Ford Fanuc R30ia R30ib Nextgen E180

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

Next Gen - Integrated Ethernet Safety for R-30iA and R-30iB
Controllers
Appendix – Grinding Applications

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

Revision History
Revision Modification Date Description
1.0 2012-05-11 Initial Release
1.1 2012-11-15 Added 1734 Ethernet/IP Rockwell IO Model Setup
section.
Updated PMC: Created Prompt Box Rung for Resume
Tolerance in LEVEL2. Y73.0
Updated PMC: Added SRVO-408 filtering. Added
safety chain fault error decoding to send a bit to the
PLC.
1.2 2012-12-21 Created direct Exit Zones in HOME_IO.
Updated PMC: Created R0.7 Part Present in MH.
Added not R0.7 to y126.7 contact. Created K13.1 No
Tool SS Reset Contact.
Updated PMC: Added K0016.1 (VAC 4 ON PB) and
K0016.2 (BLOWOFF 4 ON PB) to rung output
D0612.1 (MH IF PB TO) in INTERFACE logic.
1.3 2013-01-14 Fixed Exit Zone 14 bit in HOME_IO.
1.4 2013-03-18 Added R-30iB specific PMC.
Moved R0.7 Part Present to MH from STUD.
1.5 2013-07-08 Added a new TP Program PG09 which is a copy of
PG08, but for PG09, DO[6] is changed to DO[587].
1.6 2014-06-24 Updated iA PMC: Moved R0.7 Part Present to MH
from STUD.
Updated iA PMC: Modified logic for rung with output
R0388.0 OPSFTY_FLT_LATCH. Added a rung for
this modification that has output R0388.1 F1008.1
DELAY ON.
Updated iB PMC: Removed logic for fault decoding for
SRVO 379-385 alarms (R387.1 - R87.7). Removed
comments for R387.1 - R387.7. Modified comment for
R387.0 for new R30iB fault description. Modified logic
for rung with output R0388.0 OPSFTY_FLT_LATCH.
Added a rung for this modification that has output
R0388.1 F1008.1 DELAY ON.
Updated iB PMC: Facility code reset logic modified.
Updated HOME_IO to reset Robot at Minor
Maintenance:
Added DO[587:RBT AT MINMAINT]=OFF
1.7 2015-01-30 Added Second Program Verify to Main Style Program
Updated (Minor) Maintenance Programs:: Moved
position at which the at (Minor) Maintenance position
signal is turned off to come immediately after the wait

for the PLC (Minor) Maintenance clear signal.
1.8 2016-02-12 Updated PMC: 2015-10-30 : Added Logic to allow
Robot Cycle Start from Multiple Home Positions;
Added Logic to require a TP Interface Button Press to
(Un)Lock the Tool Changer while in Teach; Added
logic to not allow the signal for the Lock Command to
go low when the Tool Change Application Bit is
inactive

1 Sample Teach Pendant Programs
1.1 PG21 (Mainline)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

1.11 GRP1_OPN
/PROG GRP1_OPN Macro
/ATTR
OWNER = ASCBIN;
COMMENT = "OPEN GRIPPER 1";
PROG_SIZE = 488;
CREATE = DATE 10-02-23 TIME 06:58:04;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 14;
MEMORY_SIZE = 804;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = *,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !OPENS CLAMP#1 ;
3: ! ;
4: ! NOTE: This program has NO ;
5: ! GP[1:robot] and ;
6: ! GP[2:servogun] motion ;
7: ! ;
8: !******************************** ;
9: ! ;
10: !GRIPPER 1 CLOSE ;
11: DO[74:CLOSE CLAMP 1]=OFF ;
12: ;
13: !GRIPPER 1 OPEN ;
14: DO[73:OPEN CLAMP 1]=ON ;
/POS
/END

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2.3 Robot Ethernet/IP Grinder Configuration

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

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

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

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

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

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

[FORD_NEXTGEN_ENETSafe_MH_2015_10_30]
Ladder Diagram 1
N00001 R0000.0 R0000.0

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

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

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

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

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

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

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

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

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

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

I 36
COMMAND
ENABLE
N00012 F1000.1 Y1000.1

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

L 41
PROGRAM
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

D 253 R WELD FAULT #1
DI 666 I DO 126 W
NCYCLE1 LD FLT 1
N00044 K0010.1 K0010.0 R0000.1

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

J 716
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-007 EXTERNAL EMERGENCY ST
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 734
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-408 DCS SSO EXT EMERGSTOP
Ladder Diagram 18
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 752
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-50 COLLISION DETECT
N00119 R1406.3 X1025.1 Y0001.6

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

F 774
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

H SRVO-65 LOW BATTERY
LOW BATT
N00121 F1001.0 Y0001.1

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

J 794
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-101 ROBOT OVERATRAVEL
N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 812
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE EXCE
Ladder Diagram 19
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 830
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-199 CONTROL STOP
CONTROL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 848
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-232 NTED INPUT
NTED IN
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 866
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SRVO-233 TP OFF IN T1,T2/DOOR
TP OFF
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 884
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-280 SVOFF INPUT
SVOFF I
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 902
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-378 OPSFTY11 STATUS ABNOR
OPSFT11
Ladder Diagram 20
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 920
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-379 OPSFTY12 STATUS ABNOR
OPSFT12
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 938
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-380 OPSFTY21 STATUS ABNOR
OPSFT21
N00131 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 956
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SRVO-381 OPSFTY22 STATUS ABNOR
OPSFT22
N00132 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 974
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-382 OPSFTY31 STATUS ABNOR
OPSFT31
N00133 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 992
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-383 OPSFTY32 STATUS ABNOR
OPSFT32
Ladder Diagram 21
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1010
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-384 OPSFTY41 STATUS ABNOR
OPSFT41
N00135 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1028
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-385 OPSFTY42 STATUS ABNOR
OPSFT42
N00136 R0387.0 R0388.0

G 1046 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 OPSFTY F
OPSFT11 LT LATCH
R0387.1
H
SRVO-379
OPSFT12
R0387.2
I
SRVO-380
OPSFT21
R0387.3
J
SRVO-381
OPSFT22
R0387.4
K
SRVO-382
OPSFT31
R0387.5
L
SRVO-383
OPSFT32
R0387.6
M
SRVO-384
OPSFT41
R0387.7
N
SRVO-385
OPSFT42
R0388.0 F1000.5
O
OPSFTY F FAULT
LT LATCH
Ladder Diagram 22
N00137 R0388.0 Y0073.1

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

B 1060
SYS FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

D SYST-034 HOLD SIGNAL FROM SOP/
ECO13 ECO14 ECO15 ECO16 SYST-034
HOLD SI
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

