Ford Fanuc R30ia R30ib Nextgen E146

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

Next Gen - Integrated Ethernet Safety for R-30iA and R-30iB
Controllers
Appendix Laser Weld With Highyag RLSK Laser Weld Head

Table of Contents
1 SAMPLE TEACH PENDANT PROGRAMS – LASER WELD .......... 5
1.1 PG21 – LASER WELD .................................................................................................................... 5
1.2 PG16 – WELD COUPON ................................................................................................................ 8
1.3 PG08 – MAINTENANCE POSITION .................................................................................................11
1.4 PG09 – MINOR MAINTENANCE POSITION......................................................................................13
1.5 PG10 – POWER METER ................................................................................................................15
1.6 LASER01 – LASER PATH ..............................................................................................................17
1.7 LASERON – TURN LASER ON MACRO ........................................................................................21
1.8 LASEROFF – TURN LASER OFF MACRO ....................................................................................21
1.9 RLSK_SEL – SET UP RLSK MACRO ..........................................................................................23
1.10 PWR_M_SHOT – POWER METER SHOT MACRO ........................................................................24
1.11 HOME_IO – RESET INPUT/OUTPUT MACRO ..............................................................................26
2 SOFTWARE I/F PANELS ................................................................... 29

2.1. GEN MENU I/F ..........................................................................................................................29
2.2. LASER MENU I/F.......................................................................................................................30
3 PMC LOGIC (S-LOGIC) FOR R-30IA CONTROLLERS.................. 31
4 PMC LOGIC (S-LOGIC) FOR R-30IB CONTROLLERS .................. 32
Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Page 2 of 32
Revision History
Revision Modification Date Description
1.0 2013-03-18 Initial Release
1.1 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].
Updated GEN MENU I/F to reflect the addition of
Minor Maintenance Position SS.
1.2 2013-08-07 Updated iA PMC: Modified logic for rung with output
R0388.0 OPSFTY_FLT_LATCH. Added a rung for
this modification that has output R0388.1 F1008.1
DELAY ON.
Updated iB PMC: Removed logic for fault decoding for
SRVO 379-385 alarms (R387.1 - R87.7). Removed
comments for R387.1 - R387.7. Modified comment for
R387.0 for new R30iB fault description. Modified logic
for rung with output R0388.0 OPSFTY_FLT_LATCH.
Added a rung for this modification that has output
R0388.1 F1008.1 DELAY ON.
1.3 2014-06-24 Updated iA PMC: Modified facility code reset logic.
Modified safety chain fault detection logic.
Updated iB PMC: Facility code reset logic modified.
Updated HOME_IO to reset Robot at Minor
Maintenance;
Added DO[587:RBT AT MINMAINT]=OFF
1.4 2015-01-30 Added Second Program Verify to Main Style Program
Updated (Minor) Maintenance Programs:: Moved
position at which the at (Minor) Maintenance position
signal is turned off to come immediately after the wait
for the PLC (Minor) Maintenance clear signal.
Updated PMC: Added Couple and Decouple pass
through signals to Tool Changer Subprogram ;;;
Adjusted Laser Head Fault logic
1.5 2016-02-12 Updated PMC (iA) : Removed the Pilot Enable Selector
Switch from the Interface Anti-Tiedown Logic
Updated PMC: Added TC Cover Open/Close to the
Interface Anti-Tiedown Logic
Updated PMC: 2015-10-30 : Added Logic to allow for
Robot Cycle Start from Multiple Home 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 while the Tool Change Application Bit is

Page 3 of 32
inactive

Page 4 of 32
1 Sample Teach Pendant Programs – Laser Weld
1.1 PG21 – Laser Weld

/PROG PG21
/ATTR
OWNER = MNEDITOR;
COMMENT = "Laser Weld Prog1";
PROG_SIZE = 2158;
CREATE = DATE 12-09-18 TIME 09:05:38;
MODIFIED = DATE 13-03-11 TIME 16:47:12;
FILE_NAME = PG21;
VERSION = 0;
LINE_COUNT = 96;
MEMORY_SIZE = 2670;
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 Welding Equipment Number : 1 ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
CYCLE_TARGET = 0.00 ;
/MN
1: !******************************** ;
2: !Laser Weld PG21 ;
3: ! ;
4: !******************************** ;
5: ;
6: !Verify Program ;
7: PROGRAM VERIFY(21) ;
8: ;
9: !Set Robot UTOOL Number ;
10: UTOOL_NUM=1 ;
11: ;
12: !Set Robot UFRAME Number ;
13: UFRAME_NUM=1 ;
14: ;
15: !-------------------------------- ;
16: !Set Robot Payload ;
17: PAYLOAD[2] ;
18: ;
19: !Setup App Specific Outputs ;
20: SETUP OUTPUTS ;
21: ;
22: !Move to Home ;
23: GO TO HOME POS ;
24: ;
25: !Move to Pounce Position ;
26: GO TO POUNCE ;
27: ;
28: !Clr to Adv Xfer ;
29: DO[954:CLRTOADVXFR]=ON ;
30: ;
31: !Clr to Ret Xfer ;

Page 5 of 32
32: DO[955:CLRTORETXFR]=ON ;
33: ;
34: !Clear to Unclamp ;
35: DO[956:CLRTOUNCLMP]=OFF ;
36: ;
37: !-------------------------------- ;
38: LBL[33:Loop Back] ;
39: ;
40: !Robot waiting in loop ;
41: DO[24:RBT IN LOOP]=ON ;
42: ;
43: !-------------------------------- ;
44: !Wait Continue from Pounce or Ret ;
45: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
46: ;
47: !Robot NOT waiting in loop ;
48: 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] ;
52: ;
53: !If Continue from Pounce jump to ;
54: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
55: ;
56: JMP LBL[33] ;
57: ;
58: !-------------------------------- ;
59: !Continue from Pounce ;
60: LBL[9:Pounce Cont] ;
5: ;
8: ;
63: DO[955:CLRTORETXFR]=OFF ;
64: ;
66: DO[954:CLRTOADVXFR]=OFF ;
67: ;
70: ;
71: !***************************** ;
72: !Laser Path ;
73: !***************************** ;
74: !Enter Zone ;
75: !ENTER ZONE() ;
76: ;
77: !Contains Laser Weld Points ;
78: CALL LASER01 ;
79: ;
80: !Exit Zone ;
81: !EXIT ZONE() ;
82: ;
85: ;
88: ;
91: ;
92: !------------------------------ ;
93: LBL[13:Return to Home] ;

Page 6 of 32
94: ;
95: !Move to Home ;
/POS
/END

Page 7 of 32
1.2 PG16 – Weld Coupon
/PROG PG16
/ATTR
OWNER = SHIFT;
COMMENT = "Weld Coupon";
PROG_SIZE = 3480;
CREATE = DATE 12-04-06 TIME 02:26:08;
FILE_NAME = PG16;
VERSION = 0;
LINE_COUNT = 152;
MEMORY_SIZE = 3912;
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: !Laser Weld Coupon ;
3: !******************************** ;
4: ;
5: !Verify program ;
7: ;
9: UTOOL_NUM=1 ;
10: ;
12: UFRAME_NUM=1 ;
13: !-------------------------------- ;
15: PAYLOAD[2] ;
16: ;
18: ! Runs HOME_IO ;
19: SETUP OUTPUTS ;
20: ;
21: !Move to Home ;
23: ;
24: !Move to Pounce Position ;
25: GO TO POUNCE ;
26: ;
29: ;
32: ;
33: !------------------------------- ;
34: LBL[33:Loop Back] ;
35: ;
36: !Turn ON Robot in Loop ;

Page 8 of 32
38: ;
39: !-------------------------------- ;
40: !Wait Continue from Pounce ;
41: ! or Return to Home ;
42: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
43: ;
44: ! Turn OFF Robot in LOOP ;
46: ;
47: !If Return to Home ;
48: ! jump to LB[13] ;
49: IF DI[13:RETURN TO HOME]=ON,JMP LBL[13] ;
50: ;
51: !If Continue from Pounce ;
52: ! jump to LB[9] ;
53: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
54: ;
55: JMP LBL[33] ;
56: ;
57: !-------------------------------- ;
58: !Continue from Pounce ;
59: LBL[9] ;
60: ;
61: !Clr to Return Xfer ;
63: ;
66: ;
67: !Clr to Unclamp ;
69: ;
70: !******************************* ;
71: ! Coupon Stand Path ;
72: !******************************* ;
73: ;
74: !Set Laser Controller Program ;
75: GO[35:LSR CNTR PG]=1 ;
76: ;
77: !Set Laser Power ;
78: GO[36:LSR CNTR ANALOG]=3900 ;
79: ;
80: WAIT DI[665:EXTACTIVATIONACTIVE]=ON AND DI[666:LASER IS ON]=ON
;
81: ;
82: !Enable Laser ;
83: DO[866:LASERWELDENABLE]=ON ;
84: ;
85: !Request Laser ;
86: DO[680:LASER REQUEST]=ON ;
87: ;
88: !Set-up RLSK Laser Head Schedule ;
89: R[33:RLSK Part Num]=0 ;
90: R[34:RLSK Track Num]=1 ;
91: R[35:RLSK Track Pnt]=0 ;
92: R[36:RLSK Seam Sel]=255 ;
93: ;
94: !Run RLSK_SEL to Setup Laser Head ;
95: RUN RLSK_SEL ;
96: ;
97: !Move to Coupon Position ;
98: ;
99: !TURN LASER ON ;
100: CALL LASER_ON ;

Page 9 of 32
101: ;
102: !Perch Point Above Part for Coupo ;
103:L P[1] 120mm/sec FINE ;
104: ;
105: !Check to See if RLSK_SEL is Comp ;
106: WAIT (F[22:RLSK SEL Running]=OFF) ;
107: ;
108: !Wait for Scanner At Work ;
109: WAIT DI[734:SCANNER AT WORK]=OFF ;
110: ;
111: !Fire Trigger Signal ;
112: DO[741:TRIGGER]=ON ;
113: ;
115: WAIT DI[734:SCANNER AT WORK]=ON ;
116: ;
117: !Turn Trigger Off ;
118: DO[741:TRIGGER]=OFF ;
119: ;
122: ;
123: !TURN LASER OFF ;
124: CALL LASER_OFF ;
125: ;
126: !Move away from the Coupon Stand ;
127: ;
128: !Disable Laser ;
129: DO[866:LASERWELDENABLE]=OFF ;
130: ;
131: !Reset Program ;
133: ;
134: !Laser Power ;
136: ;
137: !-------------------------------- ;
138: !Clr to Return Xfer ;
140: ;
143: ;
144: !Clr to Unclamp ;
145: DO[956:CLRTOUNCLMP]=ON ;
146: ;
147: LBL[13:Return to Home ] ;
148: !-------------------------------- ;
149: ;
150: !Move to Home ;
152: ;
/POS
/END

Page 10 of 32
1.3 PG08 – Maintenance Position
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 1532;
CREATE = DATE 09-10-02 TIME 10:57:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 54;
MEMORY_SIZE = 1816;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! Moves robot to Maint Position ;
3: ! ;
4: !***************************** ;
5: ;
8: ;
11: ;
12: PAYLOAD[2] ;
13: ;
15: UTOOL_NUM=1 ;
16: ;
18: UFRAME_NUM=1 ;
19: ;
21: SETUP OUTPUTS ;
22: ;
23: !Move to Home ;
25: ;
26: !------------------------------ ;
27: !Approach to Maint Pos ;
28:J P[1] 20% CNT10 ;
29: ;
30: !Maintenance Position ;
31:J P[2] 10% FINE ;
32: ;
33: !Maint Position ON ;
34: DO[6:RBT AT MAINT]=ON ;

Page 11 of 32
35: ;
38: ;
39: !Wait for Maintenance Clear ;
40: WAIT DI[7:MAINT POS CLR]=ON ;
41: ;
42: !Turn OFF Robot in Loop ;
44: ;
49: !Maint Position OFF ;
50: DO[6:RBT AT MAINT]=OFF ;
45: !------------------------------ ;
46: !Depart from Maint Pos ;
47:J P[1] 20% CNT10 ;
48: ;
51: ;
52: !Move to Home ;
54: ;
/POS
/END

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

Page 13 of 32
38: ;
39: !Wait for Maintenance Clear ;
40: WAIT DI[7:MAINT POS CLR]=ON ;
41: ;
42: !Turn OFF Robot in Loop ;
44: ;
50: DO[587:RBT AT MIN MAINT]=OFF ;
45: !------------------------------ ;
46: !Depart from Maint Pos ;
47:J P[1] 20% CNT10 ;
48: ;
50: DO[587:RBT AT MIN MAINT]=OFF ;
51: ;
52: !Move to Home ;
54: ;
/POS
/END

Page 14 of 32
1.5 PG10 – Power Meter
/PROG PG10
/ATTR
OWNER = MNEDITOR;
COMMENT = "Power Meter";
PROG_SIZE = 1274;
CREATE = DATE 11-11-26 TIME 04:58:52;
FILE_NAME = PG23LAS1;
VERSION = 0;
LINE_COUNT = 39;
MEMORY_SIZE = 1626;
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: !Power Meter Program ;
3: !******************************** ;
4: ;
7: ;
8: !Set Robot UTool Number ;
9: UTOOL_NUM=1 ;
10: ;
11: !Set Robot UFrame Number ;
12: UFRAME_NUM=1 ;
13: ;
15: PAYLOAD[2] ;
16: ;
18: SETUP OUTPUTS ;
19: ;
20: !Move to Home ;
22: ;
23:J P[1] 100% CNT20 ;
24: ;
25: !Turn on laser here ;
26:J P[2] 100% FINE ;
27: ;
28: !Wait For Power Meter Ready ;
29: WAIT DI[509:PWRMETERRDY]=ON ;
30: ;
31: CALL PWR_M_SHOT ;
32: ;
33: !Wait For Power Meter Complete ;
34: WAIT DI[512:PWRMETERCMP]=ON ;
35: ;

Page 15 of 32
36:J P[3] 100% FINE ;
37: ;
38: !Move to Home ;
/POS
/END

Page 16 of 32
1.6 LASER01 – Laser Path
NOTE1: Enter all laser weld positions in this program.
NOTE2: RLSK laser weld head schedule registers are used to setup the head.
 RLSK Part Number should be set to the current model style
number.
 RLSK Track Number should be set to the actual corresponding
track number from the RLSK.
 RLSK Track Point for non-on the fly applications will always be
set to zero. There will be only one track point in each track,
which will contain all seams.
 RLSK Seam Select must always be set to 255 to use all seams in
the track.
/PROG LASER01
/ATTR
OWNER = MNEDITOR;
COMMENT = "Laser Path 01";
PROG_SIZE = 3412;
CREATE = DATE 12-09-27 TIME 00:12:12;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 155;
MEMORY_SIZE = 3700;
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: !Laser Path 01 ;
3: ! ;
4: !******************************** ;
5: ;
8: ;
;
10: ;
11: !Enable Laser ;
13: ;

Page 17 of 32
16: ;
22: ;
23: !Set Mode Select ;
24: GO[40:RLSK MODE SEL]=1 ;
25: ;
26: !Turn ON Cross Jet ;
27: DO[743:CRSJET ON OFF]=ON ;
28: ;
30: CALL LASER_ON ;
31: ;
32: !Wait for Laser Ready ;
33: WAIT DI[858:LASER READY]=ON ;
34: ;
35: !Turn ON Process Error ;
36: DO[731:PROCESS ERROR]=ON ;
37: ;
38: !Turn ON Laser Error ;
39: DO[732:LASER ERROR]=ON ;
40: ;
42: RUN RLSK_SEL ;
43: ;
44: !Move to Weld Position ;
45: ;
46: !Perch Point Above Part for Weld ;
48: ;
51: ;
54: ;
57: ;
60: ;
63: ;
66: ;
67: !Turn OFF Cross Jet ;
68: DO[743:CRSJET ON OFF]=OFF ;
69: ;
70: !Turn OFF Process Error ;
71: DO[731:PROCESS ERROR]=OFF ;
72: ;
73: !Turn OFF Laser Error ;
74: DO[732:LASER ERROR]=OFF ;
75: ;
78: ;
79: !Move Away from Weld Position ;
80: ;

Page 18 of 32
86: ;
87: !Set Mode Select ;
88: GO[40:RLSK MODE SEL]=1 ;
89: ;
90: !Turn ON Cross Jet ;
91: DO[743:CRSJET ON OFF]=ON ;
92: ;
94: CALL LASER_ON ;
95: ;
96: !Wait for Laser Ready ;
97: WAIT DI[858:LASER READY]=ON ;
98: ;
99: !Turn ON Process Error ;
100: DO[731:PROCESS ERROR]=ON ;
101: ;
102: !Turn ON Laser Error ;
103: DO[732:LASER ERROR]=ON ;
104: ;
106: RUN RLSK_SEL ;
107: ;
108: !Move to Next Weld ;
109: ;
110: ;
111: !Perch Point Above Part for Weld ;
113: ;
116: ;
119: ;
122: ;
125: ;
128: ;
131: ;
134: ;
137: ;
140: ;
143: ;
145: ;

Page 19 of 32
148: ;
150: DO[680:LASER REQUEST]=OFF ;
151: ;
153: ;
154: !Reset Laser Controller Program ;
/POS
/END

Page 20 of 32
1.7 LASERON – Turn Laser On MACRO
/PROG LASERON Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Laser ON";
PROG_SIZE = 432;
CREATE = DATE 12-03-25 TIME 21:46:16;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 7;
MEMORY_SIZE = 776;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = *,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
2: ! Turn Laser ON ;
3: !******************************** ;
4: ;
5: !Turn Laser ON ;
6: DO[865:LASERPRGSTRTSTAT]=ON ;
7: ;
/POS
/END
1.8 LASEROFF – Turn Laser Off MACRO

