Y0000.3 X0000.0 D0601.0

J
START DI DO 4 RBT DI 1 EXT EXT RUN
SPENSE1 IN TCH RNENBL ENBL DLY
N00407 X0000.0 ACT D0602.0

K 2146 SUB 3 0023 E-STOP RECVER SLW REPEAT TIMER
DI 1 EXT TMR SLOW REP
RNENBL EAT TIMR
N00408 F1000.4 ACT D0605.0

L 2150 SUB 3 0024 E-STOP RECOVER START DELAY
HELD TMR ESTOP RE
C SDLY
N00409 D0602.0 ACT D0604.0

M 2154 SUB 3 0025 ESTOP RECOVERY DELAY
SLOW REP TMR ESTOP RE
EAT TIMR C DELAY
N00410 R0355.1 Y0083.2 X0001.1 Y0083.5

N 2158 START DISP CYCLE1
START DI DO 667 R DI 10 AU DO 670
SPENSE1 UN MODE TO REPT STRT DSP
O
Ladder Diagram 55
N00411 K0009.6 X0001.1 Y0084.6

A 2162 FLOW / NO FLOW1
WET/DRY DI 10 AU DO 679
MODE TO REPT FLWNOFLW
Y0092.6
B FLOW / NO FLOW2
DO 743 F
LWNOFLW
N00412 Y0084.6 Y0048.4 D0005.1

C 2166 WET MODE SEALER 1
DO 679 DO 389 S WETMODES
FLWNOFLW LR 1 APP EALER1
N00413 Y0092.6 Y0048.5 D0005.2

D 2169 WET MODE SEALER 2
DO 743 F DO 390 S WETMODES
LWNOFLW LR 2 APP EALER2
Y0048.5
E
DO 390 S
LR 2 APP
N00414 D0005.1 D0005.2 Y0026.0

F 2173
WETMODES WETMODES DO 209 F
EALER1 EALER2 LWSLSW
N00415 K0009.4 Y0084.0

G 2176 MANUAL FLOW1
MAN FLOW DO 673 M
PB1 ANFLW
N00416 K0008.4 Y0027.3 Y0027.2 K0008.4

H 2178 S ENABLE ACCEPT/REJECT 1
ENBACCEP DO 220 R DO 219 A ENBACCEP
TREJECT1 EJSEAL1 CCPTSL1 TREJECT1
N00417 K0008.2 Y0027.2 K0008.4

I 2182 R ENABLE ACCEPT/REJECT 1
ACCEPTSE DO 219 A ENBACCEP
ALER1 IF CCPTSL1 TREJECT1
K0008.3 Y0027.3
J
REJECTSE DO 220 R
ALER1 IF EJSEAL1
N00418 K0008.4 K0008.2 K0008.3 Y0027.2

K 2188
ENBACCEP ACCEPTSE REJECTSE DO 219 A
TREJECT1 ALER1 IF ALER1 IF CCPTSL1
N00419 K0008.4 K0008.2 K0008.3 Y0027.3

L 2192
ENBACCEP ACCEPTSE REJECTSE DO 220 R
TREJECT1 ALER1 IF ALER1 IF EJSEAL1
N00420 X0083.4 Y0026.1

M 2196
DI 669 S DO 210 S
LREADY1 EALRDY1
N00421 X0083.1 Y0026.2

N 2198
DI 666 I DO 211 S
NCYCLE1 EALCYCL1
N00422 X0083.3 Y0026.3

O 2200
DI 668 N DO 212 M
OFLT1 AJFLT1
Ladder Diagram 56
N00423 X0083.7 Y0026.4

A 2202
DI 672 V DO 213 V
OLOK1 OL OK1
N00424 Y0086.1 Y0028.2

B 2204
DO 690 @ DO 227 A
PRGBUCK TPURGBC1
N00425 X0083.0 Y0028.4

C 2206
DI 665 C DO 229 S
OMM OK1 LCOMMOK1
N00426 X0083.6 Y0027.4

D 2208
DI 671 C DO 221 C
YCCMP1 YCCMP1
N00427 X0085.5 Y0027.5

E 2210
DI 686 2 DO 222 N
CINMIX1 O2CMIX1
N00428 X0084.2 Y0027.6

F 2212
DI 675 M DO 223 M
INFLT1 INORFLT1
N00429 X0086.2 Y0028.0

G 2214
DI 691 N DO 225 N
OZZCHG1 OZCHGRQ1
N00430 X0084.0 Y0028.1

H 2216
DI 673 H DO 226 H
I/LO1 ILOWARN1
N00431 X0026.2 Y0086.3

I 2218 FAULT RESET1
DI 211 R DO 692 F
STSL FLT AULTRST
Y0094.3
J FAULT RESET2
DO 756 F
AULTRST2
N00432 Y0127.0 Y0086.1 Y0085.3

K 2221 PURGE1
DO 1017 DO 690 @ DO 684
PURGE1 PRGBUCK PURGE
X0026.4
L
DI 213 A
PRGESL 1
N00433 X0027.0 Y0084.7

M 2225 RESTART PULSE1
DI 217 R DO 680
STRTPLS1 RESTRT
N00434 K0008.7 Y0027.0

N 2227
RESEAL P DO 217 R
B1 ESEALPB1
O
Ladder Diagram 57
N00435 K0011.2 Y0026.5

A 2229
AUTO PUR DO 214 A
GE PB1 UTPRGPB1
Y0030.5
B
DO 246 A
UTPRGPB2
N00436 X0027.0 Y0084.7

C 2232 RESTART PULSE1
DI 217 R DO 680
STRTPLS1 RESTRT
N00437 X0084.0 Y0028.1

D 2234
DI 673 H DO 226 H
I/LO1 ILOWARN1
N00438 X0084.3 Y0028.3

E 2236
DI 676 D DO 228 S
EPRESSIZ EALDEPR1
N00439 X0084.4 Y0028.6

F 2238
DI 677 P DO 231 P
URGCOMP1 URGCOMP1
N00440 X0084.5 Y0028.7

G 2240
DI678 PU DO 232 P
RGEACTV1 URGACTV1
N00441 X0027.1 Y0086.2

H 2242 ACK NOZZLE CHANGED1
DI 218 A DO 691 A
CKNZCHG1 CKNOZCHG
N00442 X0084.6 Y0029.0

I 2244
DI 679 R DO 233 S
EFERREQ1 LRREFER1
N00443 K0009.4 D0612.0 K0009.4

J 2246 MANUAL FLOW PB 1
MAN FLOW ALL IF P MAN FLOW
PB1 B TO PB1
N00444 K0008.7 D0612.0 K0008.7

K 2249 RESEAL PB1
RESEAL P ALL IF P RESEAL P
B1 B TO B1
N00445 K0011.2 D0612.0 K0011.2

L 2252 AUTO PURGE PB1
AUTO PUR ALL IF P AUTO PUR
GE PB1 B TO GE PB1
N00446 K0008.2 D0612.0 K0008.2

M 2255 ACCEPT SEALER 1
ACCEPTSE ALL IF P ACCEPTSE
ALER1 IF B TO ALER1 IF
N00447 K0008.3 D0612.0 K0008.3

N 2258 REJECT SEALER 1
REJECTSE ALL IF P REJECTSE
N00448 K0012.3 D0612.0 K0012.3

O 2261 INSPECTION PB 1
INSPECTI ALL IF P INSPECTI
ON PB 1 B TO ON PB 1
Ladder Diagram 58
N00449 X0084.1 Y0029.1

A 2264
DI 674 D DO 234 D
OSRFIL1 OSRFILL1
N00450 K0012.3 Y0028.5

B 2266
INSPECTI DO 230 I
ON PB 1 NSPCSEL1
N00451 X0085.6 Y0029.2

C 2268
DI 687 E DO 235 H
RRHEAT1 T/CLERR1
N00452 Y0108.7 D0612.0 Y0108.7

D 2270 ACKNOWLEDGE BROKEN NOZZLE PB 1
DO 872 A ALL IF P DO 872 A
CKBRKN1 B TO CKBRKN1
N00453 Y0029.3 D0612.0 Y0029.3

E 2273
CKNOZCH1 B TO CKNOZCH1
N00454
F 2276 SUB72
SPE
N00455 ### P0013 ###

G 2277 SUB71 P0013
SP DISPENSE2
N00456 Y0117.7 Y0117.7 Y0091.2 R0355.2

H 2279 START DISPENSE2
DO 944 S DO 944 S DO 731 R START DI
TRTDISP2 TRTDISP2 UN MODE SPENSE2
R0355.2 Y0000.3 X0000.0 D0601.0

I
START DI DO 4 RBT DI 1 EXT EXT RUN
SPENSE2 IN TCH RNENBL ENBL DLY
N00457 R0355.2 Y0091.2 X0001.1 Y0091.5

J 2290 START DISP CYCLE2
START DI DO 731 R DI 10 AU DO 734 S
SPENSE2 UN MODE TO REPT TRT DSP
N00458 K0009.5 Y0092.0

K 2294 MANUAL FLOW2
MAN FLOW DO 737 M
PB2 ANFLW
N00459 K0013.7 Y0031.3 Y0031.2 K0013.7

L 2296 S ENABLE ACCEPT/REJECT 2
ENBACCEP DO 252 R DO 251 A ENBACCEP
N00460 K0013.5 Y0031.2 K0013.7

M 2300 R ENABLE ACCEPT/REJECT 2
ACCEPTSE DO 251 A ENBACCEP
ALER2 IF CCPTSL2 TREJECT2
K0013.6 Y0031.3
N
REJECTSE DO 252 R
ALER2 IF EJSEAL2
N00461 K0013.7 K0013.5 K0013.6 Y0031.2

O 2306
ENBACCEP ACCEPTSE REJECTSE DO 251 A
TREJECT2 ALER2 IF ALER2 IF CCPTSL2
Ladder Diagram 59
N00462 K0013.7 K0013.5 K0013.6 Y0031.3

A 2310
ENBACCEP ACCEPTSE REJECTSE DO 252 R
TREJECT2 ALER2 IF ALER2 IF EJSEAL2
N00463 X0091.4 Y0030.1

B 2314
DI 733 S DO 242 S
LREADY2 EALRDY2
N00464 X0091.1 Y0030.2

C 2316
DI 730 I DO 243 S
NCYCLE2 EALCYCL2
N00465 X0091.3 Y0030.3

D 2318
DI 732 N DO 244 M
OFLT2 AJFLT2
N00466 X0091.7 Y0030.4

E 2320
DI 736 V DO 245 V
OLOK2 OL OK2
N00467 Y0094.1 Y0032.2

F 2322
DO 754 @ DO 259 A
PRGBUCK2 TPURGBC2
N00468 X0091.0 Y0032.4

G 2324
DI 729 C DO 261 S
OMM OK2 LCOMMOK2
N00469 X0091.6 Y0031.4

H 2326
DI 735 C DO 253 C
YCCMP2 YCCMP2
N00470 X0093.5 Y0031.5

I 2328
DI 750 2 DO 254 N
CINMIX2 O2CMIX2
N00471 X0092.2 Y0031.6

J 2330
DI 739 M DO 255 M
INFLT2 INORFLT2
N00472 X0094.2 Y0032.0

K 2332
DI 755 N DO 257 N
OZZCHG2 OZCHGRQ2
N00473 X0092.0 Y0032.1

L 2334
DI 737 H DO 258 H
I/LO2 ILOWARN2
N00474 Y0127.1 Y0094.1 Y0093.3

M 2336 PURGE2
DO 1018 DO 754 @ DO 748 P
PURGE2 PRGBUCK2 URGE2
X0030.4
N
DI 245 A
PRGESL 2
N00475 X0031.0 Y0092.7

O 2340 RESTART PULSE2
DI 249 R DO 744 R
STRTPLS2 ESTRT
Ladder Diagram 60
N00476 K0009.0 Y0031.0