E 1078
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

G SYST-038 OPERATION MODE T1 SEL
OPERATI
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

H 1096
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

J
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

K 1114
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

M SYST-040 OPERATION MODE AUTO S
OPERATI
O
Ladder Diagram 23
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1132
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SYST-042 DEADMAN DEFEATED
DEADMAN
N00143 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1150
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SYST-043 TP DISABLE IN T1/T2
TP DISA
N00144 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1168
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SYST-045 TP ENABLE IN AUTO MO
TP ENAB
N00145 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1186
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SYST-154 NO START IN ISOLATE/B
NO STAR
N00146 R0397.0 F1000.0 R0397.0

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

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

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

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

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

J 1251 SUB10 0000
TOOL CHA JMP
NGE APP
N00152
K 1254 SUB66 P0001
CALLU TOOL CHANGING
N00153
L 1256 SUB30
JMPE
N00154
M 1257 SUB66 P0004
CALLU AIR SWITCH
N00155
N 1259 SUB66 P0006
CALLU UALM
N00156
O 1261 SUB66 P0007
CALLU INTERFACE
Ladder Diagram 27
N00157
A 1263 SUB66 P0008
CALLU MH
N00158
B 1265 SUB66 P0009
CALLU APPLICATION
N00159
C 1267 SUB 2
END2
N00160 ### P0001 ###

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

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

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

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

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

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

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

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

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

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

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

J 1324
GUN 1 ON GUN 2 ON GUN 3 ON GUN 4 ON GUN 5 ON GUN 6 ON GUN 7 ON
ARM ARM ARM ARM ARM ARM ARM
1 R0326.2 R0348.0
K ANY GEO TOOL PRESENT ON ROBOT
GUN 8 ON GEOTOOLP
ARM RSNT
N00172 X0080.0 Y0038.0

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

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

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

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

A 1341
DI 305 DI 306 DI 307 DI 308 DI 309 DI 310 DI 311
TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6 TCSTND7
1 X0038.7 R0327.0
B GUN 1-8 (ALL TOOLS IN STAND)
DI 312 GUN 1-8
TCSTND8
N00177 Y0117.4 K0011.1

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

D 1352 S TOOL CHANGER LOCK
DO 940 DO 3 RBT DI 637 DI 638 TOOLONRO DO 633 T
TC LOCK IN AUTO RDY2LCK1 RDY2LCK2 BOT C LOCK
F1000.7 Y0119.7 K0015.0 R0328.6

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

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

G 1367 R TOOL CHANGER LOCK
DO 941 DO 940 DO 3 RBT DO 633 T
TC UNLCK TC LOCK IN AUTO C LOCK
F1000.7 Y0119.7 K0016.0

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

I 1376
TC DO 633 T DO 3 RBT DI 645 T DI 646 T
RELEASED C LOCK IN AUTO SIV SRV
F1000.7 Y0119.7 K0016.0 R0328.6 2

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

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

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

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

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

B 1405 TOOL CHANGER OPEN COVERS
DO 942 DO 943 DO 3 RBT DO 310 T
TCOPNCVR TCCLSCVR IN AUTO C OPNCVR
K0011.4 K0011.5 Y0000.3

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

D 1413 TOOL CHANGER CLOSE COVERS
DO 942 DO 943 DO 3 RBT DO 311 T
TCOPNCVR TCCLSCVR IN AUTO C CLSCVR
K0011.5 K0011.4 Y0000.3

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

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

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

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

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

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

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

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

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

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

A 1478
DI 316 G DI 305 DI 306 DI 307 DI 308 DI 309 DI 310
EOTPDCK TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6
1 X0038.6 X0038.7 R0320.0

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

A 1625 MH IF PB TO
CLMP1CLS MH IF PB
TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
Ladder Diagram 37
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC 1 ON
PB
K0014.3
G
VAC 2 ON
PB
K0014.4
H
VAC 3 ON
PB
K0014.5
I
BLOWOFF
1 ON PB
K0014.6
J
BLOWOFF
2 ON PB
K0014.7
K
BLOWOFF
3 ON PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
Ladder Diagram 38
K0011.4
A
TC OPENG
UNCOVER
K0011.5
B
TC CLOS
GUNCOVER
K0016.1
C
VAC 4 ON
PB
K0016.2
D
BLOWOFF
4 ON PB
O
Ladder Diagram 39
N00230 K0009.4 D0612.2

A 1660 SEAL IF PB TO
MAN FLOW SEAL IF
PB1 PB TO
K0008.7
B
RESEAL P
B1
K0011.2
C
AUTO PUR
GE PB1
K0008.2
D
ACCEPTSE
ALER1 IF
K0008.3
E
REJECTSE
ALER1 IF
K0012.3
F
INSPECTI
ON PB 1
K0009.5
G
MAN FLOW
PB2
K0009.0
H
RESEAL P
B2
K0011.3
I
AUTO PUR
GE PB2
K0012.4
J
INSPECTI
ON PB 2
K0013.5
K
ACCEPTSE
ALER2 IF
K0013.6
L
REJECTSE
ALER2 IF
Y0108.7
M
DO 872 A
CKBRKN1
Y0108.2
N
DO 867 A
CKBRKN2
Y0029.3
O
DO 236 A
CKNOZCH1
Ladder Diagram 40
Y0033.3
A
DO 268 A
CKNOZCH2
O
Ladder Diagram 41
N00231 K0011.7 D0612.3

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

H 1770 OPEN CLAMP #1
DO 913 DO 73 OP
OPNCLMP1 N CLMP1
N00269 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9 DO 914
AUTOMDSW CLSCLMP1
N00270 Y0114.1 Y0009.1

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

I 2008
N00353 K0000.4 Y0012.6

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[f3l1mh1] Ladder Diagram 1
N00001 R0000.0 R0000.0

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

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

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

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

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

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

J 21
O
N00008 X1025.1 G1000.4

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

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

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

I 36
COMMAND_
ENABLE
N00012 F1000.1 Y1000.1

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

L 41
PROGRAM_
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

D 253 R WELD FAULT #1
DI_666_I DO_126_W
NCYCLE1 LD_FLT_1
N00044 K0010.1 K0010.0 R0000.1

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

J 716
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-007 EXTERNAL EMERGENCY ST
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 734
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-408 DCS SSO EXT EMERGSTOP
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 752
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-50 COLLISION DETECT
N00119 R1406.3 X1025.1 Y0001.6