/PROG LASEROFF Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Laser OFF";
PROG_SIZE = 434;

Page 21 of 32
CREATE = DATE 11-12-03 TIME 00:41:12;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 7;
MEMORY_SIZE = 778;
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: ! Turn Laser OFF ;
3: !******************************** ;
4: ;
5: !Turn Laser OFF ;
6: DO[865:LASERPRGSTRTSTAT]=OFF ;
7: ;
/POS
/END

Page 22 of 32
1.9 RLSK_SEL – Set Up RLSK MACRO
/PROG RLSK_SEL Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "RLSK Select";
PROG_SIZE = 1794;
CREATE = DATE 12-03-25 TIME 21:46:16;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 78;
MEMORY_SIZE = 2110;
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: ! Setup RLSK Laser Head with ;
3: ! Schedule Specifics ;
4: !******************************** ;
5: ;
6: F[22:RLSK SEL Running]=(ON) ;
7: ;
8: !-------------------------------- ;
9: !Set Num Sel to Part Number ;
10: GO[42:RLSK NUM SEL]=R[33:RLSK Part Num] ;
11: ;
12: !Check to Ensure it is Set ;
13: WAIT GO[42:RLSK NUM SEL]=R[33:RLSK Part Num] ;
14: ;
15: WAIT .10(sec) ;
16: ;
17: !Pulse Preselect Part ;
18: DO[733:PRESELECT PART]=PULSE,0.5sec ;
19: ;
20: !Wait for Preselect Part to be OF ;
21: WAIT DO[733:PRESELECT PART]=OFF ;
22: ;
23: WAIT .10(sec) ;
24: ;
25: !-------------------------------- ;
26: !Set Num Sel to Track Number ;
27: GO[42:RLSK NUM SEL]=R[34:RLSK Track Num] ;
28: ;
30: WAIT GO[42:RLSK NUM SEL]=R[34:RLSK Track Num] ;
31: ;
32: WAIT .10(sec) ;
33: ;
34: !Pulse Preselect Track ;
35: DO[734:PRESEL TRACK]=PULSE,0.5sec ;

Page 23 of 32
36: ;
37: !Wait for Preselect Track to be O ;
38: WAIT DO[734:PRESEL TRACK]=OFF ;
39: ;
40: WAIT .10(sec) ;
41: ;
42: !-------------------------------- ;
43: !Set Num Select to Track Point ;
44: GO[42:RLSK NUM SEL]=R[35:RLSK Track Pnt] ;
45: ;
47: WAIT GO[42:RLSK NUM SEL]=R[35:RLSK Track Pnt] ;
48: ;
49: WAIT .10(sec) ;
50: ;
51: !Pulse Preselect Track Point ;
52: DO[735:PRESEL TRKPOINT]=PULSE,0.5sec ;
53: ;
54: !Wait for Preselect Track Point t ;
55: WAIT DO[735:PRESEL TRKPOINT]=OFF ;
56: ;
57: WAIT .10(sec) ;
58: ;
59: !-------------------------------- ;
60: !Set Num Select to Seams ;
61: GO[42:RLSK NUM SEL]=R[36:RLSK Seam Sel] ;
62: ;
64: WAIT GO[42:RLSK NUM SEL]=R[36:RLSK Seam Sel] ;
65: ;
66: WAIT .10(sec) ;
67: ;
68: !Pulse Preselect Seam ;
69: DO[736:PRESEL SEAM]=PULSE,0.5sec ;
70: ;
71: !Wait for Preselect Seam to be OF ;
72: WAIT DO[736:PRESEL SEAM]=OFF ;
73: ;
74: WAIT .10(sec) ;
75: ;
76: !Turn In Macro Flag OFF ;
77: F[22:RLSK SEL Running]=(OFF) ;
78: ;
/POS
/END
1.10 PWR_M_SHOT – Power Meter Shot MACRO

/PROG PWR_M_SHOT Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "Power Meter Shot";
PROG_SIZE = 804;
CREATE = DATE 12-03-25 TIME 21:46:16;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 35;
MEMORY_SIZE = 1180;

Page 24 of 32
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !Power Meter Prg. Setup ;
3: !Laser Power Sample Shot ;
4: !******************************** ;
5: ;
8: ;
;
10: ;
11: !Enable Laser ;
13: ;
16: ;
17: WAIT .25(sec) ;
18: ;
19: !Pulse Laser For Power Meter ;
20: CALL LASER_ON ;
21: ;
22: WAIT .25(sec) ;
23: ;
24: !Laser Off ;
26: ;
29: ;
30: !Reset Laser Controller Program ;
32: ;
33: !Laser Power ;
35: ;
/POS
/END

Page 25 of 32
1.11 HOME_IO – Reset Input/Output MACRO
/PROG HOME_IO Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "SET AT HOME I-O";
PROG_SIZE = 2372;
CREATE = DATE 10-06-13 TIME 04:00:06;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 128;
MEMORY_SIZE = 2744;
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: ! ;
8: !NOTE: This program has NO ;
9: ! GP[1:robot] and ;
10: ! GP[2:servogun] motion ;
11: !******************************** ;
12: ;
13: ! CLR to ADV. TRANSFER ;
15: ;
16: ! CLR TO RET. TRANSFER ;
18: ;
19: ! CLEAR TO UNCLAMP ;
20: DO[956:CLRTOUNCLMP]=ON ;
21: ;
22: !ROBOT USER DEFINE OFF ;
23: DO[41:UDEF RBT OUT 1]=OFF ;
31: ;
32: !RESET FAULT RESET ;
33: DO[959:FAULTRESET]=OFF ;
34: ;
35: ! RESET ROBOT LOOP ;
37: ;
38: !Program Select Fault ;

Page 26 of 32
39: DO[963:PRGRM FLT]=OFF ;
40: ;
41: ! AT REPAIR OFF ;
42: DO[587:RBT AT MINMAINT]=OFF ;
43: ;
44: ;
45: !RESET PICKUP POS ;
46: DO[49:RBT @ PKUP POS 1]=OFF ;
47: DO[59:RBT AT DRP OFF 1]=OFF ;
54: ;
55: ;
56: !RESET WRK POS ;
57: DO[177:MDL WRK POS 1]=OFF ;
65: ;
66: ! Call Exit Zone Macros ;
67: !CLEAR EXIT ZONES ;
68: DO[900:CLROFZONE1]=ON ;
82: ;
83: !Turn Laser OFF ;
84: DO[865:LASERPRGSTRTSTAT]=OFF ;
85: ;
88: ;
89: !Laser Request ;
90: DO[680:LASER REQUEST]=OFF ;
91: ;
92: !Turn Off Monitoring ;
93: DO[873:INQUIRY1 SYNC1]=OFF ;
94: ;
95: !Reset RLSK Select Registers ;
100: ;
101: !Turn Off Preselect Outputs ;
102: DO[733:PRESELECT PART]=OFF ;

Page 27 of 32
103: DO[734:PRESEL TRACK]=OFF ;
104: DO[735:PRESEL TRKPOINT]=OFF ;
105: DO[736:PRESEL SEAM]=OFF ;
106: ;
107: !Turn Off Trigger ;
109: ;
110: !Reset Num SEL ;
111: GO[42:RLSK NUM SEL]=0 ;
112: ;
115: ;
118: ;
121: ;
122: !Reset RLSK Macro Running Flag ;
123: F[22:RLSK SEL Running]=(OFF) ;
124: ;
125: !RESET the Register that holds ;
126: !the Program Number to run ;
127: R[153:ProgSelNum]=0 ;
128: ;
/POS
/END

Page 28 of 32
2 Software I/F Panels
2.1. GEN MENU I/F

Page 29 of 32
2.2. LASER MENU I/F

Page 30 of 32
3 PMC Logic (S-Logic) for R-30iA Controllers

Page 31 of 32
[FORD_NEXTGEN_ENETSafe_LASERWELDING_RLSK_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
R0211.2
E
DI882 HE
AD COLLI
N00018 F1000.6 Y1000.6

F 61
AT HOME
Y0002.0 Y0000.1
G ROBOT AT HOME
DO 17 RB DO 2 RBT
T @ HM1 @ HOME
Y0002.1
H
DO 18 RB
T @ HM2
Y0002.2
I
DO 19 RB
T @ HM3
Y0002.3
J
DO 20 RB
T @ HM4
Y0002.4
K
DO 21 RB
T @ HM5
Y0002.5
L
DO 22 RB
T @ HM6
Y0002.6
M
DO 23 RB
T @ HM7
N00019 F1000.7 Y1000.7

N 71
TPENABLE
Y0119.7 Y0000.3
O ROBOT IN TEACH
DO 960 DO 4 RBT
AUTO KEY IN TCH
Ladder Diagram 4
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

A 75
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 84
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 99 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 104 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 112 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 116
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 133 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 135 S DROP AUTO FAULT
FC AVAIL APPL FC ZERO FAULT RB FAULT DRP AUTO
ALARMS RESET FAULT
N00028 F1000.5 R1404.5

B 141 R DROP AUTO FAULT
FAULT DRP AUTO
FAULT
G1000.4
C
RB FAULT
RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

D 144
FAULT ECO33 ECO FC AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 148
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 158
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 168
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 178
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 188
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 198
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 208
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 218
1 R1402.6 R1402.7 R1404.2

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

G 228 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 239 SUB 3 0006
FC AVAIL TMR RETRIEVE
DELAY
Ladder Diagram 7
N00040 R1404.6 R1404.1

A 243 S
RETRIEVE ECO
DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

B 245 SUB 3 0007 R
ECO TMR ECO
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

C 249 S WELD FAULT #1
FC AVAIL SPOT FC ZERO FAULT DO 126 W
ALARM LD FLT 1
N00043 X0083.1 Y0015.5

D 254 R WELD FAULT #1
DI 666 L DO 126 W
ASER ON LD FLT 1
N00044 K0010.1 K0010.0 R0000.1

E 256
EXT MTR TEACH INT EXT
ON MEMORY MTR ON
N00045 X0000.2 K0010.0 K0010.5 K0010.1

F 259 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 272 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 276
EXT CYC TEACH MAINT ME INT EXT
START MEMORY M CYC STRT
O
Ladder Diagram 8
N00048 X0000.3 K0010.0 K0010.2

A 280 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 293 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 297
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 306
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 315
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 324
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 333
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 342
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 351
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 360
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 369
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 378
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 387
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 396
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 405
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 414
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 423
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 432
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 441
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 450
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 459
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 468
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 477
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 528 SUB 3 0008 S CYCLE START DELAY
UOP CYC PROGRAM TMR CYCLE
START RUNNING STRT DLY
N00072 D0603.0 ACT D0603.0

L 533 SUB 3 0009 R CYCLE START DELAY
CYCLE TMR CYCLE
STRT DLY STRT DLY
N00073 F1000.2 D0603.0

M 537 R CYCLE START DELAY
PROGRAM CYCLE
RUNNING STRT DLY
N00074 Y0000.5 K0008.1 Y0072.2

N 539 ROBOT BYPASS SELECTED
DO 6 RBT RBT IN B DO 579 B
@ MAINT YPASS YPASSSEL
N00075 Y0072.2 K0016.4

O 542 ROBOT BYPASSED
DO 579 B ROBOT BY
YPASSSEL PASSED
Ladder Diagram 14
N00076
A 544 SUB 1
END1
N00077 Y0119.7 ACT K0010.4

B 545 SUB 3 0011 TEACH MEMORY DELAY
DO 960 TMR TEACH ME
AUTO KEY M DELAY
N00078 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

C 549 TEACH MEMORY
DO 4 RBT SI13 RES FAULT CYCLE TEACH
IN TCH ETSW RESET START MEMORY
K0010.4
D
TEACH ME
M DELAY
K0010.0
E
TEACH
MEMORY
N00079 K0008.0 R0350.0

F 556 MAINTENANCE MODE
AUTO/MAI IN MAINT
NT SS
N00080 R0350.0 ACT D0610.0

G 558 SUB 3 0012 MAINTENANCE MODE DELAY
IN MAINT TMR MAINT
DELAY
N00081 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

H 562 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
I
MAINT ME DI 7 MAI
M NT PSCLR
N00082 X0000.2 X0000.3 Y0000.2 K0010.6

J 571 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
K
EXT STRT
ANTI TD
N00083 X0002.0 G1001.0

L 576
DI 17 PG PNS 1
SLCT 1
N00084 X0002.1 G1001.1

M 578
DI 18 PG PNS 2
SLCT 2
N00085 X0002.2 G1001.2

N 580
DI 19 PG PNS 3
SLCT 4
N00086 X0002.3 G1001.3

O 582
DI 20 PG PNS 4
SLCT 8
Ladder Diagram 15
N00087 X0002.4 G1001.4

A 584
DI 21 PG PNS 5
SLCT 16
N00088 X0002.5 G1001.5

B 586
DI 22 PG PNS 6
SLCT 32
N00089 X0002.6 G1001.6

C 588
DI 23 PG PNS 7
SLCT 64
N00090 X0002.7 G1001.7

D 590
DI 24 PG PNS 8
SLCT128
N00091 X0000.6 K0008.0 Y0120.5

E 592 MAINTENANCE POSITION CLEAR
DI 7 MAI AUTO/MAI DO 966 M
NT PSCLR NT SS ANTP CLR
N00092 K0008.0 Y0001.4

F 595 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO 13 SN
NT SS DRBT MNT
N00093 Y0112.3 Y0003.0

G 597 CLEAR OF ZONE #1
DO 900 DO 25 CL
CLR ZN 1 R ZON 1
N00094 Y0112.4 Y0003.1

H 599 CLEAR OF ZONE #2
DO 901 DO 26 CL
CLR ZN 2 R ZON 2
N00095 Y0112.5 Y0003.2

I 601 CLEAR OF ZONE #3
DO 902 DO 27 CL
CLR ZN 3 R ZON 3
N00096 Y0112.6 Y0003.3

J 603 CLEAR OF ZONE #4
DO 903 DO 28 CL
CLR ZN 4 R ZON 4
N00097 Y0112.7 Y0003.4

K 605 CLEAR OF ZONE #5
DO 904 DO 29 CL
CLR ZN 5 R ZON 5
N00098 Y0113.0 Y0003.5

L 607 CLEAR OF ZONE #6
DO 905 DO 30 CL
CLR ZN 6 R ZON 6
N00099 Y0113.1 Y0003.6

M 609 CLEAR OF ZONE #7
DO 906 DO 31 CL
CLR ZN 7 R ZON 7
N00100 Y0113.2 Y0003.7

N 611 CLEAR OF ZONE #8
DO 907 DO 32 CL
CLR ZN 8 R ZON 8
N00101 Y0113.3 Y0004.0

O 613 CLEAR OF ZONE #9
DO 908 DO 33 CL
CLR ZN 9 R ZON 9
Ladder Diagram 16
N00102 Y0113.4 Y0004.1

A 615 CLEAR OF ZONE #10
DO 909 C DO 34 CL
LR ZN 10 R ZON 10
N00103 Y0113.5 Y0004.2

B 617 CLEAR OF ZONE #11
DO 910 C DO 35 CL
LR ZN 11 R ZON 11
N00104 Y0113.6 Y0004.3

C 619 CLEAR OF ZONE #12
DO 911 C DO 36 CL
LR ZN 12 R ZON 12
N00105 Y0113.7 Y0004.4

D 621 CLEAR OF ZONE #13
DO 912 C DO 37 CL
LR ZN 13 R ZON 13
N00106 Y0116.4 Y0004.5

E 623 CLEAR OF ZONE #14
DO 933 C DO 38 CL
LR ZN 14 R ZON 14
N00107 Y0118.7 Y0004.6

F 625 CLR OF INDEPENDENT MOTION ZN1
DO952 CL DO 39 CL
RMOTZN1 R INDMOT
N00108 Y0119.0 Y0004.7

G 627 CLR OF INDEPENDENT MOTION ZN2
DO953 CL DO 40 CL
RMOTZN2 R INDMT2
N00109 Y0119.1 X0000.0 Y0000.6

H 629 CLEAR TO ADVANCE TRANSFER
DO 954 C DI 1 EXT DO 7 CLR
LRAV XFR RNENBL ADV
N00110 Y0119.2 X0000.0 Y0000.7

I 632 CLEAR TO RETURN TRANSFER
LRET XFR RNENBL RET XFR
N00111 Y0119.3 X0000.0 Y0001.0

J 635 CLEAR TO UNCLAMP
LR UNCLP RNENBL 2 UNCLP
N00112 Y0000.3 R1000.0 Y0073.0

K 638 PROMPT BOX
DO 4 RBT DO 19001 DO 585
IN TCH PRPTBX PRMPT BX
N00113 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

L 641
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
1 R1402.7 R1405.3
M SYSTEM FACILITY CODE (24)
ECO24 SYS FCLY
FC128 CODE
O
Ladder Diagram 17
N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 650
FACILITY EC01 EC02 ECO3 ECO4 ECO5 ECO6
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 R0365.0

C SRVO-001 OPERATOR PANEL E-STOP
ECO13 ECO14 ECO15 ECO16 SRVO-001
N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 668
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 R0366.0

F SRVO-002 TEACH PENDANT E-STOP
N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 686
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 R0367.0

I SRVO-003 DEADMAN SWITCH RELEAS
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 704
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 R0368.0

L SRVO-005 ROBOT OVERTRAVELL
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 722
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 R0370.0

O SRVO-007 EXTERNAL EMERGENCY ST
Ladder Diagram 18
N00119 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 740
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 R0370.1

C SRVO-408 DCS SSO EXT EMERGSTOP
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 758
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 R1406.3

F SRVO-50 COLLISION DETECT
N00121 R1406.3 X1025.1 Y0001.6

G 776 COLLISION DETECT
SRVO-50 FAULT DO 15 CO
RESET LL DTCT
Y0001.6
H
DO 15 CO
LL DTCT
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