A 2342
RESEAL P DO 249 R
B2 ESEALPB2
N00477 K0011.3 Y0030.5

B 2344
AUTO PUR DO 246 A
GE PB2 UTPRGPB2
N00478 X0031.0 Y0092.7

DI 249 R DO 744 R
STRTPLS2 ESTRT
N00479 X0092.0 Y0032.1

D 2348
DI 737 H DO 258 H
I/LO2 ILOWARN2
N00480 X0092.3 Y0032.3

E 2350
DI 740 D DO 260 S
EPRESIZ2 EALDEPR2
N00481 X0092.4 Y0032.6

F 2352
DI 741 P DO 263 P
URGCOMP2 URGCOMP2
N00482 X0092.5 Y0032.7

G 2354
DI742 PU DO 264 P
RGEACTV2 URGACTV2
N00483 X0031.1 Y0094.2

DI 250 A DO 755 A
CKNZCHG2 CKNOZCH2
N00484 X0092.6 Y0033.0

I 2358
DI 743 R DO 265 S
EFERREQ2 LRREFER2
N00485 K0009.5 D0612.0 K0009.5

MAN FLOW ALL IF P MAN FLOW
PB2 B TO PB2
N00486 K0009.0 D0612.0 K0009.0

K 2363 RESEAL PB2
RESEAL P ALL IF P RESEAL P
B2 B TO B2
N00487 K0011.3 D0612.0 K0011.3

AUTO PUR ALL IF P AUTO PUR
GE PB2 B TO GE PB2
N00488 K0013.5 D0612.0 K0013.5

ACCEPTSE ALL IF P ACCEPTSE
N00489 K0013.6 D0612.0 K0013.6

REJECTSE ALL IF P REJECTSE
N00490 K0012.4 D0612.0 K0012.4

INSPECTI ALL IF P INSPECTI
ON PB 2 B TO ON PB 2
Ladder Diagram 61
N00491 X0092.1 Y0033.1

A 2378
DI 738 D DO 266 D
OSRFIL2 OSRFILL2
N00492 K0012.4 Y0032.5

B 2380
INSPECTI DO 262 I
ON PB 2 NSPCSEL2
N00493 X0093.6 Y0033.2

C 2382
DI751 ER DO 267 H
RHEAT2 T/CLERR2
N00494 Y0108.2 D0612.0 Y0108.2

D 2384 ACKNOWLEDGE BROKEN NOZZLE PB 2
CKBRKN2 B TO CKBRKN2
N00495 Y0033.3 D0612.0 Y0033.3

E 2387
CKNOZCH2 B TO CKNOZCH2
N00496
F 2390 SUB72
SPE
N00497 ### P0014 ###

G 2391 SUB71 P0014
SP STUD
N00498 K0004.7 Y0034.0

H 2393 STUD WELD WELD/ NO WELD MODE
WELD / N DO 273 W
O WELD1 LDN0WLD1
R0221.0
I REMOTE WELD / NO WELD MODE
DI 960 R
EM WELD
N00499 X0034.0 X0099.0 Y0034.6

J 2396 STUD WELDER #1 FAULT
DI 273 S DI 793 DO 279 W
W1 GUN1 NOFLTHD1 LDFLT1
X0034.1 X0099.5
K
DI 274 S DI 798
W1GUN2 NOFLTHD2
N00500 X0099.1 X0099.0 X0099.2 X0034.0 Y0034.5

L 2402 STUD WELDER #1 WELD COMPLETE
DI 794 DI 793 DI 795 DI 273 S DO 278 W
WLDCMPH1 NOFLTHD1 HDBCKHD1 W1 GUN1 LDCOMP1
X0099.6 X0099.5 X0099.7 X0034.1

M
DI 799 DI 798 DI 800 DI 274 S
WLDCMPH2 NOFLTHD2 HDBCKHD2 W1GUN2
Y0034.5 R0527.0
N
DO 278 W STUDWLDC
LDCOMP1 MPLDLY
N00501 Y0034.5 ACT R0527.0

O 2415 SUB 3 0026 STUD WELD COMPLETE DELAY
DO 278 W TMR STUDWLDC
LDCOMP1 MPLDLY
Ladder Diagram 62
N00502 X0099.1 X0034.0 R0214.5

A 2419 STUD WELD COMP1&2
DI 794 DI 273 S DI 909 W
WLDCMPH1 W1 GUN1 LDCMP1&2
X0099.6 X0034.1
B
DI 799 DI 274 S
WLDCMPH2 W1GUN2
N00503 X0099.2 Y0099.0 X0034.0 Y0034.4

C 2425 STUD IN WELD CYCLE
DI 795 DO 793 DI 273 S DO 277 W
HDBCKHD1 STRWLDH1 W1 GUN1 LDCYC1
X0099.7 Y0099.1 X0034.1

D
DI 800 DO 794 DI 274 S
HDBCKHD2 STRWLDH2 W1GUN2
N00504 Y0034.7 Y0034.7

E 2433 S ATUD TIME DELAY EXCEEDED
DO 280 T DO 280 T
IMDLYEX1 IMDLYEX1
N00505 R0214.5 Y0034.7

F 2435 R ATUD TIME DELAY EXCEEDED
DI 909 W DO 280 T
LDCMP1&2 IMDLYEX1
N00506 X0104.1 Y0034.2

G 2437 STUD COMMUNICATION OK
DI 834 DO 275 S
COMMOK TDCOMOK1
N00507 X0102.1 Y0035.0

H 2439 STUD MAINTENANCE REQUIRED
DI 818 DO 281 M
MAINTREQ AINTREQ1
N00508 K0004.7 Y0101.4

I 2441 STUD MODE SELECT 1
WELD / N DO 813
O WELD1 MODSEL1
N00509 K0004.7 Y0101.5

J 2443 STUD MODE SELECT 2
WELD / N DO 814
O WELD1 MODSEL2
K0004.7 X0001.1
K
WELD / N DI 10 AU
O WELD1 TO REPT
O
Ladder Diagram 63
N00510 Y0100.2 Y0116.5 X0102.3 K0004.7 X0034.0 Y0099.0

A 2448 STUD START WELD CYCLE HEAD 1
DO 803 DO 934 DI 820 R WELD / N DI 273 S DO 793
WLDSELB1 RD SCHD1 DY4AUTO O WELD1 W1 GUN1 STRWLDH1
Y0100.3 X0001.1
B
DO 804 DI 10 AU
WLDSELB2 TO REPT
Y0100.4
C
DO 805
WLDSELB4
Y0100.5
D
DO 806
WLDSELB8
Y0100.6
E
DO 807
WLDSLB16
Y0100.7
F
DO 808
WLDSLB32
Y0101.0
G
DO 809
WLDSLB64
N00511 Y0100.2 Y0116.6 X0102.3 K0004.7 X0034.1 Y0099.1

H 2462 STUD START WELD CYCLE HEAD 2
DO 803 DO 935 DI 820 R WELD / N DI 274 S DO 794
WLDSELB1 RD SCHD2 DY4AUTO O WELD1 W1GUN2 STRWLDH2
Y0100.3 X0001.1
I
DO 804 DI 10 AU
WLDSELB2 TO REPT
Y0100.4
J
DO 805
WLDSELB4
Y0100.5
K
DO 806
WLDSELB8
Y0100.6
L
DO 807
WLDSLB16
Y0100.7
M
DO 808
WLDSLB32
Y0101.0
N
DO 809
WLDSLB64
N00512 X0102.3 Y0034.3

O 2476 STUD READY FOR AUTOMATION
DI 820 R DO 276 R
DY4AUTO DY4AUTO1
Ladder Diagram 64
N00513 X0102.2 Y0035.1

A 2478 STUD LOW STUD WARNING
DI 819 S DO 282 L
TUDSLOW OWSTDWR1
N00514 K0011.6 Y0035.3 ACT D0614.0

B 2480 SUB 3 0029 STUD ENABLE SS TIMEOUT
STUDENAB DO 284 R TMR STUDENAB
LESS1 JCTPRT1 LESSTO
Y0035.4
C
DO 285 S
KPREMST1
Y0126.5
D
DO1014 M
ANWELD
Y0035.2
E
DO 283 N
ORECALP1
Y0101.2
F
DO 811 R
ESTRWLD
N00515 K0011.6 D0614.0 K0011.6

G 2490 STUD ENABLE SS 1
STUDENAB STUDENAB STUDENAB
LESS1 LESSTO LESS1
N00516 K0011.6 K0012.0 F1000.3 X0034.0 X0099.0 Y0035.3

H 2493 STUD REJECT PART
STUDENAB STUDREJE PAUSED DI 273 S DI 793 DO 284 R
LESS1 CTPB1 W1 GUN1 NOFLTHD1 JCTPRT1
F1000.3 X0034.1 X0099.5

I
PAUSED DI 274 S DI 798
W1GUN2 NOFLTHD2
F1000.5
J
FAULT
Y0035.3
K
DO 284 R
JCTPRT1
N00517 K0011.6 K0011.7 F1000.3 X0034.0 X0099.0 Y0035.4

L 2506 SKIP REMAINING STUDS
STUDENAB STUDSKPR PAUSED DI 273 S DI 793 DO 285 S
LESS1 EMSTDPB1 W1 GUN1 NOFLTHD1 KPREMST1
F1000.3 X0034.1 X0099.5

M
W1GUN2 NOFLTHD2
F1000.5
N
FAULT
Y0035.4
O
DO 285 S
KPREMST1
Ladder Diagram 65
N00518 K0011.6 K0012.1 F1000.3 Y0126.5

A 2519 STUD MANUAL WELD
STUDENAB STUDMANU PAUSED DO1014 M
LESS1 ALPB1 ANWELD
Y0126.5
B
DO1014 M
ANWELD
N00519 K0011.6 K0013.2 F1000.3 X0034.0 X0099.0 Y0035.2

C 2525 STUD REJECT PART, DONT RECALL
STUDENAB REJECTNO PAUSED DI 273 S DI 793 DO 283 N
LESS1 PGRECLL1 W1 GUN1 NOFLTHD1 ORECALP1
F1000.3 X0034.1 X0099.5

D
W1GUN2 NOFLTHD2
F1000.5
E
FAULT
Y0035.2
F
DO 283 N
ORECALP1
N00520 K0011.6 K0012.2 F1000.3 X0034.0 Y0099.0 Y0101.2

G 2538 STUD RESTART WELD
STUDENAB STUDFAUL PAUSED DI 273 S DO 793 DO 811 R
LESS1 TRSTPB1 W1 GUN1 STRWLDH1 ESTRWLD
F1000.3 X0034.1 Y0099.1

H
PAUSED DI 274 S DO 794
W1GUN2 STRWLDH2
F1000.5
I
FAULT
Y0101.2
J
DO 811 R
ESTRWLD
N00521 Y0035.3 Y0101.3

K 2551 STUD FORCE WELD COMPLETE
DO 284 R DO 812
JCTPRT1 FRCWLDCM
Y0035.4 Y0101.1
L STUD INTERNAL RESET
DO 285 S DO 810 R
KPREMST1 ESET
Y0126.5
M
DO1014 M
ANWELD
Y0035.2
N
DO 283 N
ORECALP1
Y0101.2
O
DO 811 R
ESTRWLD
Ladder Diagram 66
N00522 X0034.0 R0214.3

A 2558 STUD GUN WC 1 SELECTED
DI 273 S DI 907 S
W1 GUN1 TDGUN1SL
X0034.1
B
DI 274 S
W1GUN2
N00523 X0099.2 X0034.0 R0214.1

C 2561 STUD HEAD BACK WC 1
DI 795 DI 273 S DI 905 S
HDBCKHD1 W1 GUN1 TDHDBCK1
X0099.7 X0034.1
D
DI 800 DI 274 S
HDBCKHD2 W1GUN2
N00524 Y0035.2 Y0126.4

E 2567 S STUD ABORT FLAG
DO 283 N DO1013 S
ORECALP1 TUDABORT
N00525 Y0126.4 F1000.6 F1000.3 F1000.2 Y0126.4

F 2569 R STUD ABORT FLAG
DO1013 S AT HOME PAUSED PROGRAM DO1013 S
TUDABORT RUNNING TUDABORT
N00526 K0012.0 D0612.0 K0012.0