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

F 774
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

H SRVO-65 LOW BATTERY
ECO13 ECO14 ECO15 ECO16 SRVO-65_
LOW_BATT
N00121 F1001.0 Y0001.1

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

J 794
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-101 ROBOT OVERATRAVEL
N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 812
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE_EXCE
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 830
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SRVO-199 CONTROL STOP
_CONTROL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 848
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SRVO-232 NTED INPUT
_NTED_IN
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 866
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SRVO-233 TP OFF IN T1,T2/DOOR
_TP_OFF
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 884
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SRVO-280 SVOFF INPUT
_SVOFF_I
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 902
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SRVO-378 SFDIxx STATUS ABNOR
_SFDIxx
N00129 F1008.1 ACT R0388.1

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

C 925 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 F1008.1_ OPSFTY_F
_SFDIxx DELAY ON LT_LATCH
R0388.0 F1000.5
D
OPSFTY_F FAULT
LT_LATCH
N00131 R0388.0 Y0073.1

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

F 933
SYS_FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

H SYST-034 HOLD SIGNAL FROM SOP/
_HOLD_SI
N00133 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

I 951
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

K SYST-038 OPERATION MODE T1 SEL
_OPERATI
N00134 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 969
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

N
O
N00135 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 987
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

C SYST-040 OPERATION MODE AUTO S
_OPERATI
N00136 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1005
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

F SYST-042 DEADMAN DEFEATED
_DEADMAN
N00137 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1023
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

I SYST-043 TP DISABLE IN T1/T2
_TP_DISA
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1041
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

L SYST-045 TP ENABLE IN AUTO MO
_TP_ENAB
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1059
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

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

O SYST-154 NO START IN ISOLATE/B
_NO_STAR
N00140 R0397.0 F1000.0 R0397.0

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

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

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

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

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

J 1124 SUB10 0000
TOOL_CHA JMP
NGE_APP
N00146
K 1127 SUB66 P0001
CALLU TOOL_CHANGING
N00147
L 1129 SUB30
JMPE
N00148
M 1130 SUB66 P0004
CALLU AIR_SWITCH
N00149
N 1132 SUB66 P0006
CALLU UALM
N00150
O 1134 SUB66 P0007
CALLU INTERFACE
N00151
A 1136 SUB66 P0008
CALLU MH
N00152
B 1138 SUB66 P0009
CALLU APPLICATION
N00153
C 1140 SUB 2
END2
N00154 ### TOOL_CHANGING ###

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

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

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

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

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

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

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

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

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

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

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

J 1197
GUN_1_ON GUN_2_ON GUN_3_ON GUN_4_ON GUN_5_ON GUN_6_ON GUN_7_ON
_ARM _ARM _ARM _ARM _ARM _ARM _ARM
1 R0326.2 R0348.0
K ANY GEO TOOL PRESENT ON ROBOT
GUN_8_ON GEOTOOLP
_ARM RSNT
N00166 X0080.0 Y0038.0

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

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

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

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

A 1214
DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__ DI_311__
TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6 TCSTND7
1 X0038.7 R0327.0
B GUN 1-8 (ALL TOOLS IN STAND)
DI_312__ GUN_1-8
TCSTND8
N00171 Y0117.4 K0011.1

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

D 1225 S TOOL CHANGER LOCK
DO_940__ DO_3_RBT DI_637__ DI_638__ TOOLONRO DO_633_T
TC_LOCK _IN_AUTO RDY2LCK1 RDY2LCK2 BOT C_LOCK
F1000.7 Y0119.7 K0015.0 R0328.6

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

F 1238 R TOOL CHANGER LOCK
DO_941__ DO_940__ DO_3_RBT DO_633_T
TC_UNLCK TC_LOCK _IN_AUTO C_LOCK
F1000.7 Y0119.7 K0016.0

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

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

I 1249
TC______ DO_633_T DO_3_RBT DI_645_T DI_646_T
RELEASED C_LOCK _IN_AUTO SIV SRV
F1000.7 Y0119.7 K0016.0 R0328.6 2

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

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

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

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

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

B 1278 TOOL CHANGER OPEN COVERS
DO_942__ DO_943__ DO_3_RBT DO_310_T
TCOPNCVR TCCLSCVR _IN_AUTO C_OPNCVR
K0011.4 K0011.5 Y0000.3

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

D 1286 TOOL CHANGER CLOSE COVERS
DO_942__ DO_943__ DO_3_RBT DO_311_T
TCOPNCVR TCCLSCVR _IN_AUTO C_CLSCVR
K0011.5 K0011.4 Y0000.3

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

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

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

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

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

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

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

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

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

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

A 1351
DI_316_G DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__
1 X0038.6 X0038.7 R0320.0

B TOOL 1 IN OPDOCK
DI_311__ DI_312__ TOOL1INO
N00192 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1361
1 X0038.6 X0038.7 R0320.1

D TOOL 2 IN OPDOCK
N00193 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1371
1 X0038.6 X0038.7 R0320.2

F TOOL 3 IN OPDOCK
N00194 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1381
1 X0038.6 X0038.7 R0320.3

H TOOL 4 IN OPDOCK
N00195 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1391
1 X0038.6 X0038.7 R0320.4

J TOOL 5 IN OPDOCK
N00196 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1401
1 X0038.6 X0038.7 R0320.5

L TOOL 6 IN OPDOCK
N00197 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1411
1 X0038.6 X0038.7 R0320.6

N TOOL 7 IN OPDOCK
O
N00198 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1421
1 X0038.6 X0038.7 R0320.7

B TOOL 8 IN OPDOCK
N00199 R0320.0 R0319.0

C 1431 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
D
TOOL2INO
PDOCK
R0320.2
E
TOOL3INO
PDOCK
R0320.3
F
TOOL4INO
PDOCK
R0320.4
G
TOOL5INO
PDOCK
R0320.5
H
TOOL6INO
PDOCK
R0320.6
I
TOOL7INO
PDOCK
R0320.7
J
TOOL8INO
PDOCK
N00200 X0082.6 Y0038.7

K 1440
DI_663_T DO_312_T
CCOMMOK CCOMMOK
N00201 X0082.7 Y0039.2

L 1442
DI_664_T DO_315_T
CTLSLDPW LSLIDPWR
N00202 X0079.4 X0079.5 G1008.4

M 1444 RTL1ANDL2SWITCHMISMATCH
DI_637__ DI_638__ UALM_5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
N
DI_637__ DI_638__
RDY2LCK1 RDY2LCK2
N00203 R0328.6 G1008.5