I 780
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

K SRVO-65 LOW BATTERY
LOW BATT
N00123 F1001.0 Y0001.1

L 798 ROBOT BATTERY LOW
BATALM DO 10 RB
T BAT LW
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 800
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 R0371.0

O SRVO-101 ROBOT OVERATRAVEL
Ladder Diagram 19
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 818
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 R1406.1

C DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE EXCE
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 836
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 R0373.0

F SRVO-199 CONTROL STOP
CONTROL
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 854
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 R0374.0

I SRVO-232 NTED INPUT
NTED IN
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 872
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 R0375.0

L SRVO-233 TP OFF IN T1,T2/DOOR
TP OFF
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 890
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 R0376.0

O SRVO-280 SVOFF INPUT
SVOFF I
Ladder Diagram 20
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 908
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 R0387.0

C SRVO-378 OPSFTY11 STATUS ABNOR
OPSFT11
N00131 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 926
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 R0387.1

F SRVO-379 OPSFTY12 STATUS ABNOR
OPSFT12
N00132 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 944
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 R0387.2

I SRVO-380 OPSFTY21 STATUS ABNOR
OPSFT21
N00133 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 962
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 R0387.3

L SRVO-381 OPSFTY22 STATUS ABNOR
OPSFT22
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 980
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 R0387.4

O SRVO-382 OPSFTY31 STATUS ABNOR
OPSFT31
Ladder Diagram 21
N00135 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 998
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 R0387.5

C SRVO-383 OPSFTY32 STATUS ABNOR
OPSFT32
N00136 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1016
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 R0387.6

F SRVO-384 OPSFTY41 STATUS ABNOR
OPSFT41
N00137 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1034
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 R0387.7

I SRVO-385 OPSFTY42 STATUS ABNOR
OPSFT42
O
Ladder Diagram 22
N00138 R0387.0 R0388.0

A 1052 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 OPSFTY F
OPSFT11 LT LATCH
R0387.1
B
SRVO-379
OPSFT12
R0387.2
C
SRVO-380
OPSFT21
R0387.3
D
SRVO-381
OPSFT22
R0387.4
E
SRVO-382
OPSFT31
R0387.5
F
SRVO-383
OPSFT32
R0387.6
G
SRVO-384
OPSFT41
R0387.7
H
SRVO-385
OPSFT42
R0388.0 F1000.5
I
OPSFTY F FAULT
LT LATCH
N00139 R0388.0 Y0073.1

J 1064 SAFETY CHAIN FAULT
OPSFTY F DO 586 S
LT LATCH FTY CHN
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

K 1066
SYS FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
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 R0377.0

M SYST-034 HOLD SIGNAL FROM SOP/
ECO13 ECO14 ECO15 ECO16 SYST-034
HOLD SI
O
Ladder Diagram 23
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1084
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 R0378.0

C SYST-038 OPERATION MODE T1 SEL
OPERATI
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1102
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 R0379.0

F
N00143 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1120
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 R0380.0

I SYST-040 OPERATION MODE AUTO S
OPERATI
N00144 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1138
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 R0381.0

L SYST-042 DEADMAN DEFEATED
DEADMAN
N00145 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1156
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 R0382.0

O SYST-043 TP DISABLE IN T1/T2
TP DISA
Ladder Diagram 24
N00146 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1174
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 R0383.0

C SYST-045 TP ENABLE IN AUTO MO
TP ENAB
N00147 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1192
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 R0384.0

F SYST-154 NO START IN ISOLATE/B
NO STAR
N00148 R0397.0 F1000.0 R0397.0

G 1210 FILTERED FAULT
FILTERED COMMAND FILTERED
FAULT ENABLE FAULT
R0398.0
H
FILTER
FLT GRP1
R0399.0
I
FILTER
FLT GRP2
O
Ladder Diagram 25
N00149 R0365.0 R0398.0

A 1215 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 26
N00150 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 27
N00151 R0330.0 F1000.5 R1456.0

A 1245
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
N00152 D0001.0 Y0079.0

H 1254 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
N00153 D0001.0 ACT

J 1257 SUB10 0000
TOOL CHA JMP
NGE APP
N00154
K 1260 SUB66 P0001
CALLU TOOL CHANGING
N00155
L 1262 SUB30
JMPE
N00156
M 1263 SUB66 P0004
CALLU AIR SWITCH
N00157
N 1265 SUB66 P0006
CALLU UALM
N00158
O 1267 SUB66 P0007
CALLU INTERFACE
Ladder Diagram 28
N00159
A 1269 SUB66 P0008
CALLU MH
N00160
B 1271 SUB66 P0009
CALLU APPLICATION
N00161
C 1273 SUB66 P0018
CALLU LASER CONTROLLER
N00162
D 1275 SUB66 P0021
CALLU LASER WELDHEAD
N00163
E 1277 SUB 2
END2
N00164 ### P0001 ###

F 1278 SUB71 P0001
SP TOOL CHANGING
N00165 X0080.0 R0347.0

G 1280 GUN ID NOT 0
DI 641 GUN ID
TOOL ID1 NOT 0
X0080.1
H
DI 642
TOOL ID2
X0080.2
I
DI 643
TOOL ID4
X0080.3
J
DI 644
TOOL ID8
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

K 1285
DI 641 DI 642 DI 643 DI 644 GUN 1 ON
TOOL ID1 TOOL ID2 TOOL ID4 TOOL ID8 ARM
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

L 1290
DI 641 DI 642 DI 643 DI 644 GUN 2 ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

M 1295
DI 641 DI 642 DI 643 DI 644 GUN 3 ON
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

N 1300
DI 641 DI 642 DI 643 DI 644 GUN 4 ON
N00170 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

O 1305
DI 641 DI 642 DI 643 DI 644 GUN 5 ON
Ladder Diagram 29
N00171 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

A 1310
DI 641 DI 642 DI 643 DI 644 GUN 6 ON
N00172 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

B 1315
DI 641 DI 642 DI 643 DI 644 GUN 7 ON
N00173 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

C 1320
DI 641 DI 642 DI 643 DI 644 GUN 8 ON
N00174 R0321.0 R0328.6

D 1325 TOOL ON ROBOT
GUN 1 ON TOOLONRO
ARM BOT
R0322.0
E
GUN 2 ON
ARM
R0323.0
F
GUN 3 ON
ARM
R0324.0
G
GUN 4 ON
ARM
R0325.0
H
GUN 5 ON
ARM
R0326.0
I
GUN 6 ON
ARM
R0326.1
J
GUN 7 ON
ARM
R0326.2
K
GUN 8 ON
ARM
N00175 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

L 1334
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
M ANY GEO TOOL PRESENT ON ROBOT
GUN 8 ON GEOTOOLP
ARM RSNT
N00176 X0080.0 Y0038.0

N 1343
DI 641 DO 305
TOOL ID1 TOOL ID1
N00177 X0080.1 Y0038.1

O 1345
DI 642 DO 306
TOOL ID2 TOOL ID2
Ladder Diagram 30
N00178 X0080.2 Y0038.2

A 1347
DI 643 DO 307
TOOL ID4 TOOL ID4
N00179 X0080.3 Y0038.3

B 1349
DI 644 DO 308
TOOL ID8 TOOL ID8
N00180 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

C 1351
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
D GUN 1-8 (ALL TOOLS IN STAND)
DI 312 GUN 1-8
TCSTND8
N00181 Y0117.4 K0011.1

E 1360 TOOL CHANGER RELEASE
DO 941 TC
TC UNLCK RELEASED
N00182 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

F 1362 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

G
TPENABLE DO 960 TC LOCK TOOLONRO
AUTO KEY PB BOT
N00183 X0079.0 Y0040.6

H 1375
DI 633 DO 327 T
TC LOCKD CCOUPMON
N00184 Y0117.4 Y0117.3 Y0000.2 Y0079.0

I 1377 R TOOL CHANGER LOCK
DO 941 DO 940 DO 3 RBT DO 633 T
TC UNLCK TC LOCK IN AUTO C LOCK
F1000.7 Y0119.7 K0016.0

J
TPENABLE DO 960 TC UNLOC
AUTO KEY K PB
N00185 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

K 1386
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

L
TPENABLE DO 960 TC UNLOC TOOLONRO
AUTO KEY K PB BOT
1 R0328.6 Y0079.1
M TOOL CHANGER UNLOCK
TOOLONRO DO 634 T
BOT C UNLOCK
2
N
N00186 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

O 1400 TC LOCK PUSH BUTTON
TC LOCK TC UNLOC TPENABLE DO 960 TC LOCK
PB K PB AUTO KEY PB
Ladder Diagram 31
N00187 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

A 1405 TC UNLOCK PUSH BUTTON
TC UNLOC TC LOCK TPENABLE DO 960 TC UNLOC
K PB PB AUTO KEY K PB
N00188 X0079.1 Y0040.7

B 1410
DI 634 DO 328 T
TC ULCKD CRELMON
N00189 R0328.6 K0008.0 R0218.4

C 1412 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI 940 T
BOT NT SS C NOTOOL
N00190 Y0117.5 Y0117.6 Y0000.2 Y0038.5

D 1415 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

E
TC OPENG TC CLOS DO 4 RBT
UNCOVER GUNCOVER IN TCH
N00191 Y0117.5 Y0117.6 Y0000.2 Y0038.6

F 1423 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

G
TC CLOS TC OPENG DO 4 RBT
GUNCOVER UNCOVER IN TCH
N00192 X0038.0 R0321.0 R0329.0

H 1431 GUN1 POSITION
DI 305 GUN 1 ON GUN1 POS
TCSTND1 ARM ITION
X0038.0 X0039.3
I
DI 305 DI 316 G
TCSTND1 EOTPDCK
N00193 X0038.1 R0322.0 R0329.1

J 1437 GUN2 POSITION
TCSTND2 ARM ITION
X0038.1 X0039.3
K
DI 306 DI 316 G
TCSTND2 EOTPDCK
N00194 X0038.2 R0323.0 R0329.2

L 1443 GUN3 POSITION
TCSTND3 ARM ITION
X0038.2 X0039.3
M
DI 307 DI 316 G
TCSTND3 EOTPDCK
N00195 X0038.3 R0324.0 R0329.3

N 1449 GUN4 POSITION
TCSTND4 ARM ITION
X0038.3 X0039.3
O
DI 308 DI 316 G
TCSTND4 EOTPDCK
Ladder Diagram 32
N00196 X0038.4 R0325.0 R0329.4

A 1455 GUN5 POSITION
TCSTND5 ARM ITION
X0038.4 X0039.3
B
DI 309 DI 316 G
TCSTND5 EOTPDCK
N00197 X0038.5 R0326.0 R0329.5

C 1461 GUN6 POSITION
TCSTND6 ARM ITION
X0038.5 X0039.3
D
DI 310 DI 316 G
TCSTND6 EOTPDCK
N00198 X0038.6 R0326.1 R0329.6

E 1467 GUN7 POSITION
TCSTND7 ARM ITION
X0038.6 X0039.3
F
DI 311 DI 316 G
TCSTND7 EOTPDCK
N00199 X0038.7 R0326.2 R0329.7

G 1473 GUN8 POSITION
TCSTND8 ARM ITION
X0038.7 X0039.3
H
DI 312 DI 316 G
TCSTND8 EOTPDCK
O
Ladder Diagram 33
N00200 R0329.0 R0328.7

A 1479 ALL GUN1-8 POSITION
GUN1 POS GUN1-8 P
ITION OSITION
R0329.1
B
GUN2 POS
ITION
R0329.2
C
GUN3 POS
ITION
R0329.3
D
GUN4 POS
ITION
R0329.4
E
GUN5 POS
ITION
R0329.5
F
GUN6 POS
ITION
R0329.6
G
GUN7 POS
ITION
R0329.7
H
GUN8 POS
ITION
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1488
DI 316 G DI 305 DI 306 DI 307 DI 308 DI 309 DI 310
EOTPDCK TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6
1 X0038.6 X0038.7 R0320.0

J TOOL 1 IN OPDOCK
DI 311 DI 312 TOOL1INO
TCSTND7 TCSTND8 PDOCK
N00202 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1498
1 X0038.6 X0038.7 R0320.1

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

M 1508
1 X0038.6 X0038.7 R0320.2

N TOOL 3 IN OPDOCK
O
Ladder Diagram 34
N00204 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1518
1 X0038.6 X0038.7 R0320.3

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

C 1528
1 X0038.6 X0038.7 R0320.4

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

E 1538
1 X0038.6 X0038.7 R0320.5

F TOOL 6 IN OPDOCK
N00207 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1548
1 X0038.6 X0038.7 R0320.6

H TOOL 7 IN OPDOCK
N00208 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1558
1 X0038.6 X0038.7 R0320.7

J TOOL 8 IN OPDOCK
O
Ladder Diagram 35
N00209 R0320.0 R0319.0

A 1568 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00210 X0082.6 Y0038.7

I 1577
DI 663 T DO 312 T
CCOMMOK CCOMMOK
N00211 X0082.7 Y0039.2

J 1579
DI 664 T DO 315 T
CTLSLDPW LSLIDPWR
N00212 X0079.4 X0079.5 G1008.4

K 1581 RTL1ANDL2SWITCHMISMATCH
DI 637 DI 638 UALM 5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI 637 DI 638
RDY2LCK1 RDY2LCK2
N00213 R0328.6 G1008.5

M 1587 NO TOOL ON ARM
TOOLONRO UALM 6
BOT
N00214 K0013.1 R0000.7 Y0126.7

N 1589 NO TOOL ON EOAT SS
NOTOOLON PART PRE DO 1016
EOATSS SENT NOEOATSS
N00215 K0013.1 R0000.7 K0013.1

O 1592 R NO TOOL ON EOAT SS
NOTOOLON PART PRE NOTOOLON
EOATSS SENT EOATSS
Ladder Diagram 36
N00216 Y0039.3 Y0039.3

A 1595 S WRONG TOOL IN STAND
DO 316 W DO 316 W
RNGTLSTD RNGTLSTD
N00217 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1597 R WRONG TOOL IN STAND
DO 316 W FAULT DO 2 RBT DO 316 W
RNGTLSTD RESET @ HOME RNGTLSTD
N00218
C 1601 SUB72
SPE
N00219 ### AIR SWITCH ###

D 1602 SUB71 P0004
SP AIR SWITCH
N00220 X1020.6 Y0001.5

E 1604 END OF ARM AIR ON
RI 7 AIR DO 14 EO
FL SW A AIR ON
N00221
F 1606 SUB72
SPE
N00222 ### UALM ###

G 1607 SUB71 P0006
SP UALM
N00223 Y0120.2 X1025.1 Y0120.2

H 1609 PROGRAM FAULT
DO 963 FAULT DO 963
PRG FLT RESET PRG FLT
N00224 Y0120.2 G1008.0

I 1612 PROGRAM VERIFY FAULT
DO 963 UALM1
PRG FLT
N00225 K0010.0 Y0119.7 Y0000.3 G1010.6

J 1614 TEACH MEMORY ON
TEACH DO 960 DO 4 RBT UALM23
MEMORY AUTO KEY IN TCH
N00226 R0000.0 G1011.0

K 1618 GUN DISABLED SELECTOR SWITCH
ALWAYS UALM 25
ON
N00227 R0000.0 G1011.1

L 1620 RETRACT ENABLED
ALWAYS UALM 26
ON
N00228 Y0002.7 G1011.4

M 1622 IN PROGRAM LOOP
DO 24 RB UALM 29
T LOOP
N00229 Y0039.3 G1009.7

N 1624 TC PRESS FAULT RESET
DO 316 W UALM 16
RNGTLSTD
N00230
O 1626 SUB72
SPE
Ladder Diagram 37
N00231 ### INTERFACE ###

A 1627 SUB71 P0007
SP INTERFACE
N00232 D0612.1 ACT D0612.0

B 1629 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH IF PB TMR ALL IF P
TO B TO
D0612.2
C
SEAL IF
PB TO
D0612.3
D
STUD IF
PB TO
D0612.4
E
LASER IF
PB TO
O
Ladder Diagram 38
N00233 K0002.0 D0612.1

A 1636 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 39
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 40
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 41
N00234 K0009.4 D0612.2

A 1671 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
N00235 K0012.1 D0612.4

M 1684 LASER IF PB TO
LASER RE LASER IF
SET PB PB TO
K0012.2
N
LASERGLS
SNOTPRSS
N00236
O 1687 SUB72
SPE
Ladder Diagram 42
N00237 ### MH ###

A 1688 SUB71 P0008
SP MH
N00238 Y0000.3 K0004.4 R1410.0

B 1690 MANUAL GRIP ENABLE
DO 4 RBT MAN GRP MAN GRP
IN TCH ENBLE SS ENABLE
N00239 R1410.0 ACT

C 1693 SUB10 0000
MAN GRP JMP
ENABLE
N00240 R0000.0 Y0114.0

D 1696 OPEN CLAMP 1
ALWAYS DO 913
ON OPNCLMP1
N00241 R0000.0 Y0114.1

E 1698 CLOSE CLAMP 1
ALWAYS DO 914
ON CLSCLMP1
N00242 R0000.0 Y0114.2

F 1700 OPEN CLAMP 2
ALWAYS DO 915
ON OPNCLMP2
N00243 R0000.0 Y0114.3

G 1702 CLOSE CLAMP 2
ALWAYS DO 916
ON CLSCLMP2
N00244 R0000.0 Y0114.4

H 1704 OPEN CLAMP 3
ALWAYS DO 917
ON OPNCLMP3
N00245 R0000.0 Y0114.5

I 1706 CLOSE CLAMP 3
ALWAYS DO 918
ON CLSCLMP3
N00246 R0000.0 Y0114.6

J 1708 OPEN CLAMP 4
ALWAYS DO 919
ON OPNCLMP4
N00247 R0000.0 Y0114.7

K 1710 CLOSE CLAMP 4
ALWAYS DO 920
ON CLSCLMP4
N00248 R0000.0 Y0115.0

L 1712 OPEN CLAMP 5
ALWAYS DO 921
ON OPNCLMP5
N00249 R0000.0 Y0115.1

M 1714 CLOSE CLAMP 5
ALWAYS DO 922
ON CLSCLMP5
N00250 R0000.0 Y0115.2

N 1716 OPEN CLAMP 6
ALWAYS DO 923
ON OPNCLMP6
N00251 R0000.0 Y0115.3

O 1718 CLOSE CLAMP 6
ALWAYS DO 924
ON CLSCLMP6
Ladder Diagram 43
N00252 R0000.0 Y0115.4