G 2574 STUD REJECT PB 1
STUDREJE ALL IF P STUDREJE
CTPB1 B TO CTPB1
N00527 K0011.7 D0612.0 K0011.7

H 2577 STUD SKIP REMAINING STUDS PB 1
STUDSKPR ALL IF P STUDSKPR
EMSTDPB1 B TO EMSTDPB1
N00528 K0012.1 D0612.0 K0012.1

I 2580 STUD MANUAL PB 1
STUDMANU ALL IF P STUDMANU
ALPB1 B TO ALPB1
N00529 K0013.2 D0612.0 K0013.2

J 2583 REJECT - NO PG RECALL1
REJECTNO ALL IF P REJECTNO
PGRECLL1 B TO PGRECLL1
N00530 K0012.2 D0612.0 K0012.2

K 2586 STUD WELD FAULT RESET PB 1
STUDFAUL ALL IF P STUDFAUL
TRSTPB1 B TO TRSTPB1
N00531 X1025.1 Y0000.5 R0224.7

L 2589 STUD MOVE OUT OF MAINTENANCE
FAULT DO 6 RBT DI1024 S
RESET @ MAINT TUDOMAIN
Y0073.2
M
DO587_@M
INMAINT
N00532 Y0099.5 D0612.0 Y0099.5

N 2594 STUD START FEED CYCLE HEAD 1
DO 798 ALL IF P DO 798
STRFEDH1 B TO STRFEDH1
N00533 Y0099.6 D0612.0 Y0099.6

O 2597 STUD START FEED CYCLE HEAD 2
Ladder Diagram 67
N00534 Y0099.7 D0612.0 Y0099.7

A 2600 STUD START FEED CYCLE HEAD 3
N00535 Y0100.0 D0612.0 Y0100.0

B 2603 STUD START FEED CYCLE HEAD 4
N00536 Y0100.1 D0612.0 Y0100.1

C 2606 STUD START FEED CYCLE HEAD 5
N00537 Y0126.6 Y0036.0

D 2609 STUD SKIP REMAINING ACTIVE
DO1015 F DO 289 S
FRECOVER RATIVE1
N00538 R0214.1 Y0078.0

E 2611 HEAD BACK
DI 905 S DO 625 H
TDHDBCK1 EADBACK
N00539
F 2613 SUB72
SPE
N00540 ### P0024 ###

G 2614 SUB71 P0024
SP VISION
N00541 K0001.3 K0001.3

H 2616 S VISION INTERVENTION ENABLE SS
VISIONIN VISIONIN
TERVENSS TERVENSS
N00542 K0001.3 X1025.1 K0001.3

I 2618 R VISION INTERVENTION ENABLE SS
VISIONIN FAULT VISIONIN
TERVENSS RESET TERVENSS
K0001.3 K0001.4 K0001.5 K0001.7 K0001.6

J
VISIONIN LOAD2AVE ABORTPRO RETRYOPE CALIBREQ
TERVENSS RAGE CESS RATION UEST
N00543 K0001.3 K0001.4 Y0084.4

K 2627 PART1 ID BIN4
VISIONIN LOAD2AVE DO 677 P
TERVENSS RAGE RTID4
X0043.5
L
DI 350 O
K2LDAVRG
N00544 K0001.4 D0612.0 K0001.4

M 2631 S VISION LOAD TO AVERAGE
LOAD2AVE ALL IF P LOAD2AVE
RAGE B TO RAGE
N00545 K0001.4 D0612.0 K0001.4

N 2634 R VISION LOAD TO AVERAGE
LOAD2AVE ALL IF P LOAD2AVE
RAGE B TO RAGE
O
Ladder Diagram 68
N00546 K0001.3 K0001.5 Y0084.4

A 2637 PART1 ID BIN4
VISIONIN ABORTPRO DO 677 P
TERVENSS CESS RTID4
X0042.7
B
DI 344 A
BRTVISOP
N00547 K0001.5 D0612.0 K0001.5

C 2641 S VISION ABORT VISION PROCESS
ABORTPRO ALL IF P ABORTPRO
CESS B TO CESS
N00548 K0001.5 D0612.0 K0001.5

D 2644 R VISION ABORT VISION PROCESS
ABORTPRO ALL IF P ABORTPRO
CESS B TO CESS
N00549 K0001.3 K0001.6 Y0084.4

E 2647 PART1 ID BIN4
VISIONIN CALIBREQ DO 677 P
TERVENSS UEST RTID4
X0015.3
F
DI 124 N
EWTPRST1
N00550 K0001.6 D0612.0 K0001.6

G 2651 S VISION CALIB REQUEST
CALIBREQ ALL IF P CALIBREQ
UEST B TO UEST
N00551 K0001.6 D0612.0 K0001.6

H 2654 R VISION CALIB REQUEST
CALIBREQ ALL IF P CALIBREQ
UEST B TO UEST
N00552 K0001.3 K0001.7 Y0084.4

I 2657 PART1 ID BIN4
VISIONIN RETRYOPE DO 677 P
TERVENSS RATION RTID4
X0043.0
J
DI 345 R
TRYVISOP
N00553 K0001.7 D0612.0 K0001.7

K 2661 S VISION RETRY OPERATION
RETRYOPE ALL IF P RETRYOPE
RATION B TO RATION
N00554 K0001.7 D0612.0 K0001.7

L 2664 R VISION RETRY OPERATION
RETRYOPE ALL IF P RETRYOPE
RATION B TO RATION
N00555
M 2667 SUB72
SPE
O
5 Grinding PMC Logic (S-Logic) for R-30iB Controllers
NOTE: The PMC uses the MH application.

[f3l1mh1] 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_I DO_126_W
NCYCLE1 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 SUB 2
END2
N00154 ### TOOL_CHANGING ###

D 1141 SUB71 P0001
SP TOOL_CHANGING
N00155 X0080.0 R0347.0

E 1143 GUN ID NOT 0
DI_641__ GUN_ID__
TOOL_ID1 NOT_0
X0080.1
F
DI_642__
TOOL_ID2
X0080.2
G
DI_643__
TOOL_ID4
X0080.3
H
DI_644__
TOOL_ID8
N00156 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

I 1148
DI_641__ DI_642__ DI_643__ DI_644__ GUN_1_ON
TOOL_ID1 TOOL_ID2 TOOL_ID4 TOOL_ID8 _ARM
N00157 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

J 1153
DI_641__ DI_642__ DI_643__ DI_644__ GUN_2_ON
N00158 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

K 1158
DI_641__ DI_642__ DI_643__ DI_644__ GUN_3_ON
N00159 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

L 1163
DI_641__ DI_642__ DI_643__ DI_644__ GUN_4_ON
N00160 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

M 1168
DI_641__ DI_642__ DI_643__ DI_644__ GUN_5_ON
N00161 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

N 1173
DI_641__ DI_642__ DI_643__ DI_644__ GUN_6_ON
N00162 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

O 1178
DI_641__ DI_642__ DI_643__ DI_644__ GUN_7_ON
N00163 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

A 1183
DI_641__ DI_642__ DI_643__ DI_644__ GUN_8_ON
N00164 R0321.0 R0328.6

B 1188 TOOL ON ROBOT
GUN_1_ON TOOLONRO
_ARM BOT
R0322.0
C
GUN_2_ON
_ARM
R0323.0
D
GUN_3_ON
_ARM
R0324.0
E
GUN_4_ON
_ARM
R0325.0
F
GUN_5_ON
_ARM
R0326.0
G
GUN_6_ON
_ARM
R0326.1
H
GUN_7_ON
_ARM
R0326.2
I
GUN_8_ON
_ARM
N00165 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

J 1197
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
K ANY GEO TOOL PRESENT ON ROBOT
GUN_8_ON GEOTOOLP
_ARM RSNT
N00166 X0080.0 Y0038.0

L 1206
DI_641__ DO_305__
TOOL_ID1 TOOL_ID1
N00167 X0080.1 Y0038.1

M 1208
DI_642__ DO_306__
TOOL_ID2 TOOL_ID2
N00168 X0080.2 Y0038.2

N 1210
DI_643__ DO_307__
TOOL_ID4 TOOL_ID4
N00169 X0080.3 Y0038.3

O 1212
DI_644__ DO_308__
TOOL_ID8 TOOL_ID8
N00170 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

A 1214
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
B GUN 1-8 (ALL TOOLS IN STAND)
DI_312__ GUN_1-8
TCSTND8
N00171 Y0117.4 K0011.1

C 1223 TOOL CHANGER RELEASE
DO_941__ TC______
TC_UNLCK RELEASED
N00172 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

D 1225 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

E
TPENABLE DO_960__ TC_LOCK_ TOOLONRO
AUTO_KEY PB BOT
N00173 Y0117.4 Y0117.3 Y0000.2 Y0079.0

F 1238 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

G
TPENABLE DO_960__ TC_UNLOC
AUTO_KEY K_PB
N00174 X0079.0 Y0040.6

H 1247
DI_633__ DO_327_T
TC_LOCKD CCOUPMON
N00175 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

I 1249
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

J
TPENABLE DO_960__ TC_UNLOC TOOLONRO
AUTO_KEY K_PB BOT
1 R0328.6 Y0079.1
K TOOL CHANGER UNLOCK
TOOLONRO DO_634_T
BOT C_UNLOCK
2
L
N00176 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

M 1263 TC LOCK PUSH BUTTON
TC_LOCK_ TC_UNLOC TPENABLE DO_960__ TC_LOCK_
PB K_PB AUTO_KEY PB
N00177 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

N 1268 TC UNLOCK PUSH BUTTON
TC_UNLOC TC_LOCK_ TPENABLE DO_960__ TC_UNLOC
K_PB PB AUTO_KEY K_PB
N00178 X0079.1 Y0040.7

O 1273
DI_634__ DO_328_T
TC_ULCKD CRELMON
N00179 R0328.6 K0008.0 R0218.4

A 1275 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI_940_T
BOT NT_SS C_NOTOOL
N00180 Y0117.5 Y0117.6 Y0000.2 Y0038.5

B 1278 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

C
TC_OPENG TC__CLOS DO_4_RBT
UNCOVER GUNCOVER _IN_TCH
N00181 Y0117.5 Y0117.6 Y0000.2 Y0038.6

D 1286 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

E
TC__CLOS TC_OPENG DO_4_RBT
GUNCOVER UNCOVER _IN_TCH
N00182 X0038.0 R0321.0 R0329.0

F 1294 GUN1 POSITION
DI_305__ GUN_1_ON GUN1_POS
TCSTND1 _ARM ITION
X0038.0 X0039.3
G
DI_305__ DI_316_G
TCSTND1 EOTPDCK
N00183 X0038.1 R0322.0 R0329.1

H 1300 GUN2 POSITION
TCSTND2 _ARM ITION
X0038.1 X0039.3
I
DI_306__ DI_316_G
TCSTND2 EOTPDCK
N00184 X0038.2 R0323.0 R0329.2

J 1306 GUN3 POSITION
TCSTND3 _ARM ITION
X0038.2 X0039.3
K
DI_307__ DI_316_G
TCSTND3 EOTPDCK
N00185 X0038.3 R0324.0 R0329.3

L 1312 GUN4 POSITION
TCSTND4 _ARM ITION
X0038.3 X0039.3
M
DI_308__ DI_316_G
TCSTND4 EOTPDCK
N00186 X0038.4 R0325.0 R0329.4

N 1318 GUN5 POSITION
TCSTND5 _ARM ITION
X0038.4 X0039.3
O
DI_309__ DI_316_G
TCSTND5 EOTPDCK
N00187 X0038.5 R0326.0 R0329.5

A 1324 GUN6 POSITION
TCSTND6 _ARM ITION
X0038.5 X0039.3
B
DI_310__ DI_316_G
TCSTND6 EOTPDCK
N00188 X0038.6 R0326.1 R0329.6