O 1450 NO TOOL ON ARM
TOOLONRO UALM_6
BOT
N00204 K0013.1 R0000.7 Y0126.7

A 1452 NO TOOL ON EOAT SS
NOTOOLON PART_PRE DO_1016_
EOATSS SENT NOEOATSS
N00205 K0013.1 R0000.7 K0013.1

B 1455 R NO TOOL ON EOAT SS
NOTOOLON PART_PRE NOTOOLON
EOATSS SENT EOATSS
N00206 Y0039.3 Y0039.3

C 1458 S WRONG TOOL IN STAND
DO_316_W DO_316_W
RNGTLSTD RNGTLSTD
N00207 Y0039.3 X1025.1 Y0000.1 Y0039.3

D 1460 R WRONG TOOL IN STAND
DO_316_W FAULT___ DO_2_RBT DO_316_W
RNGTLSTD RESET _@_HOME RNGTLSTD
N00208
E 1464 SUB72
SPE
N00209 ### AIR_SWITCH ###

F 1465 SUB71 P0004
SP AIR_SWITCH
N00210 X1020.6 Y0001.5

G 1467 END OF ARM AIR ON
RI_7_AIR DO_14_EO
_FL_SW A_AIR_ON
N00211
H 1469 SUB72
SPE
N00212 ### UALM ###

I 1470 SUB71 P0006
SP UALM
N00213 Y0120.2 X1025.1 Y0120.2

J 1472 PROGRAM FAULT
DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00214 Y0120.2 G1008.0

K 1475 PROGRAM VERIFY FAULT
DO_963__ UALM1
PRG_FLT
N00215 K0010.0 Y0119.7 Y0000.3 G1010.6

L 1477 TEACH MEMORY ON
TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00216 R0000.0 G1011.0

M 1481 GUN DISABLED SELECTOR SWITCH
ALWAYS__ UALM_25
ON
N00217 R0000.0 G1011.1

N 1483 RETRACT ENABLED
ALWAYS__ UALM_26
ON
N00218 Y0002.7 G1011.4

O 1485 IN PROGRAM LOOP
DO_24_RB UALM_29
T_LOOP
N00219 Y0039.3 G1009.7

A 1487 TC PRESS FAULT RESET
DO_316_W UALM_16
RNGTLSTD
N00220
B 1489 SUB72
SPE
N00221 ### INTERFACE ###

C 1490 SUB71 P0007
SP INTERFACE
N00222 D0612.1 ACT D0612.0

D 1492 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH_IF_PB TMR ALL_IF_P
_TO B_TO
D0612.2
E
SEAL_IF_
PB_TO
D0612.3
F
STUD_IF_
PB_TO
O
N00223 K0002.0 D0612.1

A 1498 MH IF PB TO
CLMP1CLS MH_IF_PB
_TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC_1_ON
_PB
K0014.3
G
VAC_2_ON
_PB
K0014.4
H
VAC_3_ON
_PB
K0014.5
I
BLOWOFF_
1_ON_PB
K0014.6
J
BLOWOFF_
2_ON_PB
K0014.7
K
BLOWOFF_
3_ON_PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
K0011.4
A
TC_OPENG
UNCOVER
K0011.5
B
TC__CLOS
GUNCOVER
K0016.1
C
VAC_4_ON
_PB
K0016.2
D
BLOWOFF_
4_ON_PB
O
N00224 K0009.4 D0612.2

A 1533 SEAL IF PB TO
MAN_FLOW SEAL_IF_
_PB1 PB_TO
K0008.7
B
RESEAL_P
B1
K0011.2
C
AUTO_PUR
GE_PB1
K0008.2
D
ACCEPTSE
ALER1_IF
K0008.3
E
REJECTSE
ALER1_IF
K0012.3
F
INSPECTI
ON_PB_1
K0009.5
G
MAN_FLOW
_PB2
K0009.0
H
RESEAL_P
B2
K0011.3
I
AUTO_PUR
GE_PB2
K0012.4
J
INSPECTI
ON_PB_2
K0013.5
K
ACCEPTSE
ALER2_IF
K0013.6
L
REJECTSE
ALER2_IF
Y0108.7
M
DO_872_A
CKBRKN1
Y0108.2
N
DO_867_A
CKBRKN2
Y0029.3
O
DO_236_A
CKNOZCH1
Y0033.3
A
DO_268_A
CKNOZCH2
O
N00225 K0011.7 D0612.3

A 1550 STUD IF PB TO
STUDSKPR STUD_IF_
EMSTDPB1 PB_TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
Y0099.5
L
DO_798__
STRFEDH1
Y0099.6
M
DO_799__
STRFEDH2
Y0099.7
N
DO_800__
STRFEDH3
Y0100.0
O
DO_801__
STRFEDH4
Y0100.1
A
DO_802__
STRFEDH5
N00226
B 1567 SUB72
SPE
N00227 ### MH ###