A 1720 OPEN CLAMP 7
ALWAYS DO 925
ON OPNCLMP7
N00253 R0000.0 Y0115.5

B 1722 CLOSE CLAMP 7
ALWAYS DO 926
ON CLSCLMP7
N00254 R0000.0 Y0115.6

C 1724 OPEN CLAMP 8
ALWAYS DO 927
ON OPNCLMP8
N00255 R0000.0 Y0115.7

D 1726 CLOSE CLAMP 8
ALWAYS DO 928
ON CLSCLMP8
N00256 R0000.0 Y0116.0

E 1728 OPEN CLAMP 9
ALWAYS DO 929
ON OPNCLMP9
N00257 R0000.0 Y0116.1

F 1730 CLOSE CLAMP 9
ALWAYS DO 930
ON CLSCLMP9
N00258 R0000.0 Y0116.2

G 1732 OPEN CLAMP 10
ALWAYS DO 931
ON OPNCLP10
N00259 R0000.0 Y0116.3

H 1734 CLOSE CLAMP 10
ALWAYS DO 932
ON CLSCLP10
N00260 R0000.0 Y0127.2

I 1736 VACUUM 1 ON
ALWAYS DO1019 V
ON AC1ON
N00261 R0000.0 Y0127.3

J 1738 BLOWOFF 1 ON
ALWAYS DO1020 B
ON LWOF1ON
N00262 R0000.0 Y0127.4

K 1740 VACUUM 2 ON
ALWAYS DO1021 V
ON AC2ON
N00263 R0000.0 Y0127.5

L 1742 BLOWOFF 2 ON
ALWAYS DO1022 B
ON LWOF2ON
N00264 R0000.0 Y0127.6

M 1744 VACUUM 3 ON
ALWAYS DO1023 V
ON AC3ON
N00265 R0000.0 Y0127.7

N 1746 BLOWOFF 3 ON
ALWAYS DO1024 B
ON LWOF3ON
N00266 R0000.0 Y0118.5

O 1748 VACUUM 4 ON
ALWAYS DO 950 V
ON AC4ON
Ladder Diagram 44
N00267 R0000.0 Y0118.6

A 1750 BLOWOFF 4 ON
ALWAYS DO 951 B
ON LWOF4ON
N00268
B 1752 SUB30
JMPE
N00269 R1410.0 ACT R0001.1

C 1753 SUB 3 0038
MAN GRP TMR MAN GRP
ENABLE TO
N00270 R0001.1 ACT

D 1757 SUB10 0000
MAN GRP JMP
TO
N00271 K0002.1 X1026.1 Y0114.0

E 1760 OPEN CLAMP 1
CLMP1OPN SI9 DO 913
AUTOMDSW OPNCLMP1
N00272 Y0114.0 Y0009.0

F 1763 OPEN CLAMP #1
DO 913 DO 73 OP
OPNCLMP1 N CLMP1
N00273 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9 DO 914
AUTOMDSW CLSCLMP1
N00274 Y0114.1 Y0009.1

H 1768 CLOSE CLAMP #1
DO 914 DO 74 CL
CLSCLMP1 S CLMP1
N00275 K0002.3 X1026.1 Y0114.2

I 1770 OPEN CLAMP 2
CLMP2OPN SI9 DO 915
AUTOMDSW OPNCLMP2
N00276 Y0114.2 Y0009.2

J 1773 OPEN CLAMP #2
DO 915 DO 75 OP
OPNCLMP2 N CLMP2
N00277 K0002.2 X1026.1 Y0114.3

CLMP2CLS SI9 DO 916
AUTOMDSW CLSCLMP2
N00278 Y0114.3 Y0009.3

L 1778 CLOSE CLAMP #2
DO 916 DO 76 CL
CLSCLMP2 S CLMP2
N00279 K0002.5 X1026.1 Y0114.4

M 1780 OPEN CLAMP 3
CLMP3OPN SI9 DO 917
AUTOMDSW OPNCLMP3
N00280 Y0114.4 Y0009.4

N 1783 OPEN CLAMP #3
DO 917 DO 77 OP
OPNCLMP3 N CLMP 3
N00281 K0002.4 X1026.1 Y0114.5

CLMP3CLS SI9 DO 918
AUTOMDSW CLSCLMP3
Ladder Diagram 45
N00282 Y0114.5 Y0009.5

A 1788 CLOSE CLAMP #3
DO 918 DO 78 CL
CLSCLMP3 S CLMP3
N00283 K0002.7 X1026.1 Y0114.6

B 1790 OPEN CLAMP 4
CLMP4OPN SI9 DO 919
AUTOMDSW OPNCLMP4
N00284 Y0114.6 Y0009.6

C 1793 OPEN CLAMP #4
DO 919 DO 79 OP
OPNCLMP4 N CLMP4
N00285 K0002.6 X1026.1 Y0114.7

CLMP4CLS SI9 DO 920
AUTOMDSW CLSCLMP4
N00286 Y0114.7 Y0009.7

E 1798 CLOSE CLAMP #4
DO 920 DO 80 CL
CLSCLMP4 S CLMP4
N00287 K0003.1 X1026.1 Y0115.0

F 1800 OPEN CLAMP 5
CLMP5OPN SI9 DO 921
AUTOMDSW OPNCLMP5
N00288 Y0115.0 Y0010.0

G 1803 OPEN CLAMP #5
DO 921 DO 81 OP
OPNCLMP5 N CLMP5
N00289 K0003.0 X1026.1 Y0115.1

CLMP5CLS SI9 DO 922
AUTOMDSW CLSCLMP5
N00290 Y0115.1 Y0010.1

I 1808 CLOSE CLAMP #5
DO 922 DO 82 CL
CLSCLMP5 S CLMP5
N00291 K0003.3 X1026.1 Y0115.2

J 1810 OPEN CLAMP 6
CLMP6OPN SI9 DO 923
AUTOMDSW OPNCLMP6
N00292 Y0115.2 Y0010.2

K 1813 OPEN CLAMP #6
DO 923 DO 83 OP
OPNCLMP6 N CLMP6
N00293 K0003.2 X1026.1 Y0115.3

L 1815 CLOSE CLAMP 6
CLMP6CLS SI9 DO 924
AUTOMDSW CLSCLMP6
N00294 Y0115.3 Y0010.3

M 1818 CLOSE CLAMP #6
DO 924 DO 84 CL
CLSCLMP6 S CLMP 6
N00295 K0003.5 X1026.1 Y0115.4

N 1820 OPEN CLAMP 7
CLMP7OPN SI9 DO 925
AUTOMDSW OPNCLMP7
N00296 Y0115.4 Y0010.4

O 1823 OPEN CLAMP #7
DO 925 DO 85 OP
OPNCLMP7 N CLMP 7
Ladder Diagram 46
N00297 K0003.4 X1026.1 Y0115.5

A 1825 CLOSE CLAMP 7
CLMP7CLS SI9 DO 926
AUTOMDSW CLSCLMP7
N00298 Y0115.5 Y0010.5

B 1828 CLOSE CLAMP #7
DO 926 DO 86 CL
CLSCLMP7 S CLAMP7
N00299 K0003.7 X1026.1 Y0115.6

C 1830 OPEN CLAMP 8
CLMP8OPN SI9 DO 927
AUTOMDSW OPNCLMP8
N00300 Y0115.6 Y0010.6

D 1833 OPEN CLAMP #8
DO 927 DO 87 OP
OPNCLMP8 N CLMP8
N00301 K0003.6 X1026.1 Y0115.7

CLMP8CLS SI9 DO 928
AUTOMDSW CLSCLMP8
N00302 Y0115.7 Y0010.7

F 1838 CLOSE CLAMP #8
DO 928 DO 88 CL
CLSCLMP8 S CLAMP8
N00303 K0004.1 X1026.1 Y0116.0

G 1840 OPEN CLAMP 9
CLMP9OPN SI9 DO 929
AUTOMDSW OPNCLMP9
N00304 Y0116.0 Y0011.0

H 1843 OPEN CLAMP #9
DO 929 DO 89 OP
OPNCLMP9 N CLMP9
N00305 K0004.0 X1026.1 Y0116.1

CLMP9CLS SI9 DO 930
AUTOMDSW CLSCLMP9
N00306 Y0116.1 Y0011.1

J 1848 CLOSE CLAMP #9
DO 930 DO 90 CL
CLSCLMP9 S CLMP9
N00307 K0004.3 X1026.1 Y0116.2

K 1850 OPEN CLAMP 10
CLP10OPN SI9 DO 931
AUTOMDSW OPNCLP10
N00308 Y0116.2 Y0011.2

L 1853 OPEN CLAMP #10
DO 931 DO 91 OP
OPNCLP10 N CLMP10
N00309 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9 DO 932
AUTOMDSW CLSCLP10
N00310 Y0116.3 Y0011.3

N 1858 CLOSE CLAMP #10
DO 932 DO 92 CL
CLSCLP10 S CLMP10
N00311 K0014.2 X1026.1 K0014.1 Y0127.2

O 1860 VACUUM 1 ON
VAC 1 ON SI9 VAC/BLOW DO1019 V
PB AUTOMDSW OFFTIMER AC1ON
Ladder Diagram 47
N00312 Y0127.2 Y0008.0

A 1864
DO1019 V DO 65 VA
AC1ON C 1 ON
N00313 K0014.5 X1026.1 K0014.1 Y0127.3

B 1866 BLOWOFF 1 ON
BLOWOFF SI9 VAC/BLOW DO1020 B
1 ON PB AUTOMDSW OFFTIMER LWOF1ON
N00314 Y0127.3 Y0008.1

C 1870
DO1020 B DO 66 BL
LWOF1ON WOFF1ON
N00315 K0014.3 X1026.1 K0014.1 Y0127.4

D 1872 VACUUM 2 ON
N00316 Y0127.4 Y0008.2

E 1876
DO1021 V DO 67 VA
AC2ON C 2 ON
N00317 K0014.6 X1026.1 K0014.1 Y0127.5

F 1878 BLOWOFF 2 ON
N00318 Y0127.5 Y0008.3

G 1882
DO1022 B DO 68 BL
LWOF2ON WOFF2ON
N00319 K0014.4 X1026.1 K0014.1 Y0127.6

H 1884 VACUUM 3 ON
N00320 Y0127.6 Y0008.4

I 1888
DO1023 V DO 69 VA
AC3ON C 3 ON
N00321 K0014.7 X1026.1 K0014.1 Y0127.7

J 1890 BLOWOFF 3 ON
N00322 Y0127.7 Y0008.5

K 1894
DO1024 B DO 70 BL
LWOF3ON WOFF3ON
N00323 K0016.1 X1026.1 K0014.1 Y0118.5

L 1896 VACUUM 4 ON
VAC 4 ON SI9 VAC/BLOW DO 950 V
N00324 Y0118.5 Y0008.6

M 1900
DO 950 V DO 71 VA
AC4ON C 4 ON
N00325 K0016.2 X1026.1 K0014.1 Y0118.6

N 1902 BLOWOFF 4 ON
BLOWOFF SI9 VAC/BLOW DO 951 B
N00326 Y0118.6 Y0008.7

O 1906
DO 951 B DO 72 BL
LWOF4ON WOFF4ON
Ladder Diagram 48
N00327
A 1908 SUB30
JMPE
N00328 Y0008.0 ACT K0014.1

B 1909 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO 65 VA TMR VAC/BLOW
C 1 ON OFFTIMER
Y0008.1
C
DO 66 BL
WOFF1ON
Y0008.2
D
DO 67 VA
C 2 ON
Y0008.3
E
DO 68 BL
WOFF2ON
Y0008.4
F
DO 69 VA
C 3 ON
Y0008.5
G
DO 70 BL
WOFF3ON
Y0008.6
H
DO 71 VA
C 4 ON
Y0008.7
I
DO 72 BL
WOFF4ON
N00329 K0002.0 D0612.0 K0002.0

J 1920 CLMP1 CLOSE
CLMP1CLS ALL IF P CLMP1CLS
B TO
N00330 K0002.1 D0612.0 K0002.1

K 1923 CLMP1 OPEN
CLMP1OPN ALL IF P CLMP1OPN
B TO
N00331 K0002.2 D0612.0 K0002.2

L 1926 CLMP2 CLOSE
B TO
N00332 K0002.3 D0612.0 K0002.3

M 1929 CLMP2 OPEN
B TO
N00333 K0002.4 D0612.0 K0002.4

N 1932 CLMP3 CLOSE
B TO
N00334 K0002.5 D0612.0 K0002.5

O 1935 CLMP3 OPEN
B TO
Ladder Diagram 49
N00335 K0002.6 D0612.0 K0002.6

A 1938 CLMP4 CLOSE
B TO
N00336 K0002.7 D0612.0 K0002.7

B 1941 CLMP4 OPEN
B TO
N00337 K0003.0 D0612.0 K0003.0

C 1944 CLMP5 CLOSE
B TO
N00338 K0003.1 D0612.0 K0003.1

D 1947 CLMP5 OPEN
B TO
N00339 K0003.2 D0612.0 K0003.2

E 1950 CLMP6 CLOSE
B TO
N00340 K0003.3 D0612.0 K0003.3

F 1953 CLMP6 OPEN
B TO
N00341 K0003.4 D0612.0 K0003.4

G 1956 CLMP7 CLOSE
B TO
N00342 K0003.5 D0612.0 K0003.5

H 1959 CLMP7 OPEN
B TO
N00343 K0003.6 D0612.0 K0003.6

I 1962 CLMP8 CLOSE
B TO
N00344 K0003.7 D0612.0 K0003.7

J 1965 CLMP8 OPEN
B TO
N00345 K0004.0 D0612.0 K0004.0

K 1968 CLMP9 CLOSE
B TO
N00346 K0004.1 D0612.0 K0004.1

L 1971 CLMP9 OPEN
B TO
N00347 K0004.2 D0612.0 K0004.2

M 1974 CLMP10 CLOSE
CLP10CLS ALL IF P CLP10CLS
B TO
N00348 K0004.3 D0612.0 K0004.3

N 1977 CLMP10 OPEN
CLP10OPN ALL IF P CLP10OPN
B TO
N00349 K0014.2 D0612.0 K0014.2

O 1980
VAC 1 ON ALL IF P VAC 1 ON
PB B TO PB
Ladder Diagram 50
N00350 K0014.3 D0612.0 K0014.3

A 1983
PB B TO PB
N00351 K0014.4 D0612.0 K0014.4

B 1986
PB B TO PB
N00352 K0016.1 D0612.0 K0016.1

C 1989
PB B TO PB
N00353 K0014.5 D0612.0 K0014.5

D 1992
BLOWOFF ALL IF P BLOWOFF
1 ON PB B TO 1 ON PB
N00354 K0014.6 D0612.0 K0014.6

E 1995
N00355 K0014.7 D0612.0 K0014.7

F 1998
N00356 K0016.2 D0612.0 K0016.2

G 2001
N00357 K0000.4 Y0012.6

H 2004 RERUN PROCESS
RERUNPRC DO 103 R
PB ERUNPRC
N00358 K0000.5 Y0012.7

I 2006 ACCEPT PROCESS
ACCPTPRC DO 104 A
PB CCPTPRC
N00359 K0000.6 Y0013.0

J 2008 REJECT PROCESS
REJCTPRC DO 105 R
PB EJCTPRC
N00360 K0000.7 Y0013.1

K 2010 INSPECTION SELECTED
INSPCTSE DO 106 I
LPB NSP SEL
K0001.3 K0001.5
L
VISIONIN ABORTPRO
TERVENSS CESS
N00361 K0000.4 D0612.0 K0000.4

M 2015 S RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
N00362 K0000.4 D0612.0 K0000.4

N 2018 R RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
N00363 K0000.5 D0612.0 K0000.5

O 2021 S ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
Ladder Diagram 51
N00364 K0000.5 D0612.0 K0000.5

A 2024 R ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
N00365 K0000.6 D0612.0 K0000.6

B 2027 S REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00366 K0000.6 D0612.0 K0000.6

C 2030 R REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00367 K0000.7 D0612.0 K0000.7

D 2033 S INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00368 K0000.7 D0612.0 K0000.7

E 2036 R INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00369 K0011.4 D0612.0 K0011.4

F 2039 TOOL CHANGER OPEN GUN COVER
TC OPENG ALL IF P TC OPENG
UNCOVER B TO UNCOVER
N00370 K0011.5 D0612.0 K0011.5

G 2042 TOOL CHANGER CLOSE GUN COVER
TC CLOS ALL IF P TC CLOS
GUNCOVER B TO GUNCOVER
N00371 X0008.2 R0000.7

H 2045 PART PRESENT ON EOAT
DI 67 PR PART PRE
T PRES1 SENT
X0008.3
I
DI 68 PR
T PRES2
X0008.4
J
DI 69 PR
T PRES3
X0008.5
K
DI 70 PR
T PRES4
X0008.6
L
DI 71 PR
T PRES5
X0008.7
M
DI 72 PR
T PRES6
N00372
N 2052 SUB72
SPE
N00373 ### APPLICATION ###