C 1330 GUN7 POSITION
TCSTND7 _ARM ITION
X0038.6 X0039.3
D
DI_311__ DI_316_G
TCSTND7 EOTPDCK
N00189 X0038.7 R0326.2 R0329.7

E 1336 GUN8 POSITION
TCSTND8 _ARM ITION
X0038.7 X0039.3
F
DI_312__ DI_316_G
TCSTND8 EOTPDCK
N00190 R0329.0 R0328.7

G 1342 ALL GUN1-8 POSITION
GUN1_POS GUN1-8_P
ITION OSITION
R0329.1
H
GUN2_POS
ITION
R0329.2
I
GUN3_POS
ITION
R0329.3
J
GUN4_POS
ITION
R0329.4
K
GUN5_POS
ITION
R0329.5
L
GUN6_POS
ITION
R0329.6
M
GUN7_POS
ITION
R0329.7
N
GUN8_POS
ITION
O
N00191 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1351
DI_316_G DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__
1 X0038.6 X0038.7 R0320.0

B TOOL 1 IN OPDOCK
DI_311__ DI_312__ TOOL1INO
N00192 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1361
1 X0038.6 X0038.7 R0320.1

D TOOL 2 IN OPDOCK
N00193 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1371
1 X0038.6 X0038.7 R0320.2

F TOOL 3 IN OPDOCK
N00194 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1381
1 X0038.6 X0038.7 R0320.3

H TOOL 4 IN OPDOCK
N00195 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1391
1 X0038.6 X0038.7 R0320.4

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

K 1401
1 X0038.6 X0038.7 R0320.5

L TOOL 6 IN OPDOCK
N00197 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1411
1 X0038.6 X0038.7 R0320.6

N TOOL 7 IN OPDOCK
O
N00198 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1421
1 X0038.6 X0038.7 R0320.7

B TOOL 8 IN OPDOCK
N00199 R0320.0 R0319.0

C 1431 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
D
TOOL2INO
PDOCK
R0320.2
E
TOOL3INO
PDOCK
R0320.3
F
TOOL4INO
PDOCK
R0320.4
G
TOOL5INO
PDOCK
R0320.5
H
TOOL6INO
PDOCK
R0320.6
I
TOOL7INO
PDOCK
R0320.7
J
TOOL8INO
PDOCK
N00200 X0082.6 Y0038.7

K 1440
DI_663_T DO_312_T
CCOMMOK CCOMMOK
N00201 X0082.7 Y0039.2

L 1442
DI_664_T DO_315_T
CTLSLDPW LSLIDPWR
N00202 X0079.4 X0079.5 G1008.4

M 1444 RTL1ANDL2SWITCHMISMATCH
DI_637__ DI_638__ UALM_5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
N
DI_637__ DI_638__
RDY2LCK1 RDY2LCK2
N00203 R0328.6 G1008.5

O 1450 NO TOOL ON ARM
TOOLONRO UALM_6
BOT
N00204 K0013.1 R0000.7 Y0126.7

A 1452 NO TOOL ON EOAT SS
NOTOOLON PART_PRE DO_1016_
EOATSS SENT NOEOATSS
N00205 K0013.1 R0000.7 K0013.1

B 1455 R NO TOOL ON EOAT SS
NOTOOLON PART_PRE NOTOOLON
EOATSS SENT EOATSS
N00206 Y0039.3 Y0039.3

C 1458 S WRONG TOOL IN STAND
DO_316_W DO_316_W
RNGTLSTD RNGTLSTD
N00207 Y0039.3 X1025.1 Y0000.1 Y0039.3

D 1460 R WRONG TOOL IN STAND
DO_316_W FAULT___ DO_2_RBT DO_316_W
RNGTLSTD RESET _@_HOME RNGTLSTD
N00208
E 1464 SUB72
SPE
N00209 ### AIR_SWITCH ###

F 1465 SUB71 P0004
SP AIR_SWITCH
N00210 X1020.6 Y0001.5

G 1467 END OF ARM AIR ON
RI_7_AIR DO_14_EO
_FL_SW A_AIR_ON
N00211
H 1469 SUB72
SPE
N00212 ### UALM ###

I 1470 SUB71 P0006
SP UALM
N00213 Y0120.2 X1025.1 Y0120.2

J 1472 PROGRAM FAULT
DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00214 Y0120.2 G1008.0

K 1475 PROGRAM VERIFY FAULT
DO_963__ UALM1
PRG_FLT
N00215 K0010.0 Y0119.7 Y0000.3 G1010.6

L 1477 TEACH MEMORY ON
TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00216 R0000.0 G1011.0

M 1481 GUN DISABLED SELECTOR SWITCH
ALWAYS__ UALM_25
ON
N00217 R0000.0 G1011.1

N 1483 RETRACT ENABLED
ALWAYS__ UALM_26
ON
N00218 Y0002.7 G1011.4

O 1485 IN PROGRAM LOOP
DO_24_RB UALM_29
T_LOOP
N00219 Y0039.3 G1009.7

A 1487 TC PRESS FAULT RESET
DO_316_W UALM_16
RNGTLSTD
N00220
B 1489 SUB72
SPE
N00221 ### INTERFACE ###

C 1490 SUB71 P0007
SP INTERFACE
N00222 D0612.1 ACT D0612.0

D 1492 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH_IF_PB TMR ALL_IF_P
_TO B_TO
D0612.2
E
SEAL_IF_
PB_TO
D0612.3
F
STUD_IF_
PB_TO
O
N00223 K0002.0 D0612.1

A 1498 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
N00224 K0009.4 D0612.2

A 1533 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
Y0108.7
M
DO_872_A
CKBRKN1
Y0108.2
N
DO_867_A
CKBRKN2
Y0029.3
O
DO_236_A
CKNOZCH1
Y0033.3
A
DO_268_A
CKNOZCH2
O
N00225 K0011.7 D0612.3

A 1550 STUD IF PB TO
STUDSKPR STUD_IF_
EMSTDPB1 PB_TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
Y0099.5
L
DO_798__
STRFEDH1
Y0099.6
M
DO_799__
STRFEDH2
Y0099.7
N
DO_800__
STRFEDH3
Y0100.0
O
DO_801__
STRFEDH4
Y0100.1
A
DO_802__
STRFEDH5
N00226
B 1567 SUB72
SPE
N00227 ### MH ###

C 1568 SUB71 P0008
SP MH
N00228 Y0000.3 K0004.4 R1410.0

D 1570 MANUAL GRIP ENABLE
DO_4_RBT MAN_GRP_ MAN_GRP_
_IN_TCH ENBLE_SS ENABLE
N00229 R1410.0 ACT

E 1573 SUB10 0000
MAN_GRP_ JMP
ENABLE
N00230 R0000.0 Y0114.0

F 1576 OPEN CLAMP 1
ALWAYS__ DO_913__
ON OPNCLMP1
N00231 R0000.0 Y0114.1

ALWAYS__ DO_914__
ON CLSCLMP1
N00232 R0000.0 Y0114.2

H 1580 OPEN CLAMP 2
ALWAYS__ DO_915__
ON OPNCLMP2
N00233 R0000.0 Y0114.3

ALWAYS__ DO_916__
ON CLSCLMP2
N00234 R0000.0 Y0114.4

J 1584 OPEN CLAMP 3
ALWAYS__ DO_917__
ON OPNCLMP3
N00235 R0000.0 Y0114.5

ALWAYS__ DO_918__
ON CLSCLMP3
N00236 R0000.0 Y0114.6

L 1588 OPEN CLAMP 4
ALWAYS__ DO_919__
ON OPNCLMP4
N00237 R0000.0 Y0114.7

ALWAYS__ DO_920__
ON CLSCLMP4
N00238 R0000.0 Y0115.0

N 1592 OPEN CLAMP 5
ALWAYS__ DO_921__
ON OPNCLMP5
N00239 R0000.0 Y0115.1

ALWAYS__ DO_922__
ON CLSCLMP5
N00240 R0000.0 Y0115.2

A 1596 OPEN CLAMP 6
ALWAYS__ DO_923__
ON OPNCLMP6
N00241 R0000.0 Y0115.3

ALWAYS__ DO_924__
ON CLSCLMP6
N00242 R0000.0 Y0115.4

C 1600 OPEN CLAMP 7
ALWAYS__ DO_925__
ON OPNCLMP7
N00243 R0000.0 Y0115.5

D 1602 CLOSE CLAMP 7
ALWAYS__ DO_926__
ON CLSCLMP7
N00244 R0000.0 Y0115.6

E 1604 OPEN CLAMP 8
ALWAYS__ DO_927__
ON OPNCLMP8
N00245 R0000.0 Y0115.7

ALWAYS__ DO_928__
ON CLSCLMP8
N00246 R0000.0 Y0116.0

G 1608 OPEN CLAMP 9
ALWAYS__ DO_929__
ON OPNCLMP9
N00247 R0000.0 Y0116.1

H 1610 CLOSE CLAMP 9
ALWAYS__ DO_930__
ON CLSCLMP9
N00248 R0000.0 Y0116.2

I 1612 OPEN CLAMP 10
ALWAYS__ DO_931__
ON OPNCLP10
N00249 R0000.0 Y0116.3

ALWAYS__ DO_932__
ON CLSCLP10
N00250 R0000.0 Y0127.2

K 1616 VACUUM 1 ON
ALWAYS__ DO1019_V
ON AC1ON
N00251 R0000.0 Y0127.3

L 1618 BLOWOFF 1 ON
ALWAYS__ DO1020_B
ON LWOF1ON
N00252 R0000.0 Y0127.4

M 1620 VACUUM 2 ON
ALWAYS__ DO1021_V
ON AC2ON
N00253 R0000.0 Y0127.5

N 1622 BLOWOFF 2 ON
ALWAYS__ DO1022_B
ON LWOF2ON
N00254 R0000.0 Y0127.6

O 1624 VACUUM 3 ON
ALWAYS__ DO1023_V
ON AC3ON
N00255 R0000.0 Y0127.7

A 1626 BLOWOFF 3 ON
ALWAYS__ DO1024_B
ON LWOF3ON
N00256 R0000.0 Y0118.5

B 1628 VACUUM 4 ON
ALWAYS__ DO_950_V
ON AC4ON
N00257 R0000.0 Y0118.6

C 1630 BLOWOFF 4 ON
ALWAYS__ DO_951_B
ON LWOF4ON
N00258
D 1632 SUB30
JMPE
N00259 R1410.0 ACT R0001.1

E 1633 SUB 3 0038
MAN_GRP_ TMR MAN_GRP_
ENABLE TO
N00260 R0001.1 ACT

F 1637 SUB10 0000
MAN_GRP_ JMP
TO
N00261 K0002.1 X1026.1 Y0114.0

G 1640 OPEN CLAMP 1
CLMP1OPN SI9_____ DO_913__
AUTOMDSW OPNCLMP1
N00262 Y0114.0 Y0009.0

H 1643 OPEN CLAMP #1
DO_913__ DO_73_OP
OPNCLMP1 N_CLMP1
N00263 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9_____ DO_914__
AUTOMDSW CLSCLMP1
N00264 Y0114.1 Y0009.1