C 1568 SUB71 P0008
SP MH
N00228 Y0000.3 K0004.4 R1410.0

D 1570 MANUAL GRIP ENABLE
DO_4_RBT MAN_GRP_ MAN_GRP_
_IN_TCH ENBLE_SS ENABLE
N00229 R1410.0 ACT

E 1573 SUB10 0000
MAN_GRP_ JMP
ENABLE
N00230 R0000.0 Y0114.0

F 1576 OPEN CLAMP 1
ALWAYS__ DO_913__
ON OPNCLMP1
N00231 R0000.0 Y0114.1

ALWAYS__ DO_914__
ON CLSCLMP1
N00232 R0000.0 Y0114.2

H 1580 OPEN CLAMP 2
ALWAYS__ DO_915__
ON OPNCLMP2
N00233 R0000.0 Y0114.3

ALWAYS__ DO_916__
ON CLSCLMP2
N00234 R0000.0 Y0114.4

J 1584 OPEN CLAMP 3
ALWAYS__ DO_917__
ON OPNCLMP3
N00235 R0000.0 Y0114.5

ALWAYS__ DO_918__
ON CLSCLMP3
N00236 R0000.0 Y0114.6

L 1588 OPEN CLAMP 4
ALWAYS__ DO_919__
ON OPNCLMP4
N00237 R0000.0 Y0114.7

ALWAYS__ DO_920__
ON CLSCLMP4
N00238 R0000.0 Y0115.0

N 1592 OPEN CLAMP 5
ALWAYS__ DO_921__
ON OPNCLMP5
N00239 R0000.0 Y0115.1

ALWAYS__ DO_922__
ON CLSCLMP5
N00240 R0000.0 Y0115.2

A 1596 OPEN CLAMP 6
ALWAYS__ DO_923__
ON OPNCLMP6
N00241 R0000.0 Y0115.3

ALWAYS__ DO_924__
ON CLSCLMP6
N00242 R0000.0 Y0115.4

C 1600 OPEN CLAMP 7
ALWAYS__ DO_925__
ON OPNCLMP7
N00243 R0000.0 Y0115.5

D 1602 CLOSE CLAMP 7
ALWAYS__ DO_926__
ON CLSCLMP7
N00244 R0000.0 Y0115.6

E 1604 OPEN CLAMP 8
ALWAYS__ DO_927__
ON OPNCLMP8
N00245 R0000.0 Y0115.7

ALWAYS__ DO_928__
ON CLSCLMP8
N00246 R0000.0 Y0116.0

G 1608 OPEN CLAMP 9
ALWAYS__ DO_929__
ON OPNCLMP9
N00247 R0000.0 Y0116.1

H 1610 CLOSE CLAMP 9
ALWAYS__ DO_930__
ON CLSCLMP9
N00248 R0000.0 Y0116.2

I 1612 OPEN CLAMP 10
ALWAYS__ DO_931__
ON OPNCLP10
N00249 R0000.0 Y0116.3

ALWAYS__ DO_932__
ON CLSCLP10
N00250 R0000.0 Y0127.2

K 1616 VACUUM 1 ON
ALWAYS__ DO1019_V
ON AC1ON
N00251 R0000.0 Y0127.3

L 1618 BLOWOFF 1 ON
ALWAYS__ DO1020_B
ON LWOF1ON
N00252 R0000.0 Y0127.4

M 1620 VACUUM 2 ON
ALWAYS__ DO1021_V
ON AC2ON
N00253 R0000.0 Y0127.5

N 1622 BLOWOFF 2 ON
ALWAYS__ DO1022_B
ON LWOF2ON
N00254 R0000.0 Y0127.6

O 1624 VACUUM 3 ON
ALWAYS__ DO1023_V
ON AC3ON
N00255 R0000.0 Y0127.7

A 1626 BLOWOFF 3 ON
ALWAYS__ DO1024_B
ON LWOF3ON
N00256 R0000.0 Y0118.5

B 1628 VACUUM 4 ON
ALWAYS__ DO_950_V
ON AC4ON
N00257 R0000.0 Y0118.6

C 1630 BLOWOFF 4 ON
ALWAYS__ DO_951_B
ON LWOF4ON
N00258
D 1632 SUB30
JMPE
N00259 R1410.0 ACT R0001.1

E 1633 SUB 3 0038
MAN_GRP_ TMR MAN_GRP_
ENABLE TO
N00260 R0001.1 ACT

F 1637 SUB10 0000
MAN_GRP_ JMP
TO
N00261 K0002.1 X1026.1 Y0114.0

G 1640 OPEN CLAMP 1
CLMP1OPN SI9_____ DO_913__
AUTOMDSW OPNCLMP1
N00262 Y0114.0 Y0009.0

H 1643 OPEN CLAMP #1
DO_913__ DO_73_OP
OPNCLMP1 N_CLMP1
N00263 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9_____ DO_914__
AUTOMDSW CLSCLMP1
N00264 Y0114.1 Y0009.1