O 2053 SUB71 P0009
SP APPLICATION
Ladder Diagram 52
N00374 D0000.0 Y0048.0

A 2055 MATERIAL HANLDING APPLICATION
MH APP DO 385 M
H APP
N00375 D0000.1 Y0048.1

B 2057 WELD 1 APPLICATION
WELD 1 A DO 386
PP WLD1 APP
N00376 D0000.2 Y0048.2

C 2059 WELD 2 APPLICATION
WELD 2 A DO 387 W
PP LD2 APP
N00377 D0000.3 Y0048.3

D 2061 NUT FEED APPLICATION
NUT FEED DO 388 N
APP UTFD APP
N00378 D0000.4 Y0048.4

E 2063 SEALER 1 APPLICATION
SEAL 1 A DO 389 S
PP LR 1 APP
N00379 D0000.5 Y0048.5

F 2065 SEALER 2 APPLICATION
SEAL 2 DO 390 S
APP LR 2 APP
N00380 D0000.6 Y0048.6

G 2067 STUD WELD 1 APPLICATION
STUD 1 A DO 391 S
PP TDW 1APP
N00381 D0000.7 Y0048.7

H 2069 STUD WELD 2 APPLICATION
STUD 2 A DO 392 S
PP TDW 2APP
N00382 D0001.0 Y0049.0

I 2071 TOOL CHANGE APPLICATION
TOOL CHA DO 393 T
NGE APP C APP
N00383 D0001.1 Y0049.1

J 2073 RIVET 1 APPLICAYION
RIVET 1 DO 394 R
APP VT 1 APP
N00384 D0001.2 Y0049.2

K 2075 RIVET 2 APPLICATION
RIVET 2 DO 395 R
APP VT 2 APP
N00385 D0001.3 Y0049.3

L 2077 NUT RUNNER APPLICATION
NUT RUNN DO 396 N
ER APP UTR APP
N00386 D0001.4 Y0049.4

M 2079 MIG WELD APPLICATION
MIG WELD DO 397 M
APP IGW APP
N00387 D0001.5 Y0049.5

N 2081 ROLL HEMMER APPLICATION
ROLLER H DO 398 R
EMM APP LLHEM AP
N00388 D0001.6 Y0049.6

O 2083 LASER CUT APPLICATION
LASER CU DO 399 L
T APP SRCT APP
Ladder Diagram 53
N00389 D0001.7 Y0049.7

A 2085 PLASMA CUT APPLICATION
PLASMA C DO 400 P
UT APP LSMA APP
N00390 D0002.0 Y0050.0

B 2087 LASER WELD APPLICATION
LASER WE DO 401 L
LD APP SRWLDAPP
N00391 D0002.1 Y0050.1

C 2089 OPERATOR LOAD APPLICATION
OPER LOA DO 402 O
D APP P LD APP
N00392 D0002.2 Y0050.2

D 2091 VISION APPLICATION
VISION A DO 403 V
PP IS APP
N00393 D0002.3 Y0050.3

E 2093 PROGRAM LOCATOR APPLICATION
PROG LOC DO 404 P
APP RG LCAPP
N00394 D0002.4 Y0050.4

F 2095 INTERFACE DEFINITION BIT 21
IF DEF DO 405
21 INDEFB21
N00395 D0002.5 Y0050.5

G 2097 NUT FEEDER 2 APPLICATION
NUT FEED DO 406 N
ER 2 APP TFD 2APP
N00396 D0002.6 Y0050.6

H 2099 INTERFACE DEFINITION BIT 23
IF DEF DO 407 I
23 NDEF B23
N00397 D0002.7 Y0050.7

I 2101 INTERFACE DEFINITION BIT 24
IF DEF DO 408 I
24 NDEF B24
N00398 D0003.0 Y0051.0

J 2103 INTERFACE DEFINITION BIT 25
IF DEF DO 409 I
25 NDEF B25
N00399 D0003.1 Y0051.1

K 2105 INTERFACE DEFINITION BIT 26
IF DEF DO 410 I
26 NDEF B26
N00400 D0003.2 Y0051.2

L 2107 INTERFACE DEFINITION BIT 27
IF DEF DO 411 I
27 NDEF B27
N00401 D0003.3 Y0051.3

M 2109 INTERFACE DEFINITION BIT 28
IF DEF DO 412 I
28 NDEF B28
N00402 D0003.4 Y0051.4

N 2111 INTERFACE DEFINITION BIT 29
IF DEF DO 413 I
29 NDEF B29
N00403 D0003.5 Y0051.5

O 2113 INTERFACE DEFINITION BIT 30
IF DEF DO 414 I
30 NDEF B30
Ladder Diagram 54
N00404 D0003.6 Y0051.6

A 2115 INTERFACE DEFINITION BIT 31
IF DEF DO 415 I
31 NDEF B31
N00405 D0003.7 Y0051.7

B 2117 INTERFACE DEFINITION BIT 32
IF DEF DO 416 I
32 NDEF B32
N00406
C 2119 SUB72
SPE
N00407 ### P0018 ###

D 2120 SUB71 P0018
SP LASER CONTROLLER
N00408 X0064.3 R0208.1

E 2122 LASER IS ON
DI 516 L DI857 LA
ASERISON SER ON
X0001.1
F
DI 10 AU
TO REPT
N00409 X0083.2 R0208.2

G 2125 LASER READY
DI 667 L DI858 LA
ASERRDY SER RDY
X0001.1
H
DI 10 AU
TO REPT
N00410 X0083.3 R0208.3

I 2128 LASER PRG ACTIVE
DI 668 P DI859 PR
RGACTIV G ACTIVE
X0001.1
J
DI 10 AU
TO REPT
N00411 X0084.3 R0209.1

K 2131 LASER FAULT
DI 676 L DI865 FA
ASERFLT ULT
Y0061.5
L LASER FAULT
DO 494 L
SR FAULT
N00412 X0084.1 R0209.2

M 2134 LASER SIK OPEN
DI 674 S DI866 SI
IK K OPEN
N00413 G1000.1 Y1025.5 Y0000.3 Y0000.2 Y0083.0

N 2136 LASER EXTERNAL ACTIVATION
*HOLD MOTORS DO 4 RBT DO 3 RBT DO 665 E
ENABLE IN TCH IN AUTO XTACTIV
Y0083.0
O
DO 665 E
XTACTIV
Ladder Diagram 55
N00414 Y0083.0 Y0083.1

A 2142 LASER LOCK OPERATING UNIT
DO 665 E DO 666
XTACTIV LCKOPUNT
N00415 Y0083.0 X0083.0 X0001.1 Y0083.2

B 2144 LASER ON
DO 665 E DI 665 A DI 10 AU DO 667 L
XTACTIV CTACTIVE TO REPT ASRON
N00416 X0083.1 X0001.1 Y0083.3

C 2148 LASER STANDBY
DI 666 L DI 10 AU DO 668 S
ASER ON TO REPT TANDBY
N00417 R0303.0 ACT D0601.0

D 2151 SUB 3 0001 DELAY FOR LASER START
R303 DEL TMR D601 DLY
AYTIM 4LASRSTR
N00418 Y0000.0 Y0000.3 Y1025.5 R0301.0

E 2155 START STATICAL SAFETIES
DO 1 RUN DO 4 RBT MOTORS R301 STA
ENB ACK IN TCH ENABLE TSAFE
N00419 Y0108.1 X0001.1 D0601.0 R0302.0

F 2159 START STATICAL ENABLES
DO866 WL DI 10 AU D601 DLY R302 STA
DENBL TO REPT 4LASRSTR TENBLES
N00420 Y0000.0 G1000.1 R0208.2 R0303.0

G 2163 AUX FLAG FOR DELAY TIMER
DO 1 RUN *HOLD DI858 LA R303 DEL
ENB ACK SER RDY AYTIM
R0208.3
H
DI859 PR
G ACTIVE
N00421 Y0108.0 R0301.0 R0302.0 F1000.5 Y0083.4

I 2169 LASER START STATICAL
DO865 ST R301 STA R302 STA FAULT DO 669 S
RTSTAT TSAFE TENBLES TRTSTAT
N00422 Y0108.4 Y0083.6

J 2174 LASER PROGRAM STOP
DO869 ST DO 671 P
OP RGSTOP
N00423 Y0108.5 Y0084.2

K 2176 LASER PILOT LASER ON
DO870 PI DO 675 P
LOTLIGHT ILTLSRON
O
Ladder Diagram 56
N00424 Y0108.6 Y0084.3

A 2178 LASER RESET
DO871 LA DO 676 R
SRRESET ESET
Y0107.7 R0209.1
B
DO864 RE DI865 FA
SETERR ULT
X0060.1
C
DI 482 E
XTERRRST
K0012.1
D
LASER RE
SET PB
Y0112.2
E
DO899 BR
ZHDRST
N00425 Y0108.7 Y0084.4

F 2186 LASER FAULT EXTERNAL
DO872 FA DO 677 F
ILUREEXT LTEXT
N00426 Y0109.0 Y0084.5

G 2188 LASER INQUIRY INPUT 1
DO873 IN DO 678 I
QUIRSYN1 NQRYIN1
N00427 Y0109.1 Y0084.6

H 2190 LASER INQUIRY INPUT 2
DO874 IN DO 679
QUIRSYN2 INQRYIN2
N00428 X0084.3 G1008.6

I 2192 LASER UNIT ERROR
DI 676 L UALM 7
ASERFLT
N00429 X0083.2 G1008.7

J 2194 LASER UNIT NOT READY ERROR
DI 667 L UALM 8
ASERRDY
N00430 X0083.1 Y0060.0

K 2196
DI 666 L DO 481 L
ASER ON ASERON
N00431 X0083.3 Y0060.2

L 2198
DI 668 P DO 483 L
RGACTIV ASERISON
N00432 X0083.5 Y0060.1

M 2200
DI 670 P DO 482 A
RGCANCEL BTPRCS
N00433 X0084.7 Y0060.4

N 2202
DI 680 C DO 485 C
HILLRDY HILLERON
N00434 X0083.4 Y0061.1

O 2204
DI 669 P DO 490 L
RGCOMP SRPGCOMP
Ladder Diagram 57
N00435 X0083.2 Y0061.2

A 2206
DI 667 L DO 491 L
ASERRDY SRSTDBY
N00436 X0084.6 Y0061.3

B 2208
DI 679 C DO 492 L
OMM OK SRCOMMOK
N00437 K0012.0 Y0000.3 Y0084.2

C 2210 LASER PILOT LASER ON
PILOTLAS DO 4 RBT DO 675 P
ERONSS IN TCH ILTLSRON
N00438 K0012.1 D0612.0 K0012.1

D 2213 S LASER RESET PB
LASER RE ALL IF P LASER RE
SET PB B TO SET PB
N00439 K0012.1 D0612.0 K0012.1

E 2216 R LASER RESET PB
LASER RE ALL IF P LASER RE
SET PB B TO SET PB
N00440 K0012.2 D0612.0 K0012.2

F 2219 S LASER GLASS NOT PRESENT SS
LASERGLS ALL IF P LASERGLS
SNOTPRSS B TO SNOTPRSS
N00441 K0012.2 D0612.0 K0012.2

G 2222 R LASER GLASS NOT PRESENT SS
LASERGLS ALL IF P LASERGLS
SNOTPRSS B TO SNOTPRSS
N00442 X0084.4 Y0061.4

H 2225 LASER WARNING
DI 677 L DO 493 L
ASERWARN SR WARNG
N00443 K0012.2 Y0060.7

I 2227
LASERGLS DO 488 L
SNOTPRSS SRCOUPRQ
N00444
J 2229 SUB72
SPE
N00445 ### P0021 ###

K 2230 SUB71 P0021
SP LASER WELDHEAD
N00446 X0092.1 Y0062.2

L 2232
DI 738 C DO 499 G
VRSLDERR LASFLT
N00447 X0092.0 Y0062.3

M 2234
DI 737 C DO 500 D
VRSLDWAR IRTYWARN
N00448 X0091.7 Y0063.0

N 2236
DI 736 C DO 505 G
SM HOLDR LSSNPRES
O
Ladder Diagram 58
N00449 X0093.3 Y0060.3

A 2238
DI 748 C DO 484 L
HK CRASH SRHDCOLL
X0093.4
B
DI 749 P
SSWCRASH
N00450 X0091.0 Y0063.3

C 2241
DI 729 S DO 508 L
CANAVAIL SRCOMMOK
N00451 X0091.3 X0091.4 X0092.2 X0092.3 X0092.4 X0092.5 Y0063.4

D 2243 LASER WELD HEAD FAULT
DI 732 G DI 733 S DI 739 P DI 740 T DI 741 C DI742 WE DO 509 L
EN ERROR TRUC ERR OS ERR EMP ERR RSJETERR LD ERR SRWLDFLT
N00452
E 2250 SUB72
SPE
O
4 PMC Logic (S-Logic) for R-30iB Controllers

Page 32 of 32
[f3l1lsrwld21] 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
R0211.2
E
DI882_HE
AD_COLLI
N00018 F1000.6 Y1000.6

F 61
AT_HOME
Y0002.0 Y0000.1
G ROBOT AT HOME
DO_17_RB DO_2_RBT
T_@_HM1 _@_HOME
Y0002.1
H
DO_18_RB
T_@_HM2
Y0002.2
I
DO_19_RB
T_@_HM3
Y0002.3
J
DO_20_RB
T_@_HM4
Y0002.4
K
DO_21_RB
T_@_HM5
Y0002.5
L
DO_22_RB
T_@_HM6
Y0002.6
M
DO_23_RB
T_@_HM7
N00019 F1000.7 Y1000.7

N 71
TPENABLE
Y0119.7 Y0000.3
O ROBOT IN TEACH
DO_960__ DO_4_RBT
AUTO_KEY _IN_TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

A 75
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 84
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 99 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 104 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 112 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 116
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 133 INPUT SIMULATED
DO_958_I DO_581_I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

A 135 S DROP AUTO FAULT
FC_AVAIL APPL____ FC_ZERO FAULT RB_FAULT DRP_AUTO
ALARMS _RESET _FAULT
N00028 F1000.5 R1404.5

B 141 R DROP AUTO FAULT
FAULT DRP_AUTO
_FAULT
G1000.4
C
RB_FAULT
_RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

D 144
FAULT ECO33___ ECO_____ FC_AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 148
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 158
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 168
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 178
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 188
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 198
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 208
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 218
1 R1402.6 R1402.7 R1404.2

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

G 228 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 239 SUB 3 0006
FC_AVAIL TMR RETRIEVE
_DELAY
N00040 R1404.6 R1404.1

A 243 S
RETRIEVE ECO_____
_DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

B 245 SUB 3 0007 R
ECO_____ TMR ECO_____
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

C 249 S WELD FAULT #1
FC_AVAIL SPOT____ FC_ZERO FAULT DO_126_W
ALARM LD_FLT_1
N00043 X0083.1 Y0015.5

D 254 R WELD FAULT #1
DI_666_L DO_126_W
ASER_ON LD_FLT_1
N00044 K0010.1 K0010.0 R0000.1

E 256
EXT_MTR_ TEACH___ INT_EXT_
ON MEMORY MTR_ON
N00045 X0000.2 K0010.0 K0010.5 K0010.1

F 259 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 272 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 276
EXT_CYC_ TEACH___ MAINT_ME INT_EXT_
START MEMORY M CYC_STRT
O
N00048 X0000.3 K0010.0 K0010.2

A 280 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 293 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 297
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 306
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 315
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 324
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 333
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 342
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 351
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 360
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 369
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 378
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 387
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 396
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 405
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 414
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 423
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 432
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 441
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 450
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 459
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 468
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 477
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 528 SUB 3 0008 S CYCLE START DELAY
UOP_CYC_ PROGRAM_ TMR CYCLE___
START RUNNING STRT_DLY
N00072 D0603.0 ACT D0603.0

L 533 SUB 3 0009 R CYCLE START DELAY
CYCLE___ TMR CYCLE___
STRT_DLY STRT_DLY
N00073 F1000.2 D0603.0

M 537 R CYCLE START DELAY
PROGRAM_ CYCLE___
RUNNING STRT_DLY
N00074 Y0000.5 K0008.1 Y0072.2

N 539 ROBOT BYPASS SELECTED
DO_6_RBT ROBOT_BY DO_579_B
_@_MAINT PASS YPASSSEL
N00075 Y0072.2 K0016.4

O 542 ROBOT BYPASSED
DO_579_B ROBOT_BY
YPASSSEL PASSED
N00076
A 544 SUB 1
END1
N00077 Y0119.7 ACT K0010.4

B 545 SUB 3 0011 TEACH MEMORY DELAY
DO_960__ TMR TEACH_ME
AUTO_KEY M_DELAY
N00078 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

C 549 TEACH MEMORY
DO_4_RBT SI13_RES FAULT___ CYCLE___ TEACH___
_IN_TCH ETSW RESET START MEMORY
K0010.4
D
TEACH_ME
M_DELAY
K0010.0
E
TEACH___
MEMORY
N00079 K0008.0 R0350.0

F 556 MAINTENANCE MODE
AUTO/MAI IN_MAINT
NT_SS
N00080 R0350.0 ACT D0610.0

G 558 SUB 3 0012 MAINTENANCE MODE DELAY
IN_MAINT TMR MAINT___
DELAY
N00081 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

H 562 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
I
MAINT_ME DI_7_MAI
M NT_PSCLR
N00082 X0000.2 X0000.3 Y0000.2 K0010.6

J 571 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
K
EXT_STRT
_ANTI_TD
N00083 X0002.0 G1001.0