J 1648 CLOSE CLAMP #1
DO_914__ DO_74_CL
CLSCLMP1 S_CLMP1
N00265 K0002.3 X1026.1 Y0114.2

K 1650 OPEN CLAMP 2
AUTOMDSW OPNCLMP2
N00266 Y0114.2 Y0009.2

L 1653 OPEN CLAMP #2
DO_915__ DO_75_OP
OPNCLMP2 N_CLMP2
N00267 K0002.2 X1026.1 Y0114.3

AUTOMDSW CLSCLMP2
N00268 Y0114.3 Y0009.3

N 1658 CLOSE CLAMP #2
DO_916__ DO_76_CL
CLSCLMP2 S_CLMP2
N00269 K0002.5 X1026.1 Y0114.4

O 1660 OPEN CLAMP 3
AUTOMDSW OPNCLMP3
N00270 Y0114.4 Y0009.4

A 1663 OPEN CLAMP #3
DO_917__ DO_77_OP
OPNCLMP3 N_CLMP_3
N00271 K0002.4 X1026.1 Y0114.5

AUTOMDSW CLSCLMP3
N00272 Y0114.5 Y0009.5

C 1668 CLOSE CLAMP #3
DO_918__ DO_78_CL
CLSCLMP3 S_CLMP3
N00273 K0002.7 X1026.1 Y0114.6

D 1670 OPEN CLAMP 4
AUTOMDSW OPNCLMP4
N00274 Y0114.6 Y0009.6

E 1673 OPEN CLAMP #4
DO_919__ DO_79_OP
OPNCLMP4 N_CLMP4
N00275 K0002.6 X1026.1 Y0114.7

AUTOMDSW CLSCLMP4
N00276 Y0114.7 Y0009.7

G 1678 CLOSE CLAMP #4
DO_920__ DO_80_CL
CLSCLMP4 S_CLMP4
N00277 K0003.1 X1026.1 Y0115.0

H 1680 OPEN CLAMP 5
AUTOMDSW OPNCLMP5
N00278 Y0115.0 Y0010.0

I 1683 OPEN CLAMP #5
DO_921__ DO_81_OP
OPNCLMP5 N_CLMP5
N00279 K0003.0 X1026.1 Y0115.1

AUTOMDSW CLSCLMP5
N00280 Y0115.1 Y0010.1

K 1688 CLOSE CLAMP #5
DO_922__ DO_82_CL
CLSCLMP5 S_CLMP5
N00281 K0003.3 X1026.1 Y0115.2

L 1690 OPEN CLAMP 6
AUTOMDSW OPNCLMP6
N00282 Y0115.2 Y0010.2

M 1693 OPEN CLAMP #6
DO_923__ DO_83_OP
OPNCLMP6 N_CLMP6
N00283 K0003.2 X1026.1 Y0115.3

N 1695 CLOSE CLAMP 6
AUTOMDSW CLSCLMP6
N00284 Y0115.3 Y0010.3

O 1698 CLOSE CLAMP #6
DO_924__ DO_84_CL
CLSCLMP6 S_CLMP_6
N00285 K0003.5 X1026.1 Y0115.4

A 1700 OPEN CLAMP 7
AUTOMDSW OPNCLMP7
N00286 Y0115.4 Y0010.4

B 1703 OPEN CLAMP #7
DO_925__ DO_85_OP
OPNCLMP7 N_CLMP_7
N00287 K0003.4 X1026.1 Y0115.5

C 1705 CLOSE CLAMP 7
AUTOMDSW CLSCLMP7
N00288 Y0115.5 Y0010.5

D 1708 CLOSE CLAMP #7
DO_926__ DO_86_CL
CLSCLMP7 S_CLAMP7
N00289 K0003.7 X1026.1 Y0115.6

E 1710 OPEN CLAMP 8
AUTOMDSW OPNCLMP8
N00290 Y0115.6 Y0010.6

F 1713 OPEN CLAMP #8
DO_927__ DO_87_OP
OPNCLMP8 N_CLMP8
N00291 K0003.6 X1026.1 Y0115.7

AUTOMDSW CLSCLMP8
N00292 Y0115.7 Y0010.7

H 1718 CLOSE CLAMP #8
DO_928__ DO_88_CL
CLSCLMP8 S_CLAMP8
N00293 K0004.1 X1026.1 Y0116.0

I 1720 OPEN CLAMP 9
AUTOMDSW OPNCLMP9
N00294 Y0116.0 Y0011.0

J 1723 OPEN CLAMP #9
DO_929__ DO_89_OP
OPNCLMP9 N_CLMP9
N00295 K0004.0 X1026.1 Y0116.1

AUTOMDSW CLSCLMP9
N00296 Y0116.1 Y0011.1

L 1728 CLOSE CLAMP #9
DO_930__ DO_90_CL
CLSCLMP9 S_CLMP9
N00297 K0004.3 X1026.1 Y0116.2

M 1730 OPEN CLAMP 10
CLP10OPN SI9_____ DO_931__
AUTOMDSW OPNCLP10
N00298 Y0116.2 Y0011.2

N 1733 OPEN CLAMP #10
DO_931__ DO_91_OP
OPNCLP10 N_CLMP10
N00299 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9_____ DO_932__
AUTOMDSW CLSCLP10
N00300 Y0116.3 Y0011.3

A 1738 CLOSE CLAMP #10
DO_932__ DO_92_CL
CLSCLP10 S_CLMP10
N00301 K0014.2 X1026.1 K0014.1 Y0127.2

B 1740 VACUUM 1 ON
VAC_1_ON SI9_____ VAC/BLOW DO1019_V
_PB AUTOMDSW OFFTIMER AC1ON
N00302 Y0127.2 Y0008.0

C 1744
DO1019_V DO_65_VA
AC1ON C_1_ON
N00303 K0014.5 X1026.1 K0014.1 Y0127.3

D 1746 BLOWOFF 1 ON
BLOWOFF_ SI9_____ VAC/BLOW DO1020_B
1_ON_PB AUTOMDSW OFFTIMER LWOF1ON
N00304 Y0127.3 Y0008.1

E 1750
DO1020_B DO_66_BL
LWOF1ON WOFF1ON
N00305 K0014.3 X1026.1 K0014.1 Y0127.4

F 1752 VACUUM 2 ON
N00306 Y0127.4 Y0008.2

G 1756
DO1021_V DO_67_VA
AC2ON C_2_ON
N00307 K0014.6 X1026.1 K0014.1 Y0127.5

H 1758 BLOWOFF 2 ON
N00308 Y0127.5 Y0008.3

I 1762
DO1022_B DO_68_BL
LWOF2ON WOFF2ON
N00309 K0014.4 X1026.1 K0014.1 Y0127.6

J 1764 VACUUM 3 ON
N00310 Y0127.6 Y0008.4

K 1768
DO1023_V DO_69_VA
AC3ON C_3_ON
N00311 K0014.7 X1026.1 K0014.1 Y0127.7

L 1770 BLOWOFF 3 ON
N00312 Y0127.7 Y0008.5

M 1774
DO1024_B DO_70_BL
LWOF3ON WOFF3ON
N00313 K0016.1 X1026.1 K0014.1 Y0118.5

N 1776 VACUUM 4 ON
VAC_4_ON SI9_____ VAC/BLOW DO_950_V
N00314 Y0118.5 Y0008.6

O 1780
DO_950_V DO_71_VA
AC4ON C_4_ON
N00315 K0016.2 X1026.1 K0014.1 Y0118.6

A 1782 BLOWOFF 4 ON
BLOWOFF_ SI9_____ VAC/BLOW DO_951_B
N00316 Y0118.6 Y0008.7

B 1786
DO_951_B DO_72_BL
LWOF4ON WOFF4ON
N00317
C 1788 SUB30
JMPE
N00318 Y0008.0 ACT K0014.1

D 1789 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO_65_VA TMR VAC/BLOW
C_1_ON OFFTIMER
Y0008.1
E
DO_66_BL
WOFF1ON
Y0008.2
F
DO_67_VA
C_2_ON
Y0008.3
G
DO_68_BL
WOFF2ON
Y0008.4
H
DO_69_VA
C_3_ON
Y0008.5
I
DO_70_BL
WOFF3ON
Y0008.6
J
DO_71_VA
C_4_ON
Y0008.7
K
DO_72_BL
WOFF4ON
N00319 K0002.0 D0612.0 K0002.0

L 1800 CLMP1 CLOSE
CLMP1CLS ALL_IF_P CLMP1CLS
B_TO
N00320 K0002.1 D0612.0 K0002.1

M 1803 CLMP1 OPEN
CLMP1OPN ALL_IF_P CLMP1OPN
B_TO
N00321 K0002.2 D0612.0 K0002.2

N 1806 CLMP2 CLOSE
B_TO
N00322 K0002.3 D0612.0 K0002.3

O 1809 CLMP2 OPEN
B_TO
N00323 K0002.4 D0612.0 K0002.4

A 1812 CLMP3 CLOSE
B_TO
N00324 K0002.5 D0612.0 K0002.5

B 1815 CLMP3 OPEN
B_TO
N00325 K0002.6 D0612.0 K0002.6

C 1818 CLMP4 CLOSE
B_TO
N00326 K0002.7 D0612.0 K0002.7

D 1821 CLMP4 OPEN
B_TO
N00327 K0003.0 D0612.0 K0003.0

E 1824 CLMP5 CLOSE
B_TO
N00328 K0003.1 D0612.0 K0003.1

F 1827 CLMP5 OPEN
B_TO
N00329 K0003.2 D0612.0 K0003.2

G 1830 CLMP6 CLOSE
B_TO
N00330 K0003.3 D0612.0 K0003.3

H 1833 CLMP6 OPEN
B_TO
N00331 K0003.4 D0612.0 K0003.4

I 1836 CLMP7 CLOSE
B_TO
N00332 K0003.5 D0612.0 K0003.5

J 1839 CLMP7 OPEN
B_TO
N00333 K0003.6 D0612.0 K0003.6

K 1842 CLMP8 CLOSE
B_TO
N00334 K0003.7 D0612.0 K0003.7

L 1845 CLMP8 OPEN
B_TO
N00335 K0004.0 D0612.0 K0004.0

M 1848 CLMP9 CLOSE
B_TO
N00336 K0004.1 D0612.0 K0004.1

N 1851 CLMP9 OPEN
B_TO
N00337 K0004.2 D0612.0 K0004.2

O 1854 CLMP10 CLOSE
CLP10CLS ALL_IF_P CLP10CLS
B_TO
N00338 K0004.3 D0612.0 K0004.3

A 1857 CLMP10 OPEN
CLP10OPN ALL_IF_P CLP10OPN
B_TO
N00339 K0014.2 D0612.0 K0014.2

B 1860
VAC_1_ON ALL_IF_P VAC_1_ON
_PB B_TO _PB
N00340 K0014.3 D0612.0 K0014.3

C 1863
_PB B_TO _PB
N00341 K0014.4 D0612.0 K0014.4

D 1866
_PB B_TO _PB
N00342 K0016.1 D0612.0 K0016.1

E 1869
_PB B_TO _PB
N00343 K0014.5 D0612.0 K0014.5

F 1872
BLOWOFF_ ALL_IF_P BLOWOFF_
1_ON_PB B_TO 1_ON_PB
N00344 K0014.6 D0612.0 K0014.6

G 1875
N00345 K0014.7 D0612.0 K0014.7

H 1878
N00346 K0016.2 D0612.0 K0016.2

I 1881
N00347 K0000.4 Y0012.6

J 1884 RERUN PROCESS
RERUNPRC DO_103_R
PB ERUNPRC
N00348 K0000.5 Y0012.7

K 1886 ACCEPT PROCESS
ACCPTPRC DO_104_A
PB CCPTPRC
N00349 K0000.6 Y0013.0

L 1888 REJECT PROCESS
REJCTPRC DO_105_R
PB EJCTPRC
N00350 K0000.7 Y0013.1

M 1890 INSPECTION SELECTED
INSPCTSE DO_106_I
LPB NSP_SEL
K0001.3 K0001.5
N
VISIONIN ABORTPRO
TERVENSS CESS
N00351 K0000.4 D0612.0 K0000.4

O 1895 S RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00352 K0000.4 D0612.0 K0000.4

A 1898 R RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00353 K0000.5 D0612.0 K0000.5

B 1901 S ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00354 K0000.5 D0612.0 K0000.5

C 1904 R ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00355 K0000.6 D0612.0 K0000.6

D 1907 S REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00356 K0000.6 D0612.0 K0000.6

E 1910 R REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00357 K0000.7 D0612.0 K0000.7

F 1913 S INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00358 K0000.7 D0612.0 K0000.7

G 1916 R INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00359 K0011.4 D0612.0 K0011.4