J 1648 CLOSE CLAMP #1
DO_914__ DO_74_CL
CLSCLMP1 S_CLMP1
N00265 K0002.3 X1026.1 Y0114.2

K 1650 OPEN CLAMP 2
AUTOMDSW OPNCLMP2
N00266 Y0114.2 Y0009.2

L 1653 OPEN CLAMP #2
DO_915__ DO_75_OP
OPNCLMP2 N_CLMP2
N00267 K0002.2 X1026.1 Y0114.3

AUTOMDSW CLSCLMP2
N00268 Y0114.3 Y0009.3

N 1658 CLOSE CLAMP #2
DO_916__ DO_76_CL
CLSCLMP2 S_CLMP2
N00269 K0002.5 X1026.1 Y0114.4

O 1660 OPEN CLAMP 3
AUTOMDSW OPNCLMP3
N00270 Y0114.4 Y0009.4

A 1663 OPEN CLAMP #3
DO_917__ DO_77_OP
OPNCLMP3 N_CLMP_3
N00271 K0002.4 X1026.1 Y0114.5

AUTOMDSW CLSCLMP3
N00272 Y0114.5 Y0009.5

C 1668 CLOSE CLAMP #3
DO_918__ DO_78_CL
CLSCLMP3 S_CLMP3
N00273 K0002.7 X1026.1 Y0114.6

D 1670 OPEN CLAMP 4
AUTOMDSW OPNCLMP4
N00274 Y0114.6 Y0009.6

E 1673 OPEN CLAMP #4
DO_919__ DO_79_OP
OPNCLMP4 N_CLMP4
N00275 K0002.6 X1026.1 Y0114.7

AUTOMDSW CLSCLMP4
N00276 Y0114.7 Y0009.7

G 1678 CLOSE CLAMP #4
DO_920__ DO_80_CL
CLSCLMP4 S_CLMP4
N00277 K0003.1 X1026.1 Y0115.0

H 1680 OPEN CLAMP 5
AUTOMDSW OPNCLMP5
N00278 Y0115.0 Y0010.0

I 1683 OPEN CLAMP #5
DO_921__ DO_81_OP
OPNCLMP5 N_CLMP5
N00279 K0003.0 X1026.1 Y0115.1

AUTOMDSW CLSCLMP5
N00280 Y0115.1 Y0010.1

K 1688 CLOSE CLAMP #5
DO_922__ DO_82_CL
CLSCLMP5 S_CLMP5
N00281 K0003.3 X1026.1 Y0115.2

L 1690 OPEN CLAMP 6
AUTOMDSW OPNCLMP6
N00282 Y0115.2 Y0010.2

M 1693 OPEN CLAMP #6
DO_923__ DO_83_OP
OPNCLMP6 N_CLMP6
N00283 K0003.2 X1026.1 Y0115.3

N 1695 CLOSE CLAMP 6
AUTOMDSW CLSCLMP6
N00284 Y0115.3 Y0010.3

O 1698 CLOSE CLAMP #6
DO_924__ DO_84_CL
CLSCLMP6 S_CLMP_6
N00285 K0003.5 X1026.1 Y0115.4

A 1700 OPEN CLAMP 7
AUTOMDSW OPNCLMP7
N00286 Y0115.4 Y0010.4

B 1703 OPEN CLAMP #7
DO_925__ DO_85_OP
OPNCLMP7 N_CLMP_7
N00287 K0003.4 X1026.1 Y0115.5

C 1705 CLOSE CLAMP 7
AUTOMDSW CLSCLMP7
N00288 Y0115.5 Y0010.5

D 1708 CLOSE CLAMP #7
DO_926__ DO_86_CL
CLSCLMP7 S_CLAMP7
N00289 K0003.7 X1026.1 Y0115.6

E 1710 OPEN CLAMP 8
AUTOMDSW OPNCLMP8
N00290 Y0115.6 Y0010.6

F 1713 OPEN CLAMP #8
DO_927__ DO_87_OP
OPNCLMP8 N_CLMP8
N00291 K0003.6 X1026.1 Y0115.7

AUTOMDSW CLSCLMP8
N00292 Y0115.7 Y0010.7

H 1718 CLOSE CLAMP #8
DO_928__ DO_88_CL
CLSCLMP8 S_CLAMP8
N00293 K0004.1 X1026.1 Y0116.0

I 1720 OPEN CLAMP 9
AUTOMDSW OPNCLMP9
N00294 Y0116.0 Y0011.0

J 1723 OPEN CLAMP #9
DO_929__ DO_89_OP
OPNCLMP9 N_CLMP9
N00295 K0004.0 X1026.1 Y0116.1

AUTOMDSW CLSCLMP9
N00296 Y0116.1 Y0011.1

L 1728 CLOSE CLAMP #9
DO_930__ DO_90_CL
CLSCLMP9 S_CLMP9
N00297 K0004.3 X1026.1 Y0116.2

M 1730 OPEN CLAMP 10
CLP10OPN SI9_____ DO_931__
AUTOMDSW OPNCLP10
N00298 Y0116.2 Y0011.2

N 1733 OPEN CLAMP #10
DO_931__ DO_91_OP
OPNCLP10 N_CLMP10
N00299 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9_____ DO_932__
AUTOMDSW CLSCLP10
N00300 Y0116.3 Y0011.3

A 1738 CLOSE CLAMP #10
DO_932__ DO_92_CL
CLSCLP10 S_CLMP10
N00301 K0014.2 X1026.1 K0014.1 Y0127.2

B 1740 VACUUM 1 ON
VAC_1_ON SI9_____ VAC/BLOW DO1019_V
_PB AUTOMDSW OFFTIMER AC1ON
N00302 Y0127.2 Y0008.0

C 1744
DO1019_V DO_65_VA
AC1ON C_1_ON
N00303 K0014.5 X1026.1 K0014.1 Y0127.3

D 1746 BLOWOFF 1 ON
BLOWOFF_ SI9_____ VAC/BLOW DO1020_B
1_ON_PB AUTOMDSW OFFTIMER LWOF1ON
N00304 Y0127.3 Y0008.1

E 1750
DO1020_B DO_66_BL
LWOF1ON WOFF1ON
N00305 K0014.3 X1026.1 K0014.1 Y0127.4

F 1752 VACUUM 2 ON
N00306 Y0127.4 Y0008.2

G 1756
DO1021_V DO_67_VA
AC2ON C_2_ON
N00307 K0014.6 X1026.1 K0014.1 Y0127.5

H 1758 BLOWOFF 2 ON
N00308 Y0127.5 Y0008.3

I 1762
DO1022_B DO_68_BL
LWOF2ON WOFF2ON
N00309 K0014.4 X1026.1 K0014.1 Y0127.6

J 1764 VACUUM 3 ON
N00310 Y0127.6 Y0008.4

K 1768
DO1023_V DO_69_VA
AC3ON C_3_ON
N00311 K0014.7 X1026.1 K0014.1 Y0127.7

L 1770 BLOWOFF 3 ON
N00312 Y0127.7 Y0008.5

M 1774
DO1024_B DO_70_BL
LWOF3ON WOFF3ON
N00313 K0016.1 X1026.1 K0014.1 Y0118.5

N 1776 VACUUM 4 ON
VAC_4_ON SI9_____ VAC/BLOW DO_950_V
N00314 Y0118.5 Y0008.6

O 1780
DO_950_V DO_71_VA
AC4ON C_4_ON
N00315 K0016.2 X1026.1 K0014.1 Y0118.6

A 1782 BLOWOFF 4 ON
BLOWOFF_ SI9_____ VAC/BLOW DO_951_B
N00316 Y0118.6 Y0008.7

B 1786
DO_951_B DO_72_BL
LWOF4ON WOFF4ON
N00317
C 1788 SUB30
JMPE
N00318 Y0008.0 ACT K0014.1

D 1789 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO_65_VA TMR VAC/BLOW
C_1_ON OFFTIMER
Y0008.1
E
DO_66_BL
WOFF1ON
Y0008.2
F
DO_67_VA
C_2_ON
Y0008.3
G
DO_68_BL
WOFF2ON
Y0008.4
H
DO_69_VA
C_3_ON
Y0008.5
I
DO_70_BL
WOFF3ON
Y0008.6
J
DO_71_VA
C_4_ON
Y0008.7
K
DO_72_BL
WOFF4ON
N00319 K0002.0 D0612.0 K0002.0