L 576
DI_17_PG PNS_1
_SLCT_1
N00084 X0002.1 G1001.1

M 578
DI_18_PG PNS_2
_SLCT_2
N00085 X0002.2 G1001.2

N 580
DI_19_PG PNS_3
_SLCT_4
N00086 X0002.3 G1001.3

O 582
DI_20_PG PNS_4
_SLCT_8
N00087 X0002.4 G1001.4

A 584
DI_21_PG PNS_5
_SLCT_16
N00088 X0002.5 G1001.5

B 586
DI_22_PG PNS_6
_SLCT_32
N00089 X0002.6 G1001.6

C 588
DI_23_PG PNS_7
_SLCT_64
N00090 X0002.7 G1001.7

D 590
DI_24_PG PNS_8
_SLCT128
N00091 X0000.6 K0008.0 Y0120.5

E 592 MAINTENANCE POSITION CLEAR
DI_7_MAI AUTO/MAI DO_966_M
NT_PSCLR NT_SS ANTP_CLR
N00092 K0008.0 Y0001.4

F 595 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO_13_SN
NT_SS DRBT_MNT
N00093 Y0112.3 Y0003.0

G 597 CLEAR OF ZONE #1
DO_900__ DO_25_CL
CLR_ZN_1 R_ZON_1
N00094 Y0112.4 Y0003.1

H 599 CLEAR OF ZONE #2
DO_901__ DO_26_CL
CLR_ZN_2 R_ZON_2
N00095 Y0112.5 Y0003.2

I 601 CLEAR OF ZONE #3
DO_902__ DO_27_CL
CLR_ZN_3 R_ZON_3
N00096 Y0112.6 Y0003.3

J 603 CLEAR OF ZONE #4
DO_903__ DO_28_CL
CLR_ZN_4 R_ZON_4
N00097 Y0112.7 Y0003.4

K 605 CLEAR OF ZONE #5
DO_904__ DO_29_CL
CLR_ZN_5 R_ZON_5
N00098 Y0113.0 Y0003.5

L 607 CLEAR OF ZONE #6
DO_905__ DO_30_CL
CLR_ZN_6 R_ZON_6
N00099 Y0113.1 Y0003.6

M 609 CLEAR OF ZONE #7
DO_906__ DO_31_CL
CLR_ZN_7 R_ZON_7
N00100 Y0113.2 Y0003.7

N 611 CLEAR OF ZONE #8
DO_907__ DO_32_CL
CLR_ZN_8 R_ZON_8
N00101 Y0113.3 Y0004.0

O 613 CLEAR OF ZONE #9
DO_908__ DO_33_CL
CLR_ZN_9 R_ZON_9
N00102 Y0113.4 Y0004.1

A 615 CLEAR OF ZONE #10
DO_909_C DO_34_CL
LR_ZN_10 R_ZON_10
N00103 Y0113.5 Y0004.2

B 617 CLEAR OF ZONE #11
DO_910_C DO_35_CL
LR_ZN_11 R_ZON_11
N00104 Y0113.6 Y0004.3

C 619 CLEAR OF ZONE #12
DO_911_C DO_36_CL
LR_ZN_12 R_ZON_12
N00105 Y0113.7 Y0004.4

D 621 CLEAR OF ZONE #13
DO_912_C DO_37_CL
LR_ZN_13 R_ZON_13
N00106 Y0116.4 Y0004.5

E 623 CLEAR OF ZONE #14
DO_933_C DO_38_CL
LR_ZN_14 R_ZON_14
N00107 Y0118.7 Y0004.6

F 625 CLR OF INDEPENDENT MOTION ZN1
DO952_CL DO_39_CL
RMOTZN1 R_INDMOT
N00108 Y0119.0 Y0004.7

G 627 CLR OF INDEPENDENT MOTION ZN2
DO953_CL DO_40_CL
RMOTZN2 R_INDMT2
N00109 Y0119.1 X0000.0 Y0000.6

H 629 CLEAR TO ADVANCE TRANSFER
DO_954_C DI_1_EXT DO_7_CLR
LRAV_XFR _RNENBL _ADV
N00110 Y0119.2 X0000.0 Y0000.7

I 632 CLEAR TO RETURN TRANSFER
LRET_XFR _RNENBL _RET_XFR
N00111 Y0119.3 X0000.0 Y0001.0

J 635 CLEAR TO UNCLAMP
LR_UNCLP _RNENBL _2_UNCLP
N00112 Y0000.3 R1000.0 Y0073.0

K 638 PROMPT BOX
DO_4_RBT DO_19001 DO_585__
_IN_TCH _PRPTBX PRMPT_BX
N00113 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

L 641
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.3
M SYSTEM FACILITY CODE (24)
ECO24___ SYS_FCLY
FC128 CODE
O
N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 650
_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 R0365.0

C SRVO-001 OPERATOR PANEL E-STOP
N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 668
_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 R0366.0

F SRVO-002 TEACH PENDANT E-STOP
N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 686
_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 R0367.0

I SRVO-003 DEADMAN SWITCH RELEAS
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 704
_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 R0368.0

L SRVO-005 ROBOT OVERTRAVELL
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 722
_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 R0370.0

O SRVO-007 EXTERNAL EMERGENCY ST
N00119 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 740
_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 R0370.1

C SRVO-408 DCS SSO EXT EMERGSTOP
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 758
_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 R1406.3

F SRVO-50 COLLISION DETECT
N00121 R1406.3 X1025.1 Y0001.6

G 776 COLLISION DETECT
SRVO-50 FAULT___ DO_15_CO
RESET LL_DTCT
Y0001.6
H
DO_15_CO
LL_DTCT
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

I 780
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

K SRVO-65 LOW BATTERY
ECO13 ECO14 ECO15 ECO16 SRVO-65_
LOW_BATT
N00123 F1001.0 Y0001.1

L 798 ROBOT BATTERY LOW
BATALM DO_10_RB
T_BAT_LW
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 800
_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 R0371.0

O SRVO-101 ROBOT OVERATRAVEL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 818
_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 R1406.1

C DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE_EXCE
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 836
_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 R0373.0

F SRVO-199 CONTROL STOP
_CONTROL
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 854
_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 R0374.0

I SRVO-232 NTED INPUT
_NTED_IN
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 872
_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 R0375.0

L SRVO-233 TP OFF IN T1,T2/DOOR
_TP_OFF
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 890
_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 R0376.0

O SRVO-280 SVOFF INPUT
_SVOFF_I
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 908
_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 R0387.0

C SRVO-378 SFDIxx STATUS ABNOR
_SFDIxx
N00131 F1008.1 ACT R0388.1

D 926 SUB24 0001 F1008.1 SYSRST DELAY ON
SYSRST TMRB F1008.1_
DELAY ON
E 0000000124
N00132 R0387.0 R0388.1 R0388.0

F 931 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 F1008.1_ OPSFTY_F
_SFDIxx DELAY ON LT_LATCH
R0388.0 F1000.5
G
OPSFTY_F FAULT
LT_LATCH
N00133 R0388.0 Y0073.1

H 937 SAFETY CHAIN FAULT
OPSFTY_F DO_586_S
LT_LATCH FTY_CHN
N00134 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

I 939
SYS_FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
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 R0377.0

K SYST-034 HOLD SIGNAL FROM SOP/
_HOLD_SI
N00135 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 957
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 R0378.0

N SYST-038 OPERATION MODE T1 SEL
_OPERATI
O
N00136 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 975
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 R0379.0

C
N00137 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 993
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 R0380.0

F SYST-040 OPERATION MODE AUTO S
_OPERATI
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1011
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 R0381.0

I SYST-042 DEADMAN DEFEATED
_DEADMAN
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1029
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 R0382.0

L SYST-043 TP DISABLE IN T1/T2
_TP_DISA
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1047
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 R0383.0

O SYST-045 TP ENABLE IN AUTO MO
_TP_ENAB
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1065
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 R0384.0

C SYST-154 NO START IN ISOLATE/B
_NO_STAR
N00142 R0397.0 F1000.0 R0397.0

D 1083 FILTERED FAULT
FILTERED COMMAND_ FILTERED
_FAULT ENABLE _FAULT
R0398.0
E
FILTER__
FLT_GRP1
R0399.0
F
FILTER__
FLT_GRP2
O
N00143 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
N00144 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
N00145 R0330.0 F1000.5 R1456.0

A 1118
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
N00146 D0001.0 Y0079.0

H 1127 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
N00147 D0001.0 ACT

J 1130 SUB10 0000
TOOL_CHA JMP
NGE_APP
N00148
K 1133 SUB66 P0001
CALLU TOOL_CHANGING
N00149
L 1135 SUB30
JMPE
N00150
M 1136 SUB66 P0004
CALLU AIR_SWITCH
N00151
N 1138 SUB66 P0006
CALLU UALM
N00152
O 1140 SUB66 P0007
CALLU INTERFACE
N00153
A 1142 SUB66 P0008
CALLU MH
N00154
B 1144 SUB66 P0009
CALLU APPLICATION
N00155
C 1146 SUB66 P0018
CALLU LASER_CONTROLLER
N00156
D 1148 SUB66 P0021
CALLU LASER_WELDHEAD
N00157
E 1150 SUB 2
END2
N00158 ### TOOL_CHANGING ###

F 1151 SUB71 P0001
SP TOOL_CHANGING
N00159 X0080.0 R0347.0

G 1153 GUN ID NOT 0
DI_641__ GUN_ID__
TOOL_ID1 NOT_0
X0080.1
H
DI_642__
TOOL_ID2
X0080.2
I
DI_643__
TOOL_ID4
X0080.3
J
DI_644__
TOOL_ID8
N00160 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

K 1158
DI_641__ DI_642__ DI_643__ DI_644__ GUN_1_ON
TOOL_ID1 TOOL_ID2 TOOL_ID4 TOOL_ID8 _ARM
N00161 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

L 1163
DI_641__ DI_642__ DI_643__ DI_644__ GUN_2_ON
N00162 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

M 1168
DI_641__ DI_642__ DI_643__ DI_644__ GUN_3_ON
N00163 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

N 1173
DI_641__ DI_642__ DI_643__ DI_644__ GUN_4_ON
N00164 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

O 1178
DI_641__ DI_642__ DI_643__ DI_644__ GUN_5_ON
N00165 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

A 1183
DI_641__ DI_642__ DI_643__ DI_644__ GUN_6_ON
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

B 1188
DI_641__ DI_642__ DI_643__ DI_644__ GUN_7_ON
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

C 1193
DI_641__ DI_642__ DI_643__ DI_644__ GUN_8_ON
N00168 R0321.0 R0328.6

D 1198 TOOL ON ROBOT
GUN_1_ON TOOLONRO
_ARM BOT
R0322.0
E
GUN_2_ON
_ARM
R0323.0
F
GUN_3_ON
_ARM
R0324.0
G
GUN_4_ON
_ARM
R0325.0
H
GUN_5_ON
_ARM
R0326.0
I
GUN_6_ON
_ARM
R0326.1
J
GUN_7_ON
_ARM
R0326.2
K
GUN_8_ON
_ARM
N00169 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

L 1207
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
M ANY GEO TOOL PRESENT ON ROBOT
GUN_8_ON GEOTOOLP
_ARM RSNT
N00170 X0080.0 Y0038.0

N 1216
DI_641__ DO_305__
TOOL_ID1 TOOL_ID1
N00171 X0080.1 Y0038.1

O 1218
DI_642__ DO_306__
TOOL_ID2 TOOL_ID2
N00172 X0080.2 Y0038.2

A 1220
DI_643__ DO_307__
TOOL_ID4 TOOL_ID4
N00173 X0080.3 Y0038.3

B 1222
DI_644__ DO_308__
TOOL_ID8 TOOL_ID8
N00174 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

C 1224
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
D GUN 1-8 (ALL TOOLS IN STAND)
DI_312__ GUN_1-8
TCSTND8
N00175 Y0117.4 K0011.1

E 1233 TOOL CHANGER RELEASE
DO_941__ TC______
TC_UNLCK RELEASED
N00176 Y0117.3 Y0000.2 X0079.4 X0079.5 R0328.6 Y0079.0

F 1235 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

G
TPENABLE DO_960__ TC_LOCK_ TOOLONRO
AUTO_KEY PB BOT
N00177 Y0117.4 Y0117.3 Y0000.2 Y0079.0

H 1248 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

I
TPENABLE DO_960__ TC_UNLOC
AUTO_KEY K_PB
N00178 X0079.0 Y0040.6

J 1257
DI_633__ DO_327_T
TC_LOCKD CCOUPMON
N00179 K0011.1 Y0079.0 Y0000.2 X0080.4 X0080.5 1

K 1259
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

L
TPENABLE DO_960__ TC_UNLOC TOOLONRO
AUTO_KEY K_PB BOT
1 R0328.6 Y0079.1
M TOOL CHANGER UNLOCK
TOOLONRO DO_634_T
BOT C_UNLOCK
2
N
N00180 K0015.0 K0016.0 F1000.7 Y0119.7 K0015.0

O 1273 TC LOCK PUSH BUTTON
TC_LOCK_ TC_UNLOC TPENABLE DO_960__ TC_LOCK_
PB K_PB AUTO_KEY PB
N00181 K0016.0 K0015.0 F1000.7 Y0119.7 K0016.0

A 1278 TC UNLOCK PUSH BUTTON
TC_UNLOC TC_LOCK_ TPENABLE DO_960__ TC_UNLOC
K_PB PB AUTO_KEY K_PB
N00182 X0079.1 Y0040.7

B 1283
DI_634__ DO_328_T
TC_ULCKD CRELMON
N00183 R0328.6 K0008.0 R0218.4

C 1285 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI_940_T
BOT NT_SS C_NOTOOL
N00184 Y0117.5 Y0117.6 Y0000.2 Y0038.5

D 1288 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

E
TC_OPENG TC__CLOS DO_4_RBT
UNCOVER GUNCOVER _IN_TCH
N00185 Y0117.5 Y0117.6 Y0000.2 Y0038.6

F 1296 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

G
TC__CLOS TC_OPENG DO_4_RBT
GUNCOVER UNCOVER _IN_TCH
N00186 X0038.0 R0321.0 R0329.0

H 1304 GUN1 POSITION
DI_305__ GUN_1_ON GUN1_POS
TCSTND1 _ARM ITION
X0038.0 X0039.3
I
DI_305__ DI_316_G
TCSTND1 EOTPDCK
N00187 X0038.1 R0322.0 R0329.1

J 1310 GUN2 POSITION
TCSTND2 _ARM ITION
X0038.1 X0039.3
K
DI_306__ DI_316_G
TCSTND2 EOTPDCK
N00188 X0038.2 R0323.0 R0329.2

L 1316 GUN3 POSITION
TCSTND3 _ARM ITION
X0038.2 X0039.3
M
DI_307__ DI_316_G
TCSTND3 EOTPDCK
N00189 X0038.3 R0324.0 R0329.3

N 1322 GUN4 POSITION
TCSTND4 _ARM ITION
X0038.3 X0039.3
O
DI_308__ DI_316_G
TCSTND4 EOTPDCK
N00190 X0038.4 R0325.0 R0329.4

A 1328 GUN5 POSITION
TCSTND5 _ARM ITION
X0038.4 X0039.3
B
DI_309__ DI_316_G
TCSTND5 EOTPDCK
N00191 X0038.5 R0326.0 R0329.5

C 1334 GUN6 POSITION
TCSTND6 _ARM ITION
X0038.5 X0039.3
D
DI_310__ DI_316_G
TCSTND6 EOTPDCK
N00192 X0038.6 R0326.1 R0329.6

E 1340 GUN7 POSITION
TCSTND7 _ARM ITION
X0038.6 X0039.3
F
DI_311__ DI_316_G
TCSTND7 EOTPDCK
N00193 X0038.7 R0326.2 R0329.7

G 1346 GUN8 POSITION
TCSTND8 _ARM ITION
X0038.7 X0039.3
H
DI_312__ DI_316_G
TCSTND8 EOTPDCK
O
N00194 R0329.0 R0328.7

A 1352 ALL GUN1-8 POSITION
GUN1_POS GUN1-8_P
ITION OSITION
R0329.1
B
GUN2_POS
ITION
R0329.2
C
GUN3_POS
ITION
R0329.3
D
GUN4_POS
ITION
R0329.4
E
GUN5_POS
ITION
R0329.5
F
GUN6_POS
ITION
R0329.6
G
GUN7_POS
ITION
R0329.7
H
GUN8_POS
ITION
N00195 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1361
DI_316_G DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__
1 X0038.6 X0038.7 R0320.0

J TOOL 1 IN OPDOCK
DI_311__ DI_312__ TOOL1INO
N00196 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1371
1 X0038.6 X0038.7 R0320.1

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

M 1381
1 X0038.6 X0038.7 R0320.2

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

A 1391
1 X0038.6 X0038.7 R0320.3

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

C 1401
1 X0038.6 X0038.7 R0320.4

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

E 1411
1 X0038.6 X0038.7 R0320.5

F TOOL 6 IN OPDOCK
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1421
1 X0038.6 X0038.7 R0320.6

H TOOL 7 IN OPDOCK
N00202 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1431
1 X0038.6 X0038.7 R0320.7

J TOOL 8 IN OPDOCK
O
N00203 R0320.0 R0319.0

A 1441 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00204 X0082.6 Y0038.7

I 1450
DI_663_T DO_312_T
CCOMMOK CCOMMOK
N00205 X0082.7 Y0039.2

J 1452
DI_664_T DO_315_T
CTLSLDPW LSLIDPWR
N00206 X0079.4 X0079.5 G1008.4

K 1454 RTL1&L2SWITCHMISMATCH
DI_637__ DI_638__ UALM_5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI_637__ DI_638__
RDY2LCK1 RDY2LCK2
N00207 R0328.6 G1008.5