H 1919 TOOL CHANGER OPEN GUN COVER
TC_OPENG ALL_IF_P TC_OPENG
UNCOVER B_TO UNCOVER
N00360 K0011.5 D0612.0 K0011.5

I 1922 TOOL CHANGER CLOSE GUN COVER
TC__CLOS ALL_IF_P TC__CLOS
GUNCOVER B_TO GUNCOVER
N00361 X0008.2 R0000.7

J 1925 PART PRESENT ON EOAT
DI_67_PR PART_PRE
T_PRES1 SENT
X0008.3
K
DI_68_PR
T_PRES2
X0008.4
L
DI_69_PR
T_PRES3
X0008.5
M
DI_70_PR
T_PRES4
X0008.6
N
DI_71_PR
T_PRES5
X0008.7
O
DI_72_PR
T_PRES6
N00362
A 1932 SUB72
SPE
N00363 ### APPLICATION ###

B 1933 SUB71 P0009
SP APPLICATION
N00364 D0000.0 Y0048.0

C 1935 MATERIAL HANLDING APPLICATION
MH_APP DO_385_M
H_APP
N00365 D0000.1 Y0048.1

D 1937 WELD 1 APPLICATION
WELD_1_A DO_386__
PP WLD1_APP
N00366 D0000.2 Y0048.2

E 1939 WELD 2 APPLICATION
WELD_2_A DO_387_W
PP LD2_APP
N00367 D0000.3 Y0048.3

F 1941 NUT FEED APPLICATION
NUT_FEED DO_388_N
_APP UTFD_APP
N00368 D0000.4 Y0048.4

G 1943 SEALER 1 APPLICATION
SEAL_1_A DO_389_S
PP LR_1_APP
N00369 D0000.5 Y0048.5

H 1945 SEALER 2 APPLICATION
SEAL_2__ DO_390_S
APP LR_2_APP
N00370 D0000.6 Y0048.6

I 1947 STUD WELD 1 APPLICATION
STUD_1_A DO_391_S
PP TDW_1APP
N00371 D0000.7 Y0048.7

J 1949 STUD WELD 2 APPLICATION
STUD_2_A DO_392_S
PP TDW_2APP
N00372 D0001.0 Y0049.0

K 1951 TOOL CHANGE APPLICATION
TOOL_CHA DO_393_T
NGE_APP C_APP
N00373 D0001.1 Y0049.1

L 1953 RIVET 1 APPLICAYION
RIVET_1_ DO_394_R
APP VT_1_APP
N00374 D0001.2 Y0049.2

M 1955 RIVET 2 APPLICATION
RIVET_2_ DO_395_R
APP VT_2_APP
N00375 D0001.3 Y0049.3

N 1957 NUT RUNNER APPLICATION
NUT_RUNN DO_396_N
ER_APP UTR_APP
N00376 D0001.4 Y0049.4

O 1959 MIG WELD APPLICATION
MIG_WELD DO_397_M
_APP IGW_APP
N00377 D0001.5 Y0049.5

A 1961 ROLL HEMMER APPLICATION
ROLLER_H DO_398_R
EMM_APP LLHEM_AP
N00378 D0001.6 Y0049.6

B 1963 LASER CUT APPLICATION
LASER_CU DO_399_L
T_APP SRCT_APP
N00379 D0001.7 Y0049.7

C 1965 PLASMA CUT APPLICATION
PLASMA_C DO_400_P
UT_APP LSMA_APP
N00380 D0002.0 Y0050.0

D 1967 LASER WELD APPLICATION
LASER_WE DO_401_L
LD_APP SRWLDAPP
N00381 D0002.1 Y0050.1

E 1969 OPERATOR LOAD APPLICATION
OPER_LOA DO_402_O
D_APP P_LD_APP
N00382 D0002.2 Y0050.2

F 1971 VISION APPLICATION
VISION_A DO_403_V
PP IS_APP
N00383 D0002.3 Y0050.3

G 1973 PROGRAM LOCATOR APPLICATION
PROG_LOC DO_404_P
_APP RG_LCAPP
N00384 D0002.4 Y0050.4

H 1975 INTERFACE DEFINITION BIT 21
IF_DEF__ DO_405__
21 INDEFB21
N00385 D0002.5 Y0050.5

I 1977 NUT FEEDER 2 APPLICATION
NUT_FEED DO_406_N
ER_2_APP TFD_2APP
N00386 D0002.6 Y0050.6

J 1979 INTERFACE DEFINITION BIT 23
IF_DEF__ DO_407_I
23 NDEF_B23
N00387 D0002.7 Y0050.7

K 1981 INTERFACE DEFINITION BIT 24
IF_DEF__ DO_408_I
24 NDEF_B24
N00388 D0003.0 Y0051.0

L 1983 INTERFACE DEFINITION BIT 25
IF_DEF__ DO_409_I
25 NDEF_B25
N00389 D0003.1 Y0051.1

M 1985 INTERFACE DEFINITION BIT 26
IF_DEF__ DO_410_I
26 NDEF_B26
N00390 D0003.2 Y0051.2

N 1987 INTERFACE DEFINITION BIT 27
IF_DEF__ DO_411_I
27 NDEF_B27
N00391 D0003.3 Y0051.3

O 1989 INTERFACE DEFINITION BIT 28
IF_DEF__ DO_412_I
28 NDEF_B28
N00392 D0003.4 Y0051.4

A 1991 INTERFACE DEFINITION BIT 29
IF_DEF__ DO_413_I
29 NDEF_B29
N00393 D0003.5 Y0051.5

B 1993 INTERFACE DEFINITION BIT 30
IF_DEF__ DO_414_I
30 NDEF_B30
N00394 D0003.6 Y0051.6

C 1995 INTERFACE DEFINITION BIT 31
IF_DEF__ DO_415_I
31 NDEF_B31
N00395 D0003.7 Y0051.7

D 1997 INTERFACE DEFINITION BIT 32
IF_DEF__ DO_416_I
32 NDEF_B32
N00396
E 1999 SUB72
SPE
N00397 ### DISPENSE1 ###

F 2000 SUB71 P0012
SP DISPENSE1
N00398 X0000.0 R0355.0

G 2002 INTERNAL EXTERNAL RUN ENABLE
DI_1_EXT INT_EXT_
_RNENBL RUN_ENAB
N00399 R0355.0 ACT D0601.0

H 2004 SUB 3 0016 EXTERNAL RUN ENABLE DELAY
INT_EXT_ TMR EXT_RUN_
RUN_ENAB ENBL_DLY
N00400 Y0118.0 Y0118.0 Y0083.2 R0355.1

I 2008 START DISPENSE1
DO_945_S DO_945_S DO_667_R START_DI
TRTDISP1 TRTDISP1 UN_MODE SPENSE1
R0355.1 Y0000.3 X0000.0 D0601.0

J
START_DI DO_4_RBT DI_1_EXT EXT_RUN_
SPENSE1 _IN_TCH _RNENBL ENBL_DLY
N00401 X0000.0 ACT D0602.0

K 2019 SUB 3 0023 E-STOP RECVER SLW REPEAT TIMER
DI_1_EXT TMR SLOW_REP
_RNENBL EAT_TIMR
N00402 F1000.4 ACT D0605.0

L 2023 SUB 3 0024 E-STOP RECOVER START DELAY
HELD TMR ESTOP_RE
C_SDLY
N00403 D0602.0 ACT D0604.0

M 2027 SUB 3 0025 ESTOP RECOVERY DELAY
SLOW_REP TMR ESTOP_RE
EAT_TIMR C_DELAY
N00404 R0355.1 Y0083.2 X0001.1 Y0083.5

N 2031 START DISP CYCLE1
START_DI DO_667_R DI_10_AU DO_670__
SPENSE1 UN_MODE TO_REPT STRT_DSP
O
N00405 K0009.6 X0001.1 Y0084.6

A 2035 FLOW / NO FLOW1
WET/DRY_ DI_10_AU DO_679__
MODE TO_REPT FLWNOFLW
Y0092.6
B FLOW / NO FLOW2
DO_743_F
LWNOFLW
N00406 Y0084.6 Y0048.4 D0005.1

C 2039 WET MODE SEALER 1
DO_679__ DO_389_S WETMODES
FLWNOFLW LR_1_APP EALER1
N00407 Y0092.6 Y0048.5 D0005.2

D 2042 WET MODE SEALER 2
DO_743_F DO_390_S WETMODES
LWNOFLW LR_2_APP EALER2
Y0048.5
E
DO_390_S
LR_2_APP
N00408 D0005.1 D0005.2 Y0026.0

F 2046
WETMODES WETMODES DO_209_F
EALER1 EALER2 LWSLSW
N00409 K0009.4 Y0084.0

G 2049 MANUAL FLOW1
MAN_FLOW DO_673_M
_PB1 ANFLW
N00410 K0008.4 Y0027.3 Y0027.2 K0008.4

H 2051 S ENABLE ACCEPT/REJECT 1
ENBACCEP DO_220_R DO_219_A ENBACCEP
N00411 K0008.2 Y0027.2 K0008.4

I 2055 R ENABLE ACCEPT/REJECT 1
ACCEPTSE DO_219_A ENBACCEP
ALER1_IF CCPTSL1 TREJECT1
K0008.3 Y0027.3
J
REJECTSE DO_220_R
ALER1_IF EJSEAL1
N00412 K0008.4 K0008.2 K0008.3 Y0027.2

K 2061
ENBACCEP ACCEPTSE REJECTSE DO_219_A
TREJECT1 ALER1_IF ALER1_IF CCPTSL1
N00413 K0008.4 K0008.2 K0008.3 Y0027.3

L 2065
ENBACCEP ACCEPTSE REJECTSE DO_220_R
TREJECT1 ALER1_IF ALER1_IF EJSEAL1
N00414 X0083.4 Y0026.1

M 2069
DI_669_S DO_210_S
LREADY1 EALRDY1
N00415 X0083.1 Y0026.2

N 2071
DI_666_I DO_211_S
NCYCLE1 EALCYCL1
N00416 X0083.3 Y0026.3

O 2073
DI_668_N DO_212_M
OFLT1 AJFLT1
N00417 X0083.7 Y0026.4

A 2075
DI_672_V DO_213_V
OLOK1 OL_OK1
N00418 Y0086.1 Y0028.2

B 2077
DO_690_@ DO_227_A
PRGBUCK TPURGBC1
N00419 X0083.0 Y0028.4

C 2079
DI_665_C DO_229_S
OMM_OK1 LCOMMOK1
N00420 X0083.6 Y0027.4

D 2081
DI_671_C DO_221_C
YCCMP1 YCCMP1
N00421 X0085.5 Y0027.5

E 2083
DI_686_2 DO_222_N
CINMIX1 O2CMIX1
N00422 X0084.2 Y0027.6

F 2085
DI_675_M DO_223_M
INFLT1 INORFLT1
N00423 X0086.2 Y0028.0

G 2087
DI_691_N DO_225_N
OZZCHG1 OZCHGRQ1
N00424 X0084.0 Y0028.1

H 2089
DI_673_H DO_226_H
I/LO1 ILOWARN1
N00425 X0026.2 Y0086.3

I 2091 FAULT RESET1
DI_211_R DO_692_F
STSL_FLT AULTRST
Y0094.3
J FAULT RESET2
DO_756_F
AULTRST2
N00426 Y0127.0 Y0086.1 Y0085.3