L 1800 CLMP1 CLOSE
CLMP1CLS ALL_IF_P CLMP1CLS
B_TO
N00320 K0002.1 D0612.0 K0002.1

M 1803 CLMP1 OPEN
CLMP1OPN ALL_IF_P CLMP1OPN
B_TO
N00321 K0002.2 D0612.0 K0002.2

N 1806 CLMP2 CLOSE
B_TO
N00322 K0002.3 D0612.0 K0002.3

O 1809 CLMP2 OPEN
B_TO
N00323 K0002.4 D0612.0 K0002.4

A 1812 CLMP3 CLOSE
B_TO
N00324 K0002.5 D0612.0 K0002.5

B 1815 CLMP3 OPEN
B_TO
N00325 K0002.6 D0612.0 K0002.6

C 1818 CLMP4 CLOSE
B_TO
N00326 K0002.7 D0612.0 K0002.7

D 1821 CLMP4 OPEN
B_TO
N00327 K0003.0 D0612.0 K0003.0

E 1824 CLMP5 CLOSE
B_TO
N00328 K0003.1 D0612.0 K0003.1

F 1827 CLMP5 OPEN
B_TO
N00329 K0003.2 D0612.0 K0003.2

G 1830 CLMP6 CLOSE
B_TO
N00330 K0003.3 D0612.0 K0003.3

H 1833 CLMP6 OPEN
B_TO
N00331 K0003.4 D0612.0 K0003.4

I 1836 CLMP7 CLOSE
B_TO
N00332 K0003.5 D0612.0 K0003.5

J 1839 CLMP7 OPEN
B_TO
N00333 K0003.6 D0612.0 K0003.6

K 1842 CLMP8 CLOSE
B_TO
N00334 K0003.7 D0612.0 K0003.7

L 1845 CLMP8 OPEN
B_TO
N00335 K0004.0 D0612.0 K0004.0

M 1848 CLMP9 CLOSE
B_TO
N00336 K0004.1 D0612.0 K0004.1

N 1851 CLMP9 OPEN
B_TO
N00337 K0004.2 D0612.0 K0004.2

O 1854 CLMP10 CLOSE
CLP10CLS ALL_IF_P CLP10CLS
B_TO
N00338 K0004.3 D0612.0 K0004.3

A 1857 CLMP10 OPEN
CLP10OPN ALL_IF_P CLP10OPN
B_TO
N00339 K0014.2 D0612.0 K0014.2

B 1860
VAC_1_ON ALL_IF_P VAC_1_ON
_PB B_TO _PB
N00340 K0014.3 D0612.0 K0014.3

C 1863
_PB B_TO _PB
N00341 K0014.4 D0612.0 K0014.4

D 1866
_PB B_TO _PB
N00342 K0016.1 D0612.0 K0016.1

E 1869
_PB B_TO _PB
N00343 K0014.5 D0612.0 K0014.5

F 1872
BLOWOFF_ ALL_IF_P BLOWOFF_
1_ON_PB B_TO 1_ON_PB
N00344 K0014.6 D0612.0 K0014.6

G 1875
N00345 K0014.7 D0612.0 K0014.7

H 1878
N00346 K0016.2 D0612.0 K0016.2

I 1881
N00347 K0000.4 Y0012.6

J 1884 RERUN PROCESS
RERUNPRC DO_103_R
PB ERUNPRC
N00348 K0000.5 Y0012.7

K 1886 ACCEPT PROCESS
ACCPTPRC DO_104_A
PB CCPTPRC
N00349 K0000.6 Y0013.0

L 1888 REJECT PROCESS
REJCTPRC DO_105_R
PB EJCTPRC
N00350 K0000.7 Y0013.1

M 1890 INSPECTION SELECTED
INSPCTSE DO_106_I
LPB NSP_SEL
K0001.3 K0001.5
N
VISIONIN ABORTPRO
TERVENSS CESS
N00351 K0000.4 D0612.0 K0000.4

O 1895 S RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00352 K0000.4 D0612.0 K0000.4

A 1898 R RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00353 K0000.5 D0612.0 K0000.5

B 1901 S ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00354 K0000.5 D0612.0 K0000.5

C 1904 R ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00355 K0000.6 D0612.0 K0000.6

D 1907 S REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00356 K0000.6 D0612.0 K0000.6

E 1910 R REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00357 K0000.7 D0612.0 K0000.7

F 1913 S INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00358 K0000.7 D0612.0 K0000.7

G 1916 R INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00359 K0011.4 D0612.0 K0011.4

H 1919 TOOL CHANGER OPEN GUN COVER
TC_OPENG ALL_IF_P TC_OPENG
UNCOVER B_TO UNCOVER
N00360 K0011.5 D0612.0 K0011.5

I 1922 TOOL CHANGER CLOSE GUN COVER
TC__CLOS ALL_IF_P TC__CLOS
GUNCOVER B_TO GUNCOVER
N00361 X0008.2 R0000.7

J 1925 PART PRESENT ON EOAT
DI_67_PR PART_PRE
T_PRES1 SENT
X0008.3
K
DI_68_PR
T_PRES2
X0008.4
L
DI_69_PR
T_PRES3
X0008.5
M
DI_70_PR
T_PRES4
X0008.6
N
DI_71_PR
T_PRES5
X0008.7
O
DI_72_PR
T_PRES6
N00362
A 1932 SUB72
SPE
N00363 ### APPLICATION ###