M 1460 NO TOOL ON ARM
TOOLONRO UALM_6
BOT
N00208 K0013.1 R0000.7 Y0126.7

N 1462 NO TOOL ON EOAT SS
NOTOOLON PART_PRE DO_1016_
EOATSS SENT NOEOATSS
N00209 K0013.1 R0000.7 K0013.1

O 1465 R NO TOOL ON EOAT SS
NOTOOLON PART_PRE NOTOOLON
EOATSS SENT EOATSS
N00210 Y0039.3 Y0039.3

A 1468 S WRONG TOOL IN STAND
DO_316_W DO_316_W
RNGTLSTD RNGTLSTD
N00211 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1470 R WRONG TOOL IN STAND
DO_316_W FAULT___ DO_2_RBT DO_316_W
RNGTLSTD RESET _@_HOME RNGTLSTD
N00212
C 1474 SUB72
SPE
N00213 ### AIR_SWITCH ###

D 1475 SUB71 P0004
SP AIR_SWITCH
N00214 X1020.6 Y0001.5

E 1477 END OF ARM AIR ON
RI_7_AIR DO_14_EO
_FL_SW A_AIR_ON
N00215
F 1479 SUB72
SPE
N00216 ### UALM ###

G 1480 SUB71 P0006
SP UALM
N00217 Y0120.2 X1025.1 Y0120.2

H 1482 PROGRAM FAULT
DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00218 Y0120.2 G1008.0

I 1485 PROGRAM VERIFY FAULT
DO_963__ UALM1
PRG_FLT
N00219 K0010.0 Y0119.7 Y0000.3 G1010.6

J 1487 TEACH MEMORY ON
TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00220 R0000.0 G1011.0

K 1491 GUN DISABLED SELECTOR SWITCH
ALWAYS__ UALM_25
ON
N00221 R0000.0 G1011.1

L 1493 RETRACT ENABLED
ALWAYS__ UALM_26
ON
N00222 Y0002.7 G1011.4

M 1495 IN PROGRAM LOOP
DO_24_RB UALM_29
T_LOOP
N00223 Y0039.3 G1009.7

N 1497 TC PRESS FAULT RESET
DO_316_W UALM_16
RNGTLSTD
N00224
O 1499 SUB72
SPE
N00225 ### INTERFACE ###

A 1500 SUB71 P0007
SP INTERFACE
N00226 D0612.1 ACT D0612.0

B 1502 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH_IF_PB TMR ALL_IF_P
_TO B_TO
D0612.2
C
SEAL_IF_
PB_TO
D0612.3
D
STUD_IF_
PB_TO
D0612.4
E
LASER_IF
_PB_TO
O
N00227 K0002.0 D0612.1

A 1509 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
N00228 K0009.4 D0612.2

A 1544 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
N00229 K0012.1 D0612.4

M 1557 LASER IF PB TO
LASER_RE LASER_IF
SET_PB _PB_TO
K0012.2
N
LASERGLS
SNOTPRSS
N00230
O 1560 SUB72
SPE
N00231 ### MH ###

A 1561 SUB71 P0008
SP MH
N00232 Y0000.3 K0004.4 R1410.0

B 1563 MANUAL GRIP ENABLE
DO_4_RBT MAN_GRP_ MAN_GRP_
_IN_TCH ENBLE_SS ENABLE
N00233 R1410.0 ACT

C 1566 SUB10 0000
MAN_GRP_ JMP
ENABLE
N00234 R0000.0 Y0114.0

D 1569 OPEN CLAMP 1
ALWAYS__ DO_913__
ON OPNCLMP1
N00235 R0000.0 Y0114.1

ALWAYS__ DO_914__
ON CLSCLMP1
N00236 R0000.0 Y0114.2

F 1573 OPEN CLAMP 2
ALWAYS__ DO_915__
ON OPNCLMP2
N00237 R0000.0 Y0114.3

ALWAYS__ DO_916__
ON CLSCLMP2
N00238 R0000.0 Y0114.4

H 1577 OPEN CLAMP 3
ALWAYS__ DO_917__
ON OPNCLMP3
N00239 R0000.0 Y0114.5

ALWAYS__ DO_918__
ON CLSCLMP3
N00240 R0000.0 Y0114.6

J 1581 OPEN CLAMP 4
ALWAYS__ DO_919__
ON OPNCLMP4
N00241 R0000.0 Y0114.7

ALWAYS__ DO_920__
ON CLSCLMP4
N00242 R0000.0 Y0115.0

L 1585 OPEN CLAMP 5
ALWAYS__ DO_921__
ON OPNCLMP5
N00243 R0000.0 Y0115.1

ALWAYS__ DO_922__
ON CLSCLMP5
N00244 R0000.0 Y0115.2

N 1589 OPEN CLAMP 6
ALWAYS__ DO_923__
ON OPNCLMP6
N00245 R0000.0 Y0115.3

ALWAYS__ DO_924__
ON CLSCLMP6
N00246 R0000.0 Y0115.4

A 1593 OPEN CLAMP 7
ALWAYS__ DO_925__
ON OPNCLMP7
N00247 R0000.0 Y0115.5

B 1595 CLOSE CLAMP 7
ALWAYS__ DO_926__
ON CLSCLMP7
N00248 R0000.0 Y0115.6

C 1597 OPEN CLAMP 8
ALWAYS__ DO_927__
ON OPNCLMP8
N00249 R0000.0 Y0115.7

ALWAYS__ DO_928__
ON CLSCLMP8
N00250 R0000.0 Y0116.0

E 1601 OPEN CLAMP 9
ALWAYS__ DO_929__
ON OPNCLMP9
N00251 R0000.0 Y0116.1

F 1603 CLOSE CLAMP 9
ALWAYS__ DO_930__
ON CLSCLMP9
N00252 R0000.0 Y0116.2

G 1605 OPEN CLAMP 10
ALWAYS__ DO_931__
ON OPNCLP10
N00253 R0000.0 Y0116.3

ALWAYS__ DO_932__
ON CLSCLP10
N00254 R0000.0 Y0127.2

I 1609 VACUUM 1 ON
ALWAYS__ DO1019_V
ON AC1ON
N00255 R0000.0 Y0127.3

J 1611 BLOWOFF 1 ON
ALWAYS__ DO1020_B
ON LWOF1ON
N00256 R0000.0 Y0127.4

K 1613 VACUUM 2 ON
ALWAYS__ DO1021_V
ON AC2ON
N00257 R0000.0 Y0127.5

L 1615 BLOWOFF 2 ON
ALWAYS__ DO1022_B
ON LWOF2ON
N00258 R0000.0 Y0127.6

M 1617 VACUUM 3 ON
ALWAYS__ DO1023_V
ON AC3ON
N00259 R0000.0 Y0127.7

N 1619 BLOWOFF 3 ON
ALWAYS__ DO1024_B
ON LWOF3ON
N00260 R0000.0 Y0118.5

O 1621 VACUUM 4 ON
ALWAYS__ DO_950_V
ON AC4ON
N00261 R0000.0 Y0118.6

A 1623 BLOWOFF 4 ON
ALWAYS__ DO_951_B
ON LWOF4ON
N00262
B 1625 SUB30
JMPE
N00263 R1410.0 ACT R0001.1

C 1626 SUB 3 0038
MAN_GRP_ TMR MAN_GRP_
ENABLE TO
N00264 R0001.1 ACT

D 1630 SUB10 0000
MAN_GRP_ JMP
TO
N00265 K0002.1 X1026.1 Y0114.0

E 1633 OPEN CLAMP 1
CLMP1OPN SI9_____ DO_913__
AUTOMDSW OPNCLMP1
N00266 Y0114.0 Y0009.0

F 1636 OPEN CLAMP #1
DO_913__ DO_73_OP
OPNCLMP1 N_CLMP1
N00267 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9_____ DO_914__
AUTOMDSW CLSCLMP1
N00268 Y0114.1 Y0009.1

H 1641 CLOSE CLAMP #1
DO_914__ DO_74_CL
CLSCLMP1 S_CLMP1
N00269 K0002.3 X1026.1 Y0114.2

I 1643 OPEN CLAMP 2
AUTOMDSW OPNCLMP2
N00270 Y0114.2 Y0009.2

J 1646 OPEN CLAMP #2
DO_915__ DO_75_OP
OPNCLMP2 N_CLMP2
N00271 K0002.2 X1026.1 Y0114.3

AUTOMDSW CLSCLMP2
N00272 Y0114.3 Y0009.3

L 1651 CLOSE CLAMP #2
DO_916__ DO_76_CL
CLSCLMP2 S_CLMP2
N00273 K0002.5 X1026.1 Y0114.4

M 1653 OPEN CLAMP 3
AUTOMDSW OPNCLMP3
N00274 Y0114.4 Y0009.4

N 1656 OPEN CLAMP #3
DO_917__ DO_77_OP
OPNCLMP3 N_CLMP_3
N00275 K0002.4 X1026.1 Y0114.5

AUTOMDSW CLSCLMP3
N00276 Y0114.5 Y0009.5

A 1661 CLOSE CLAMP #3
DO_918__ DO_78_CL
CLSCLMP3 S_CLMP3
N00277 K0002.7 X1026.1 Y0114.6

B 1663 OPEN CLAMP 4
AUTOMDSW OPNCLMP4
N00278 Y0114.6 Y0009.6

C 1666 OPEN CLAMP #4
DO_919__ DO_79_OP
OPNCLMP4 N_CLMP4
N00279 K0002.6 X1026.1 Y0114.7

AUTOMDSW CLSCLMP4
N00280 Y0114.7 Y0009.7

E 1671 CLOSE CLAMP #4
DO_920__ DO_80_CL
CLSCLMP4 S_CLMP4
N00281 K0003.1 X1026.1 Y0115.0

F 1673 OPEN CLAMP 5
AUTOMDSW OPNCLMP5
N00282 Y0115.0 Y0010.0

G 1676 OPEN CLAMP #5
DO_921__ DO_81_OP
OPNCLMP5 N_CLMP5
N00283 K0003.0 X1026.1 Y0115.1

AUTOMDSW CLSCLMP5
N00284 Y0115.1 Y0010.1

I 1681 CLOSE CLAMP #5
DO_922__ DO_82_CL
CLSCLMP5 S_CLMP5
N00285 K0003.3 X1026.1 Y0115.2

J 1683 OPEN CLAMP 6
AUTOMDSW OPNCLMP6
N00286 Y0115.2 Y0010.2

K 1686 OPEN CLAMP #6
DO_923__ DO_83_OP
OPNCLMP6 N_CLMP6
N00287 K0003.2 X1026.1 Y0115.3

L 1688 CLOSE CLAMP 6
AUTOMDSW CLSCLMP6
N00288 Y0115.3 Y0010.3

M 1691 CLOSE CLAMP #6
DO_924__ DO_84_CL
CLSCLMP6 S_CLMP_6
N00289 K0003.5 X1026.1 Y0115.4

N 1693 OPEN CLAMP 7
AUTOMDSW OPNCLMP7
N00290 Y0115.4 Y0010.4

O 1696 OPEN CLAMP #7
DO_925__ DO_85_OP
OPNCLMP7 N_CLMP_7
N00291 K0003.4 X1026.1 Y0115.5

A 1698 CLOSE CLAMP 7
AUTOMDSW CLSCLMP7
N00292 Y0115.5 Y0010.5

B 1701 CLOSE CLAMP #7
DO_926__ DO_86_CL
CLSCLMP7 S_CLAMP7
N00293 K0003.7 X1026.1 Y0115.6

C 1703 OPEN CLAMP 8
AUTOMDSW OPNCLMP8
N00294 Y0115.6 Y0010.6

D 1706 OPEN CLAMP #8
DO_927__ DO_87_OP
OPNCLMP8 N_CLMP8
N00295 K0003.6 X1026.1 Y0115.7

AUTOMDSW CLSCLMP8
N00296 Y0115.7 Y0010.7

F 1711 CLOSE CLAMP #8
DO_928__ DO_88_CL
CLSCLMP8 S_CLAMP8
N00297 K0004.1 X1026.1 Y0116.0

G 1713 OPEN CLAMP 9
AUTOMDSW OPNCLMP9
N00298 Y0116.0 Y0011.0

H 1716 OPEN CLAMP #9
DO_929__ DO_89_OP
OPNCLMP9 N_CLMP9
N00299 K0004.0 X1026.1 Y0116.1

AUTOMDSW CLSCLMP9
N00300 Y0116.1 Y0011.1

J 1721 CLOSE CLAMP #9
DO_930__ DO_90_CL
CLSCLMP9 S_CLMP9
N00301 K0004.3 X1026.1 Y0116.2

K 1723 OPEN CLAMP 10
CLP10OPN SI9_____ DO_931__
AUTOMDSW OPNCLP10
N00302 Y0116.2 Y0011.2

L 1726 OPEN CLAMP #10
DO_931__ DO_91_OP
OPNCLP10 N_CLMP10
N00303 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9_____ DO_932__
AUTOMDSW CLSCLP10
N00304 Y0116.3 Y0011.3

N 1731 CLOSE CLAMP #10
DO_932__ DO_92_CL
CLSCLP10 S_CLMP10
N00305 K0014.2 X1026.1 K0014.1 Y0127.2

O 1733 VACUUM 1 ON
VAC_1_ON SI9_____ VAC/BLOW DO1019_V
_PB AUTOMDSW OFFTIMER AC1ON
N00306 Y0127.2 Y0008.0

A 1737
DO1019_V DO_65_VA
AC1ON C_1_ON
N00307 K0014.5 X1026.1 K0014.1 Y0127.3

B 1739 BLOWOFF 1 ON
BLOWOFF_ SI9_____ VAC/BLOW DO1020_B
1_ON_PB AUTOMDSW OFFTIMER LWOF1ON
N00308 Y0127.3 Y0008.1

C 1743
DO1020_B DO_66_BL
LWOF1ON WOFF1ON
N00309 K0014.3 X1026.1 K0014.1 Y0127.4

D 1745 VACUUM 2 ON
N00310 Y0127.4 Y0008.2

E 1749
DO1021_V DO_67_VA
AC2ON C_2_ON
N00311 K0014.6 X1026.1 K0014.1 Y0127.5

F 1751 BLOWOFF 2 ON
N00312 Y0127.5 Y0008.3

G 1755
DO1022_B DO_68_BL
LWOF2ON WOFF2ON
N00313 K0014.4 X1026.1 K0014.1 Y0127.6

H 1757 VACUUM 3 ON
N00314 Y0127.6 Y0008.4

I 1761
DO1023_V DO_69_VA
AC3ON C_3_ON
N00315 K0014.7 X1026.1 K0014.1 Y0127.7

J 1763 BLOWOFF 3 ON
N00316 Y0127.7 Y0008.5

K 1767
DO1024_B DO_70_BL
LWOF3ON WOFF3ON
N00317 K0016.1 X1026.1 K0014.1 Y0118.5

L 1769 VACUUM 4 ON
VAC_4_ON SI9_____ VAC/BLOW DO_950_V
N00318 Y0118.5 Y0008.6

M 1773
DO_950_V DO_71_VA
AC4ON C_4_ON
N00319 K0016.2 X1026.1 K0014.1 Y0118.6

N 1775 BLOWOFF 4 ON
BLOWOFF_ SI9_____ VAC/BLOW DO_951_B
N00320 Y0118.6 Y0008.7

O 1779
DO_951_B DO_72_BL
LWOF4ON WOFF4ON
N00321
A 1781 SUB30
JMPE
N00322 Y0008.0 ACT K0014.1

B 1782 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO_65_VA TMR VAC/BLOW
C_1_ON OFFTIMER
Y0008.1
C
DO_66_BL
WOFF1ON
Y0008.2
D
DO_67_VA
C_2_ON
Y0008.3
E
DO_68_BL
WOFF2ON
Y0008.4
F
DO_69_VA
C_3_ON
Y0008.5
G
DO_70_BL
WOFF3ON
Y0008.6
H
DO_71_VA
C_4_ON
Y0008.7
I
DO_72_BL
WOFF4ON
N00323 K0002.0 D0612.0 K0002.0

J 1793 CLMP1 CLOSE
CLMP1CLS ALL_IF_P CLMP1CLS
B_TO
N00324 K0002.1 D0612.0 K0002.1

K 1796 CLMP1 OPEN
CLMP1OPN ALL_IF_P CLMP1OPN
B_TO
N00325 K0002.2 D0612.0 K0002.2

L 1799 CLMP2 CLOSE
B_TO
N00326 K0002.3 D0612.0 K0002.3

M 1802 CLMP2 OPEN
B_TO
N00327 K0002.4 D0612.0 K0002.4

N 1805 CLMP3 CLOSE
B_TO
N00328 K0002.5 D0612.0 K0002.5

O 1808 CLMP3 OPEN
B_TO
N00329 K0002.6 D0612.0 K0002.6

A 1811 CLMP4 CLOSE
B_TO
N00330 K0002.7 D0612.0 K0002.7

B 1814 CLMP4 OPEN
B_TO
N00331 K0003.0 D0612.0 K0003.0

C 1817 CLMP5 CLOSE
B_TO
N00332 K0003.1 D0612.0 K0003.1

D 1820 CLMP5 OPEN
B_TO
N00333 K0003.2 D0612.0 K0003.2

E 1823 CLMP6 CLOSE
B_TO
N00334 K0003.3 D0612.0 K0003.3

F 1826 CLMP6 OPEN
B_TO
N00335 K0003.4 D0612.0 K0003.4

G 1829 CLMP7 CLOSE
B_TO
N00336 K0003.5 D0612.0 K0003.5

H 1832 CLMP7 OPEN
B_TO
N00337 K0003.6 D0612.0 K0003.6

I 1835 CLMP8 CLOSE
B_TO
N00338 K0003.7 D0612.0 K0003.7

J 1838 CLMP8 OPEN
B_TO
N00339 K0004.0 D0612.0 K0004.0

K 1841 CLMP9 CLOSE
B_TO
N00340 K0004.1 D0612.0 K0004.1

L 1844 CLMP9 OPEN
B_TO
N00341 K0004.2 D0612.0 K0004.2

M 1847 CLMP10 CLOSE
CLP10CLS ALL_IF_P CLP10CLS
B_TO
N00342 K0004.3 D0612.0 K0004.3

N 1850 CLMP10 OPEN
CLP10OPN ALL_IF_P CLP10OPN
B_TO
N00343 K0014.2 D0612.0 K0014.2

O 1853
VAC_1_ON ALL_IF_P VAC_1_ON
_PB B_TO _PB
N00344 K0014.3 D0612.0 K0014.3

A 1856
_PB B_TO _PB
N00345 K0014.4 D0612.0 K0014.4

B 1859
_PB B_TO _PB
N00346 K0016.1 D0612.0 K0016.1

C 1862
_PB B_TO _PB
N00347 K0014.5 D0612.0 K0014.5

D 1865
BLOWOFF_ ALL_IF_P BLOWOFF_
1_ON_PB B_TO 1_ON_PB
N00348 K0014.6 D0612.0 K0014.6

E 1868
N00349 K0014.7 D0612.0 K0014.7

F 1871
N00350 K0016.2 D0612.0 K0016.2

G 1874
N00351 K0000.4 Y0012.6

H 1877 RERUN PROCESS
RERUNPRC DO_103_R
PB ERUNPRC
N00352 K0000.5 Y0012.7

I 1879 ACCEPT PROCESS
ACCPTPRC DO_104_A
PB CCPTPRC
N00353 K0000.6 Y0013.0

J 1881 REJECT PROCESS
REJCTPRC DO_105_R
PB EJCTPRC
N00354 K0000.7 Y0013.1

K 1883 INSPECTION SELECTED
INSPCTSE DO_106_I
LPB NSP_SEL
K0001.3 K0001.5
L
VISIONIN ABORTPRO
TERVENSS CESS
N00355 K0000.4 D0612.0 K0000.4