K 2094 PURGE1
DO_1017_ DO_690_@ DO_684__
PURGE1 PRGBUCK PURGE
X0026.4
L
DI_213_A
PRGESL_1
N00427 X0027.0 Y0084.7

M 2098 RESTART PULSE1
DI_217_R DO_680__
STRTPLS1 RESTRT
N00428 K0008.7 Y0027.0

N 2100
RESEAL_P DO_217_R
B1 ESEALPB1
O
N00429 K0011.2 Y0026.5

A 2102
AUTO_PUR DO_214_A
GE_PB1 UTPRGPB1
Y0030.5
B
DO_246_A
UTPRGPB2
N00430 X0027.0 Y0084.7

DI_217_R DO_680__
STRTPLS1 RESTRT
N00431 X0084.0 Y0028.1

D 2107
DI_673_H DO_226_H
I/LO1 ILOWARN1
N00432 X0084.3 Y0028.3

E 2109
DI_676_D DO_228_S
EPRESSIZ EALDEPR1
N00433 X0084.4 Y0028.6

F 2111
DI_677_P DO_231_P
URGCOMP1 URGCOMP1
N00434 X0084.5 Y0028.7

G 2113
DI678_PU DO_232_P
RGEACTV1 URGACTV1
N00435 X0027.1 Y0086.2

DI_218_A DO_691_A
CKNZCHG1 CKNOZCHG
N00436 X0084.6 Y0029.0

I 2117
DI_679_R DO_233_S
EFERREQ1 LRREFER1
N00437 K0009.4 D0612.0 K0009.4

MAN_FLOW ALL_IF_P MAN_FLOW
_PB1 B_TO _PB1
N00438 K0008.7 D0612.0 K0008.7

K 2122 RESEAL PB1
RESEAL_P ALL_IF_P RESEAL_P
B1 B_TO B1
N00439 K0011.2 D0612.0 K0011.2

AUTO_PUR ALL_IF_P AUTO_PUR
GE_PB1 B_TO GE_PB1
N00440 K0008.2 D0612.0 K0008.2

ACCEPTSE ALL_IF_P ACCEPTSE
ALER1_IF B_TO ALER1_IF
N00441 K0008.3 D0612.0 K0008.3

REJECTSE ALL_IF_P REJECTSE
N00442 K0012.3 D0612.0 K0012.3

INSPECTI ALL_IF_P INSPECTI
ON_PB_1 B_TO ON_PB_1
N00443 X0084.1 Y0029.1

A 2137
DI_674_D DO_234_D
OSRFIL1 OSRFILL1
N00444 K0012.3 Y0028.5

B 2139
INSPECTI DO_230_I
ON_PB_1 NSPCSEL1
N00445 X0085.6 Y0029.2

C 2141
DI_687_E DO_235_H
RRHEAT1 T/CLERR1
N00446 Y0108.7 D0612.0 Y0108.7

D 2143
DO_872_A ALL_IF_P DO_872_A
CKBRKN1 B_TO CKBRKN1
N00447 Y0029.3 D0612.0 Y0029.3

E 2146
CKNOZCH1 B_TO CKNOZCH1
N00448
F 2149 SUB72
SPE
N00449 ### DISPENSE2 ###

G 2150 SUB71 P0013
SP DISPENSE2
N00450 Y0117.7 Y0117.7 Y0091.2 R0355.2

H 2152 START DISPENSE2
DO_944_S DO_944_S DO_731_R START_DI
TRTDISP2 TRTDISP2 UN_MODE SPENSE2
R0355.2 Y0000.3 X0000.0 D0601.0

I
START_DI DO_4_RBT DI_1_EXT EXT_RUN_
SPENSE2 _IN_TCH _RNENBL ENBL_DLY
N00451 R0355.2 Y0091.2 X0001.1 Y0091.5

J 2163 START DISP CYCLE2
START_DI DO_731_R DI_10_AU DO_734_S
SPENSE2 UN_MODE TO_REPT TRT_DSP
N00452 K0009.5 Y0092.0

K 2167 MANUAL FLOW2
MAN_FLOW DO_737_M
_PB2 ANFLW
N00453 K0013.7 Y0031.3 Y0031.2 K0013.7

L 2169 S ENABLE ACCEPT/REJECT 2
ENBACCEP DO_252_R DO_251_A ENBACCEP
N00454 K0013.5 Y0031.2 K0013.7

M 2173 R ENABLE ACCEPT/REJECT 2
ACCEPTSE DO_251_A ENBACCEP
ALER2_IF CCPTSL2 TREJECT2
K0013.6 Y0031.3
N
REJECTSE DO_252_R
ALER2_IF EJSEAL2
N00455 K0013.7 K0013.5 K0013.6 Y0031.2

O 2179
ENBACCEP ACCEPTSE REJECTSE DO_251_A
TREJECT2 ALER2_IF ALER2_IF CCPTSL2
N00456 K0013.7 K0013.5 K0013.6 Y0031.3

A 2183
ENBACCEP ACCEPTSE REJECTSE DO_252_R
TREJECT2 ALER2_IF ALER2_IF EJSEAL2
N00457 X0091.4 Y0030.1

B 2187
DI_733_S DO_242_S
LREADY2 EALRDY2
N00458 X0091.1 Y0030.2

C 2189
DI_730_I DO_243_S
NCYCLE2 EALCYCL2
N00459 X0091.3 Y0030.3

D 2191
DI_732_N DO_244_M
OFLT2 AJFLT2
N00460 X0091.7 Y0030.4

E 2193
DI_736_V DO_245_V
OLOK2 OL_OK2
N00461 Y0094.1 Y0032.2

F 2195
DO_754_@ DO_259_A
PRGBUCK2 TPURGBC2
N00462 X0091.0 Y0032.4

G 2197
DI_729_C DO_261_S
OMM_OK2 LCOMMOK2
N00463 X0091.6 Y0031.4

H 2199
DI_735_C DO_253_C
YCCMP2 YCCMP2
N00464 X0093.5 Y0031.5

I 2201
DI_750_2 DO_254_N
CINMIX2 O2CMIX2
N00465 X0092.2 Y0031.6

J 2203
DI_739_M DO_255_M
INFLT2 INORFLT2
N00466 X0094.2 Y0032.0

K 2205
DI_755_N DO_257_N
OZZCHG2 OZCHGRQ2
N00467 X0092.0 Y0032.1

L 2207
DI_737_H DO_258_H
I/LO2 ILOWARN2
N00468 Y0127.1 Y0094.1 Y0093.3

M 2209 PURGE2
DO_1018_ DO_754_@ DO_748_P
PURGE2 PRGBUCK2 URGE2
X0030.4
N
DI_245_A
PRGESL_2
N00469 X0031.0 Y0092.7

O 2213 RESTART PULSE2
DI_249_R DO_744_R
STRTPLS2 ESTRT
N00470 K0009.0 Y0031.0

A 2215
RESEAL_P DO_249_R
B2 ESEALPB2
N00471 K0011.3 Y0030.5

B 2217
AUTO_PUR DO_246_A
GE_PB2 UTPRGPB2
N00472 X0031.0 Y0092.7

DI_249_R DO_744_R
STRTPLS2 ESTRT
N00473 X0092.0 Y0032.1

D 2221
DI_737_H DO_258_H
I/LO2 ILOWARN2
N00474 X0092.3 Y0032.3

E 2223
DI_740_D DO_260_S
EPRESIZ2 EALDEPR2
N00475 X0092.4 Y0032.6

F 2225
DI_741_P DO_263_P
URGCOMP2 URGCOMP2
N00476 X0092.5 Y0032.7

G 2227
DI742_PU DO_264_P
RGEACTV2 URGACTV2
N00477 X0031.1 Y0094.2

H 2229 ACK NOZZLE CHANGED
DI_250_A DO_755_A
CKNZCHG2 CKNOZCH2
N00478 X0092.6 Y0033.0

I 2231
DI_743_R DO_265_S
EFERREQ2 LRREFER2
N00479 K0009.5 D0612.0 K0009.5

MAN_FLOW ALL_IF_P MAN_FLOW
_PB2 B_TO _PB2
N00480 K0009.0 D0612.0 K0009.0

K 2236 RESEAL PB2
RESEAL_P ALL_IF_P RESEAL_P
B2 B_TO B2
N00481 K0011.3 D0612.0 K0011.3

AUTO_PUR ALL_IF_P AUTO_PUR
GE_PB2 B_TO GE_PB2
N00482 K0013.5 D0612.0 K0013.5

ACCEPTSE ALL_IF_P ACCEPTSE
N00483 K0013.6 D0612.0 K0013.6

REJECTSE ALL_IF_P REJECTSE
N00484 K0012.4 D0612.0 K0012.4

INSPECTI ALL_IF_P INSPECTI
ON_PB_2 B_TO ON_PB_2
N00485 X0092.1 Y0033.1

A 2251
DI_738_D DO_266_D
OSRFIL2 OSRFILL2
N00486 K0012.4 Y0032.5

B 2253
INSPECTI DO_262_I
ON_PB_2 NSPCSEL2
N00487 X0093.6 Y0033.2

C 2255
DI751_ER DO_267_H
RHEAT2 T/CLERR2
N00488 Y0108.2 D0612.0 Y0108.2

D 2257
CKBRKN2 B_TO CKBRKN2
N00489 Y0033.3 D0612.0 Y0033.3

E 2260
CKNOZCH2 B_TO CKNOZCH2
N00490
F 2263 SUB72
SPE
N00491 ### STUD ###

G 2264 SUB71 P0014
SP STUD
N00492 K0004.7 Y0034.0

H 2266 STUD WELD WELD/ NO WELD MODE
WELD_/_N DO_273_W
O_WELD1 LDN0WLD1
R0221.0
I REMOTE WELD / NO WELD MODE
DI_960_R
EM_WELD
N00493 X0034.0 X0099.0 Y0034.6

J 2269 STUD WELDER #1 FAULT
DI_273_S DI_793__ DO_279_W
W1_GUN1 NOFLTHD1 LDFLT1
X0034.1 X0099.5
K
DI_274_S DI_798__
W1GUN2 NOFLTHD2
N00494 X0099.1 X0099.0 X0099.2 X0034.0 Y0034.5

L 2275 STUD WELDER #1 WELD COMPLETE
DI_794__ DI_793__ DI_795__ DI_273_S DO_278_W
WLDCMPH1 NOFLTHD1 HDBCKHD1 W1_GUN1 LDCOMP1
X0099.6 X0099.5 X0099.7 X0034.1

M
DI_799__ DI_798__ DI_800__ DI_274_S
WLDCMPH2 NOFLTHD2 HDBCKHD2 W1GUN2
Y0034.5 R0527.0
N
DO_278_W STUDWLDC
LDCOMP1 MPLDLY
N00495 Y0034.5 ACT R0527.0

O 2288 SUB 3 0026 STUD WELD COMPLETE DELAY
DO_278_W TMR STUDWLDC
LDCOMP1 MPLDLY
N00496 X0099.1 X0034.0 R0214.5

A 2292 STUD WELD COMP1AND2
DI_794__ DI_273_S DI_909_W
WLDCMPH1 W1_GUN1 LDCMP1_2
X0099.6 X0034.1
B
DI_799__ DI_274_S
WLDCMPH2 W1GUN2
N00497 X0099.2 Y0099.0 X0034.0 Y0034.4

C 2298 STUD IN WELD CYCLE
DI_795__ DO_793__ DI_273_S DO_277_W
HDBCKHD1 STRWLDH1 W1_GUN1 LDCYC1
X0099.7 Y0099.1 X0034.1

D
DI_800__ DO_794__ DI_274_S
HDBCKHD2 STRWLDH2 W1GUN2
N00498 Y0034.7 Y0034.7

E 2306 S STUD TIME DELAY EXCEEDED
DO_280_T DO_280_T
IMDLYEX1 IMDLYEX1
N00499 R0214.5 Y0034.7

F 2308 R STUD TIME DELAY EXCEEDED
DI_909_W DO_280_T
LDCMP1_2 IMDLYEX1
N00500 X0104.1 Y0034.2

G 2310 STUD COMMUNICATION OK
DI_834__ DO_275_S
COMMOK TDCOMOK1
N00501 X0102.1 Y0035.0

H 2312 STUD MAINTENANCE REQUIRED
DI_818__ DO_281_M
MAINTREQ AINTREQ1
N00502 K0004.7 Y0101.4

I 2314 STUD MODE SELECT 1
WELD_/_N DO_813__
O_WELD1 MODSEL1
N00503 K0004.7 Y0101.5

J 2316 STUD MODE SELECT 2
WELD_/_N DO_814__
O_WELD1 MODSEL2
K0004.7 X0001.1
K
WELD_/_N DI_10_AU
O_WELD1 TO_REPT
O
N00504 Y0100.2 Y0116.5 X0102.3 K0004.7 X0034.0 Y0099.0

A 2321 STUD START WELD CYCLE HEAD 1
DO_803__ DO_934__ DI_820_R WELD_/_N DI_273_S DO_793__
WLDSELB1 RD_SCHD1 DY4AUTO O_WELD1 W1_GUN1 STRWLDH1
Y0100.3 X0001.1
B
DO_804__ DI_10_AU
WLDSELB2 TO_REPT
Y0100.4
C
DO_805__
WLDSELB4
Y0100.5
D
DO_806__
WLDSELB8
Y0100.6
E
DO_807__
WLDSLB16
Y0100.7
F
DO_808__
WLDSLB32
Y0101.0
G
DO_809__
WLDSLB64
N00505 Y0100.2 Y0116.6 X0102.3 K0004.7 X0034.1 Y0099.1

H 2335 STUD START WELD CYCLE HEAD 2
DO_803__ DO_935__ DI_820_R WELD_/_N DI_274_S DO_794__
WLDSELB1 RD_SCHD2 DY4AUTO O_WELD1 W1GUN2 STRWLDH2
Y0100.3 X0001.1
I
DO_804__ DI_10_AU
WLDSELB2 TO_REPT
Y0100.4
J
DO_805__
WLDSELB4
Y0100.5
K
DO_806__
WLDSELB8
Y0100.6
L
DO_807__
WLDSLB16
Y0100.7
M
DO_808__
WLDSLB32
Y0101.0
N
DO_809__
WLDSLB64
N00506 X0102.3 Y0034.3

O 2349 STUD READY FOR AUTOMATION
DI_820_R DO_276_R
DY4AUTO DY4AUTO1
N00507 X0102.2 Y0035.1

A 2351 STUD LOW STUD WARNING
DI_819_S DO_282_L
TUDSLOW OWSTDWR1
N00508 K0011.6 Y0035.3 ACT D0614.0

B 2353 SUB 3 0029 STUD ENABLE SS TIMEOUT
STUDENAB DO_284_R TMR STUDENAB
LESS1 JCTPRT1 LESSTO
Y0035.4
C
DO_285_S
KPREMST1
Y0126.5
D
DO1014_M
ANWELD
Y0035.2
E
DO_283_N
ORECALP1
Y0101.2
F
DO_811_R
ESTRWLD
N00509 K0011.6 D0614.0 K0011.6

G 2363 STUD ENABLE SS 1
STUDENAB STUDENAB STUDENAB
LESS1 LESSTO LESS1
N00510 K0011.6 K0012.0 X0034.0 X0099.0 Y0035.3

H 2366 STUD REJECT PART
STUDENAB STUDREJE DI_273_S DI_793__ DO_284_R
LESS1 CTPB1 W1_GUN1 NOFLTHD1 JCTPRT1
X0034.1 X0099.5
I
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
J
PAUSED
Y0035.3
K
DO_284_R
JCTPRT1
N00511 K0011.6 K0011.7 X0034.0 X0099.0 Y0035.4

L 2377 SKIP REMAINING STUDS
STUDENAB STUDSKPR DI_273_S DI_793__ DO_285_S
LESS1 EMSTDPB1 W1_GUN1 NOFLTHD1 KPREMST1
X0034.1 X0099.5
M
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
N
PAUSED
Y0035.4
O
DO_285_S
KPREMST1
N00512 K0011.6 K0012.1 F1000.3 Y0126.5

A 2388 STUD MANUAL WELD
STUDENAB STUDMANU PAUSED DO1014_M
LESS1 ALPB1 ANWELD
Y0126.5
B
DO1014_M
ANWELD
N00513 K0011.6 K0013.2 X0034.0 X0099.0 Y0035.2

C 2394 STUD REJECT PART, DONT RECALL
STUDENAB REJECTNO DI_273_S DI_793__ DO_283_N
LESS1 PGRECLL1 W1_GUN1 NOFLTHD1 ORECALP1
X0034.1 X0099.5
D
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
E
PAUSED
Y0035.2
F
DO_283_N
ORECALP1
N00514 K0011.6 K0012.2 X0034.0 Y0099.0 Y0101.2

G 2405 STUD RESTART WELD
STUDENAB STUDFAUL DI_273_S DO_793__ DO_811_R
LESS1 TRSTPB1 W1_GUN1 STRWLDH1 ESTRWLD
X0034.1 Y0099.1
H
DI_274_S DO_794__
W1GUN2 STRWLDH2
F1000.3
I
PAUSED
Y0101.2
J
DO_811_R
ESTRWLD
N00515 Y0035.3 Y0101.3

K 2416 STUD FORCE WELD COMPLETE
DO_284_R DO_812__
JCTPRT1 FRCWLDCM
Y0035.4 Y0101.1
L STUD INTERNAL RESET
DO_285_S DO_810_R
KPREMST1 ESET
Y0126.5
M
DO1014_M
ANWELD
Y0035.2
N
DO_283_N
ORECALP1
Y0101.2
O
DO_811_R
ESTRWLD
N00516 X0034.0 R0214.3

A 2423 STUD GUN WC 1 SELECTED
DI_273_S DI_907_S
W1_GUN1 TDGUN1SL
X0034.1
B
DI_274_S
W1GUN2
N00517 X0099.2 X0034.0 R0214.1

C 2426 STUD HEAD BACK WC 1
DI_795__ DI_273_S DI_905_S
HDBCKHD1 W1_GUN1 TDHDBCK1
X0099.7 X0034.1
D
DI_800__ DI_274_S
HDBCKHD2 W1GUN2
N00518 Y0035.2 Y0126.4

E 2432 S STUD ABORT FLAG
DO_283_N DO1013_S
ORECALP1 TUDABORT
N00519 Y0126.4 F1000.6 F1000.3 F1000.2 Y0126.4

F 2434 R STUD ABORT FLAG
DO1013_S AT_HOME PAUSED PROGRAM_ DO1013_S
TUDABORT RUNNING TUDABORT
N00520 K0012.0 D0612.0 K0012.0

G 2439 STUD REJECT PB 1
STUDREJE ALL_IF_P STUDREJE
CTPB1 B_TO CTPB1
N00521 K0011.7 D0612.0 K0011.7

H 2442 STUD SKIP REMAINING STUDS PB 1
STUDSKPR ALL_IF_P STUDSKPR
EMSTDPB1 B_TO EMSTDPB1
N00522 K0012.1 D0612.0 K0012.1

I 2445 STUD MANUAL PB 1
STUDMANU ALL_IF_P STUDMANU
ALPB1 B_TO ALPB1
N00523 K0013.2 D0612.0 K0013.2

J 2448 REJECT - NO PG RECALL1
REJECTNO ALL_IF_P REJECTNO
PGRECLL1 B_TO PGRECLL1
N00524 K0012.2 D0612.0 K0012.2

K 2451 STUD WELD FAULT RESET PB 1
STUDFAUL ALL_IF_P STUDFAUL
TRSTPB1 B_TO TRSTPB1
N00525 X1025.1 Y0000.5 R0224.7

L 2454 STUD MOVE OUT OF MAINTENANCE
FAULT___ DO_6_RBT DI1024_S
RESET _@_MAINT TUDOMAIN
Y0073.2
M
DO587_@M
INMAINT
N00526 Y0099.5 D0612.0 Y0099.5

N 2459 STUD START FEED CYCLE HEAD 1
DO_798__ ALL_IF_P DO_798__
STRFEDH1 B_TO STRFEDH1
N00527 Y0099.6 D0612.0 Y0099.6

O 2462 STUD START FEED CYCLE HEAD 2
DO_799__ ALL_IF_P DO_799__
N00528 Y0099.7 D0612.0 Y0099.7

A 2465 STUD START FEED CYCLE HEAD 3
DO_800__ ALL_IF_P DO_800__
N00529 Y0100.0 D0612.0 Y0100.0

B 2468 STUD START FEED CYCLE HEAD 4
DO_801__ ALL_IF_P DO_801__
N00530 Y0100.1 D0612.0 Y0100.1

C 2471 STUD START FEED CYCLE HEAD 5
DO_802__ ALL_IF_P DO_802__
N00531 Y0126.6 Y0036.0

D 2474 STUD SKIP REMAINING ACTIVE
DO1015_F DO_289_S
FRECOVER RACTIVE1
N00532
E 2476 SUB72
SPE
N00533 ### VISION ###

F 2477 SUB71 P0024
SP VISION
N00534 K0001.3 K0001.3

G 2479 S VISION INTERVENTION ENABLE SS
VISIONIN VISIONIN
TERVENSS TERVENSS
N00535 K0001.3 X1025.1 K0001.3

H 2481 R VISION INTERVENTION ENABLE SS
VISIONIN FAULT___ VISIONIN
TERVENSS RESET TERVENSS
K0001.3 K0001.4 K0001.5 K0001.7 K0001.6

I
VISIONIN LOAD2AVE ABORTPRO RETRYOPE CALIBREQ
TERVENSS RAGE CESS RATION UEST
N00536 K0001.3 K0001.4 Y0084.4

J 2490 PART1 ID BIN4
VISIONIN LOAD2AVE DO_677_P
TERVENSS RAGE RTID4
X0043.5
K
DI_350_O
K2LDAVRG
N00537 K0001.4 D0612.0 K0001.4

L 2494 S VISION LOAD TO AVERAGE
LOAD2AVE ALL_IF_P LOAD2AVE
RAGE B_TO RAGE
N00538 K0001.4 D0612.0 K0001.4

M 2497 R VISION LOAD TO AVERAGE
LOAD2AVE ALL_IF_P LOAD2AVE
RAGE B_TO RAGE
N00539 K0001.3 K0001.5 Y0084.4

N 2500 PART1 ID BIN4
VISIONIN ABORTPRO DO_677_P
TERVENSS CESS RTID4
X0042.7
O
DI_344_A
BRTVISOP
N00540 K0001.5 D0612.0 K0001.5

A 2504 S VISION ABORT VISION PROCESS
ABORTPRO ALL_IF_P ABORTPRO
CESS B_TO CESS
N00541 K0001.5 D0612.0 K0001.5

B 2507 R VISION ABORT VISION PROCESS
ABORTPRO ALL_IF_P ABORTPRO
CESS B_TO CESS
N00542 K0001.3 K0001.6 Y0084.4

C 2510 PART1 ID BIN4
VISIONIN CALIBREQ DO_677_P
TERVENSS UEST RTID4
X0015.3
D
DI_124_N
EWTPRST1
N00543 K0001.6 D0612.0 K0001.6

E 2514 S VISION CALIB REQUEST
CALIBREQ ALL_IF_P CALIBREQ
UEST B_TO UEST
N00544 K0001.6 D0612.0 K0001.6

F 2517 R VISION CALIB REQUEST
CALIBREQ ALL_IF_P CALIBREQ
UEST B_TO UEST
N00545 K0001.3 K0001.7 Y0084.4

G 2520 PART1 ID BIN4
VISIONIN RETRYOPE DO_677_P
TERVENSS RATION RTID4
X0043.0
H
DI_345_R
TRYVISOP
N00546 K0001.7 D0612.0 K0001.7

I 2524 S VISION RETRY OPERATION
RETRYOPE ALL_IF_P RETRYOPE
RATION B_TO RATION
N00547 K0001.7 D0612.0 K0001.7

J 2527 R VISION RETRY OPERATION
RETRYOPE ALL_IF_P RETRYOPE
RATION B_TO RATION
N00548
K 2530 SUB72
SPE

Ford Fanuc R30ia R30ib Nextgen E180

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VEHICLE OPERATION STRUCTURE AND STANDARDS

FORD Robot Programming Guide - FANUC Implementation

Appendix – Grinding Applications

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1.1 PG21 (Mainline)

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1.6 PG10 – Disk Change Main

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2.1 Rack Hardware Configuration

Slot 0 Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7

24VDC Analog Analog Analog 24VDC 24VDC Analog

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Table 3: EtherNet/IP Setup

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3.1 MH Software I/F Panel

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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