M 1888 S RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00356 K0000.4 D0612.0 K0000.4

N 1891 R RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00357 K0000.5 D0612.0 K0000.5

O 1894 S ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00358 K0000.5 D0612.0 K0000.5

A 1897 R ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00359 K0000.6 D0612.0 K0000.6

B 1900 S REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00360 K0000.6 D0612.0 K0000.6

C 1903 R REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00361 K0000.7 D0612.0 K0000.7

D 1906 S INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00362 K0000.7 D0612.0 K0000.7

E 1909 R INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00363 K0011.4 D0612.0 K0011.4

F 1912 TOOL CHANGER OPEN GUN COVER
TC_OPENG ALL_IF_P TC_OPENG
UNCOVER B_TO UNCOVER
N00364 K0011.5 D0612.0 K0011.5

G 1915 TOOL CHANGER CLOSE GUN COVER
TC__CLOS ALL_IF_P TC__CLOS
GUNCOVER B_TO GUNCOVER
N00365 X0008.2 R0000.7

H 1918 PART PRESENT ON EOAT
DI_67_PR PART_PRE
T_PRES1 SENT
X0008.3
I
DI_68_PR
T_PRES2
X0008.4
J
DI_69_PR
T_PRES3
X0008.5
K
DI_70_PR
T_PRES4
X0008.6
L
DI_71_PR
T_PRES5
X0008.7
M
DI_72_PR
T_PRES6
N00366
N 1925 SUB72
SPE
N00367 ### APPLICATION ###

O 1926 SUB71 P0009
SP APPLICATION
N00368 D0000.0 Y0048.0

A 1928 MATERIAL HANLDING APPLICATION
MH_APP DO_385_M
H_APP
N00369 D0000.1 Y0048.1

B 1930 WELD 1 APPLICATION
WELD_1_A DO_386__
PP WLD1_APP
N00370 D0000.2 Y0048.2

C 1932 WELD 2 APPLICATION
WELD_2_A DO_387_W
PP LD2_APP
N00371 D0000.3 Y0048.3

D 1934 NUT FEED APPLICATION
NUT_FEED DO_388_N
_APP UTFD_APP
N00372 D0000.4 Y0048.4

E 1936 SEALER 1 APPLICATION
SEAL_1_A DO_389_S
PP LR_1_APP
N00373 D0000.5 Y0048.5

F 1938 SEALER 2 APPLICATION
SEAL_2__ DO_390_S
APP LR_2_APP
N00374 D0000.6 Y0048.6

G 1940 STUD WELD 1 APPLICATION
STUD_1_A DO_391_S
PP TDW_1APP
N00375 D0000.7 Y0048.7

H 1942 STUD WELD 2 APPLICATION
STUD_2_A DO_392_S
PP TDW_2APP
N00376 D0001.0 Y0049.0

I 1944 TOOL CHANGE APPLICATION
TOOL_CHA DO_393_T
NGE_APP C_APP
N00377 D0001.1 Y0049.1

J 1946 RIVET 1 APPLICAYION
RIVET_1_ DO_394_R
APP VT_1_APP
N00378 D0001.2 Y0049.2

K 1948 RIVET 2 APPLICATION
RIVET_2_ DO_395_R
APP VT_2_APP
N00379 D0001.3 Y0049.3

L 1950 NUT RUNNER APPLICATION
NUT_RUNN DO_396_N
ER_APP UTR_APP
N00380 D0001.4 Y0049.4

M 1952 MIG WELD APPLICATION
MIG_WELD DO_397_M
_APP IGW_APP
N00381 D0001.5 Y0049.5

N 1954 ROLL HEMMER APPLICATION
ROLLER_H DO_398_R
EMM_APP LLHEM_AP
N00382 D0001.6 Y0049.6

O 1956 LASER CUT APPLICATION
LASER_CU DO_399_L
T_APP SRCT_APP
N00383 D0001.7 Y0049.7

A 1958 PLASMA CUT APPLICATION
PLASMA_C DO_400_P
UT_APP LSMA_APP
N00384 D0002.0 Y0050.0

B 1960 LASER WELD APPLICATION
LASER_WE DO_401_L
LD_APP SRWLDAPP
N00385 D0002.1 Y0050.1

C 1962 OPERATOR LOAD APPLICATION
OPER_LOA DO_402_O
D_APP P_LD_APP
N00386 D0002.2 Y0050.2

D 1964 VISION APPLICATION
VISION_A DO_403_V
PP IS_APP
N00387 D0002.3 Y0050.3

E 1966 PROGRAM LOCATOR APPLICATION
PROG_LOC DO_404_P
_APP RG_LCAPP
N00388 D0002.4 Y0050.4

F 1968 INTERFACE DEFINITION BIT 21
IF_DEF__ DO_405__
21 INDEFB21
N00389 D0002.5 Y0050.5

G 1970 NUT FEEDER 2 APPLICATION
NUT_FEED DO_406_N
ER_2_APP TFD_2APP
N00390 D0002.6 Y0050.6

H 1972 INTERFACE DEFINITION BIT 23
IF_DEF__ DO_407_I
23 NDEF_B23
N00391 D0002.7 Y0050.7

I 1974 INTERFACE DEFINITION BIT 24
IF_DEF__ DO_408_I
24 NDEF_B24
N00392 D0003.0 Y0051.0

J 1976 INTERFACE DEFINITION BIT 25
IF_DEF__ DO_409_I
25 NDEF_B25
N00393 D0003.1 Y0051.1

K 1978 INTERFACE DEFINITION BIT 26
IF_DEF__ DO_410_I
26 NDEF_B26
N00394 D0003.2 Y0051.2

L 1980 INTERFACE DEFINITION BIT 27
IF_DEF__ DO_411_I
27 NDEF_B27
N00395 D0003.3 Y0051.3

M 1982 INTERFACE DEFINITION BIT 28
IF_DEF__ DO_412_I
28 NDEF_B28
N00396 D0003.4 Y0051.4

N 1984 INTERFACE DEFINITION BIT 29
IF_DEF__ DO_413_I
29 NDEF_B29
N00397 D0003.5 Y0051.5

O 1986 INTERFACE DEFINITION BIT 30
IF_DEF__ DO_414_I
30 NDEF_B30
N00398 D0003.6 Y0051.6

A 1988 INTERFACE DEFINITION BIT 31
IF_DEF__ DO_415_I
31 NDEF_B31
N00399 D0003.7 Y0051.7

B 1990 INTERFACE DEFINITION BIT 32
IF_DEF__ DO_416_I
32 NDEF_B32
N00400
C 1992 SUB72
SPE
N00401 ### LASER_CONTROLLER ###

D 1993 SUB71 P0018
SP LASER_CONTROLLER
N00402 X0064.3 R0208.1

E 1995 LASER IS ON
DI_516_L DI857_LA
ASERISON SER_ON
X0001.1
F
DI_10_AU
TO_REPT
N00403 X0083.2 R0208.2

G 1998 LASER READY
DI_667_L DI858_LA
ASERRDY SER_RDY
X0001.1
H
DI_10_AU
TO_REPT
N00404 X0083.3 R0208.3

I 2001 LASER PRG ACTIVE
DI_668_P DI859_PR
RGACTIV G_ACTIVE
X0001.1
J
DI_10_AU
TO_REPT
N00405 X0084.3 R0209.1

K 2004 LASER FAULT
DI_676_L DI865_FA
ASERFLT ULT
Y0061.5
L LASER FAULT
DO_494_L
SR_FAULT
N00406 X0084.1 R0209.2

M 2007 LASER SIK OPEN
DI_674_S DI866_SI
IK K_OPEN
N00407 G1000.1 Y1025.5 Y0000.3 Y0000.2 Y0083.0

N 2009 LASER EXTERNAL ACTIVATION
*HOLD MOTORS__ DO_4_RBT DO_3_RBT DO_665_E
ENABLE _IN_TCH _IN_AUTO XTACTIV
Y0083.0
O
DO_665_E
XTACTIV
N00408 Y0083.0 Y0083.1

A 2015 LASER LOCK OPERATING UNIT
DO_665_E DO_666__
XTACTIV LCKOPUNT
N00409 Y0083.0 X0083.0 X0001.1 Y0083.2

B 2017 LASER ON
DO_665_E DI_665_A DI_10_AU DO_667_L
XTACTIV CTACTIVE TO_REPT ASRON
N00410 X0083.1 X0001.1 Y0083.3

C 2021 LASER STANDBY
DI_666_L DI_10_AU DO_668_S
ASER_ON TO_REPT TANDBY
N00411 R0303.0 ACT D0601.0

D 2024 SUB 3 0001 DELAY FOR LASER START
R303_DEL TMR D601_DLY
AYTIM 4LASRSTR
N00412 Y0000.0 Y0000.3 Y1025.5 R0301.0

E 2028 START STATICAL SAFETIES
DO_1_RUN DO_4_RBT MOTORS__ R301_STA
_ENB_ACK _IN_TCH ENABLE TSAFE
N00413 Y0108.1 X0001.1 D0601.0 R0302.0

F 2032 START STATICAL ENABLES
DO866_WL DI_10_AU D601_DLY R302_STA
DENBL TO_REPT 4LASRSTR TENBLES
N00414 Y0000.0 G1000.1 R0208.2 R0303.0

G 2036 AUX FLAG FOR DELAY TIMER
DO_1_RUN *HOLD DI858_LA R303_DEL
_ENB_ACK SER_RDY AYTIM
R0208.3
H
DI859_PR
G_ACTIVE
N00415 Y0108.0 R0301.0 R0302.0 F1000.5 Y0083.4

I 2042 LASER START STATICAL
DO865_ST R301_STA R302_STA FAULT DO_669_S
RTSTAT TSAFE TENBLES TRTSTAT
N00416 Y0108.4 Y0083.6

J 2047 LASER PROGRAM STOP
DO869_ST DO_671_P
OP RGSTOP
N00417 Y0108.5 Y0084.2

K 2049 LASER PILOT LASER ON
DO870_PI DO_675_P
LOTLIGHT ILTLSRON
O
N00418 Y0108.6 Y0084.3

A 2051 LASER RESET
DO871_LA DO_676_R
SRRESET ESET
Y0107.7 R0209.1
B
DO864_RE DI865_FA
SETERR ULT
X0060.1
C
DI_482_E
XTERRRST
K0012.1
D
LASER_RE
SET_PB
Y0112.2
E
DO899_BR
ZHDRST
N00419 Y0108.7 Y0084.4

F 2059 LASER FAULT EXTERNAL
DO872_FA DO_677_F
ILUREEXT LTEXT
N00420 Y0109.0 Y0084.5

G 2061 LASER INQUIRY INPUT 1
DO873_IN DO_678_I
QUIRSYN1 NQRYIN1
N00421 Y0109.1 Y0084.6

H 2063 LASER INQUIRY INPUT 2
DO874_IN DO_679__
QUIRSYN2 INQRYIN2
N00422 X0084.3 G1008.6

I 2065 LASER UNIT ERROR
DI_676_L UALM_7
ASERFLT
N00423 X0083.2 G1008.7

J 2067 LASER UNIT NOT READY ERROR
DI_667_L UALM_8
ASERRDY
N00424 X0083.1 Y0060.0

K 2069
DI_666_L DO_481_L
ASER_ON ASERON
N00425 X0083.3 Y0060.2

L 2071
DI_668_P DO_483_L
RGACTIV ASERISON
N00426 X0083.5 Y0060.1

M 2073
DI_670_P DO_482_A
RGCANCEL BTPRCS
N00427 X0084.7 Y0060.4

N 2075
DI_680_C DO_485_C
HILLRDY HILLERON
N00428 X0083.4 Y0061.1

O 2077
DI_669_P DO_490_L
RGCOMP SRPGCOMP
N00429 X0083.2 Y0061.2

A 2079
DI_667_L DO_491_L
ASERRDY SRSTDBY
N00430 X0084.6 Y0061.3

B 2081
DI_679_C DO_492_L
OMM_OK SRCOMMOK
N00431 K0012.0 Y0000.3 Y0084.2

C 2083 LASER PILOT LASER ON
PILOTLAS DO_4_RBT DO_675_P
ERONSS _IN_TCH ILTLSRON
N00432 K0012.1 D0612.0 K0012.1

D 2086 S LASER RESET PB
LASER_RE ALL_IF_P LASER_RE
SET_PB B_TO SET_PB
N00433 K0012.1 D0612.0 K0012.1

E 2089 R LASER RESET PB
LASER_RE ALL_IF_P LASER_RE
SET_PB B_TO SET_PB
N00434 K0012.2 D0612.0 K0012.2

F 2092 S LASER GLASS NOT PRESENT SS
LASERGLS ALL_IF_P LASERGLS
SNOTPRSS B_TO SNOTPRSS
N00435 K0012.2 D0612.0 K0012.2

G 2095 R LASER GLASS NOT PRESENT SS
LASERGLS ALL_IF_P LASERGLS
SNOTPRSS B_TO SNOTPRSS
N00436 X0084.4 Y0061.4

H 2098 LASER WARNING
DI_677_L DO_493_L
ASERWARN SR_WARNG
N00437 K0012.2 Y0060.7

I 2100
LASERGLS DO_488_L
SNOTPRSS SRCOUPRQ
N00438
J 2102 SUB72
SPE
N00439 ### LASER_WELDHEAD ###

K 2103 SUB71 P0021
SP LASER_WELDHEAD
N00440 X0092.1 Y0062.2

L 2105
DI_738_C DO_499_G
VRSLDERR LASFLT
N00441 X0092.0 Y0062.3

M 2107
DI_737_C DO_500_D
VRSLDWAR IRTYWARN
N00442 X0091.7 Y0063.0

N 2109
DI_736_C DO_505_G
SM_HOLDR LSSNPRES
O
N00443 X0093.3 Y0060.3

A 2111
DI_748_C DO_484_L
HK_CRASH SRHDCOLL
X0093.4
B
DI_749_P
SSWCRASH
N00444 X0091.0 Y0063.3

C 2114
DI_729_S DO_508_L
CANAVAIL SRCOMMOK
N00445 X0091.3 X0091.4 X0092.2 X0092.3 X0092.4 X0092.5 Y0063.4

D 2116 LASER WELD HEAD FAULT
DI_732_G DI_733_S DI_739_P DI_740_T DI_741_C DI742_WE DO_509_L
EN_ERROR TRUC_ERR OS_ERR EMP_ERR RSJETERR LD_ERR SRWLDFLT
N00446
E 2123 SUB72
SPE

Ford Fanuc R30ia R30ib Nextgen E146

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VEHICLE OPERATION STRUCTURE AND STANDARDS

FORD Robot Programming Guide - FANUC Implementation

Appendix Laser Weld With Highyag RLSK Laser Weld Head

2 SOFTWARE I/F PANELS ................................................................... 29

3 PMC LOGIC (S-LOGIC) FOR R-30IA CONTROLLERS.................. 31

4 PMC LOGIC (S-LOGIC) FOR R-30IB CONTROLLERS .................. 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

1.1 PG21 – Laser Weld

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

NOTE1: Enter all laser weld positions in this program.

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

1.8 LASEROFF – Turn Laser Off MACRO

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

1.10 PWR_M_SHOT – Power Meter Shot MACRO

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

2.1. GEN MENU I/F

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_LaserWeld_RLSK_Appendix - 2016_02_12.doc

N00001 R0000.0 R0000.0

N00002 R0000.0 G1000.0

N00003 X0000.0 R0100.5 G1000.1

N00004 X1026.4 R0100.5

N00005 X1026.5 R0100.5

N00006 R0000.0 G1000.2

N00007 X1000.3 G1000.3

N00008 X1025.1 G1000.4

N00009 X1000.6 G1000.6

N00010 R0000.0 G1000.7

N00011 F1000.0 Y1000.0

N00012 F1000.1 Y1000.1

N00013 F1000.2 Y1000.2

N00014 F1000.3 Y1000.3

N00015 F1000.4 Y1000.4

N00016 F1000.5 ACT R0338.0

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

N00018 F1000.6 Y1000.6

N00019 F1000.7 Y1000.7

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

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

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