B 1933 SUB71 P0009
SP APPLICATION
N00364 D0000.0 Y0048.0

C 1935 MATERIAL HANLDING APPLICATION
MH_APP DO_385_M
H_APP
N00365 D0000.1 Y0048.1

D 1937 WELD 1 APPLICATION
WELD_1_A DO_386__
PP WLD1_APP
N00366 D0000.2 Y0048.2

E 1939 WELD 2 APPLICATION
WELD_2_A DO_387_W
PP LD2_APP
N00367 D0000.3 Y0048.3

F 1941 NUT FEED APPLICATION
NUT_FEED DO_388_N
_APP UTFD_APP
N00368 D0000.4 Y0048.4

G 1943 SEALER 1 APPLICATION
SEAL_1_A DO_389_S
PP LR_1_APP
N00369 D0000.5 Y0048.5

H 1945 SEALER 2 APPLICATION
SEAL_2__ DO_390_S
APP LR_2_APP
N00370 D0000.6 Y0048.6

I 1947 STUD WELD 1 APPLICATION
STUD_1_A DO_391_S
PP TDW_1APP
N00371 D0000.7 Y0048.7

J 1949 STUD WELD 2 APPLICATION
STUD_2_A DO_392_S
PP TDW_2APP
N00372 D0001.0 Y0049.0

K 1951 TOOL CHANGE APPLICATION
TOOL_CHA DO_393_T
NGE_APP C_APP
N00373 D0001.1 Y0049.1

L 1953 RIVET 1 APPLICAYION
RIVET_1_ DO_394_R
APP VT_1_APP
N00374 D0001.2 Y0049.2

M 1955 RIVET 2 APPLICATION
RIVET_2_ DO_395_R
APP VT_2_APP
N00375 D0001.3 Y0049.3

N 1957 NUT RUNNER APPLICATION
NUT_RUNN DO_396_N
ER_APP UTR_APP
N00376 D0001.4 Y0049.4

O 1959 MIG WELD APPLICATION
MIG_WELD DO_397_M
_APP IGW_APP
N00377 D0001.5 Y0049.5

A 1961 ROLL HEMMER APPLICATION
ROLLER_H DO_398_R
EMM_APP LLHEM_AP
N00378 D0001.6 Y0049.6

B 1963 LASER CUT APPLICATION
LASER_CU DO_399_L
T_APP SRCT_APP
N00379 D0001.7 Y0049.7

C 1965 PLASMA CUT APPLICATION
PLASMA_C DO_400_P
UT_APP LSMA_APP
N00380 D0002.0 Y0050.0

D 1967 LASER WELD APPLICATION
LASER_WE DO_401_L
LD_APP SRWLDAPP
N00381 D0002.1 Y0050.1

E 1969 OPERATOR LOAD APPLICATION
OPER_LOA DO_402_O
D_APP P_LD_APP
N00382 D0002.2 Y0050.2

F 1971 VISION APPLICATION
VISION_A DO_403_V
PP IS_APP
N00383 D0002.3 Y0050.3

G 1973 PROGRAM LOCATOR APPLICATION
PROG_LOC DO_404_P
_APP RG_LCAPP
N00384 D0002.4 Y0050.4

H 1975 INTERFACE DEFINITION BIT 21
IF_DEF__ DO_405__
21 INDEFB21
N00385 D0002.5 Y0050.5

I 1977 NUT FEEDER 2 APPLICATION
NUT_FEED DO_406_N
ER_2_APP TFD_2APP
N00386 D0002.6 Y0050.6

J 1979 INTERFACE DEFINITION BIT 23
IF_DEF__ DO_407_I
23 NDEF_B23
N00387 D0002.7 Y0050.7

K 1981 INTERFACE DEFINITION BIT 24
IF_DEF__ DO_408_I
24 NDEF_B24
N00388 D0003.0 Y0051.0

L 1983 INTERFACE DEFINITION BIT 25
IF_DEF__ DO_409_I
25 NDEF_B25
N00389 D0003.1 Y0051.1

M 1985 INTERFACE DEFINITION BIT 26
IF_DEF__ DO_410_I
26 NDEF_B26
N00390 D0003.2 Y0051.2

N 1987 INTERFACE DEFINITION BIT 27
IF_DEF__ DO_411_I
27 NDEF_B27
N00391 D0003.3 Y0051.3

O 1989 INTERFACE DEFINITION BIT 28
IF_DEF__ DO_412_I
28 NDEF_B28
N00392 D0003.4 Y0051.4

A 1991 INTERFACE DEFINITION BIT 29
IF_DEF__ DO_413_I
29 NDEF_B29
N00393 D0003.5 Y0051.5

B 1993 INTERFACE DEFINITION BIT 30
IF_DEF__ DO_414_I
30 NDEF_B30
N00394 D0003.6 Y0051.6

C 1995 INTERFACE DEFINITION BIT 31
IF_DEF__ DO_415_I
31 NDEF_B31
N00395 D0003.7 Y0051.7

D 1997 INTERFACE DEFINITION BIT 32
IF_DEF__ DO_416_I
32 NDEF_B32
N00396
E 1999 SUB72
SPE
N00397 ### DISPENSE1 ###

F 2000 SUB71 P0012
SP DISPENSE1
N00398 X0000.0 R0355.0

G 2002 INTERNAL EXTERNAL RUN ENABLE
DI_1_EXT INT_EXT_
_RNENBL RUN_ENAB
N00399 R0355.0 ACT D0601.0

H 2004 SUB 3 0016 EXTERNAL RUN ENABLE DELAY
INT_EXT_ TMR EXT_RUN_
RUN_ENAB ENBL_DLY
N00400 Y0118.0 Y0118.0 Y0083.2 R0355.1

I 2008 START DISPENSE1
DO_945_S DO_945_S DO_667_R START_DI
TRTDISP1 TRTDISP1 UN_MODE SPENSE1
R0355.1 Y0000.3 X0000.0 D0601.0

J
START_DI DO_4_RBT DI_1_EXT EXT_RUN_
SPENSE1 _IN_TCH _RNENBL ENBL_DLY
N00401 X0000.0 ACT D0602.0

K 2019 SUB 3 0023 E-STOP RECVER SLW REPEAT TIMER
DI_1_EXT TMR SLOW_REP
_RNENBL EAT_TIMR
N00402 F1000.4 ACT D0605.0

L 2023 SUB 3 0024 E-STOP RECOVER START DELAY
HELD TMR ESTOP_RE
C_SDLY
N00403 D0602.0 ACT D0604.0

M 2027 SUB 3 0025 ESTOP RECOVERY DELAY
SLOW_REP TMR ESTOP_RE
EAT_TIMR C_DELAY
N00404 R0355.1 Y0083.2 X0001.1 Y0083.5

N 2031 START DISP CYCLE1
START_DI DO_667_R DI_10_AU DO_670__
SPENSE1 UN_MODE TO_REPT STRT_DSP
O
N00405 K0009.6 X0001.1 Y0084.6

A 2035 FLOW / NO FLOW1
WET/DRY_ DI_10_AU DO_679__
MODE TO_REPT FLWNOFLW
Y0092.6
B FLOW / NO FLOW2
DO_743_F
LWNOFLW
N00406 Y0084.6 Y0048.4 D0005.1

C 2039 WET MODE SEALER 1
DO_679__ DO_389_S WETMODES
FLWNOFLW LR_1_APP EALER1
N00407 Y0092.6 Y0048.5 D0005.2

D 2042 WET MODE SEALER 2
DO_743_F DO_390_S WETMODES
LWNOFLW LR_2_APP EALER2
Y0048.5
E
DO_390_S
LR_2_APP
N00408 D0005.1 D0005.2 Y0026.0

F 2046
WETMODES WETMODES DO_209_F
EALER1 EALER2 LWSLSW
N00409 K0009.4 Y0084.0

G 2049 MANUAL FLOW1
MAN_FLOW DO_673_M
_PB1 ANFLW
N00410 K0008.4 Y0027.3 Y0027.2 K0008.4

H 2051 S ENABLE ACCEPT/REJECT 1
ENBACCEP DO_220_R DO_219_A ENBACCEP
N00411 K0008.2 Y0027.2 K0008.4

I 2055 R ENABLE ACCEPT/REJECT 1
ACCEPTSE DO_219_A ENBACCEP
ALER1_IF CCPTSL1 TREJECT1
K0008.3 Y0027.3
J
REJECTSE DO_220_R
ALER1_IF EJSEAL1
N00412 K0008.4 K0008.2 K0008.3 Y0027.2

K 2061
ENBACCEP ACCEPTSE REJECTSE DO_219_A
TREJECT1 ALER1_IF ALER1_IF CCPTSL1
N00413 K0008.4 K0008.2 K0008.3 Y0027.3

L 2065
ENBACCEP ACCEPTSE REJECTSE DO_220_R
TREJECT1 ALER1_IF ALER1_IF EJSEAL1
N00414 X0083.4 Y0026.1

M 2069
DI_669_S DO_210_S
LREADY1 EALRDY1
N00415 X0083.1 Y0026.2

N 2071
DI_666_I DO_211_S
NCYCLE1 EALCYCL1
N00416 X0083.3 Y0026.3

O 2073
DI_668_N DO_212_M
OFLT1 AJFLT1
N00417 X0083.7 Y0026.4

A 2075
DI_672_V DO_213_V
OLOK1 OL_OK1
N00418 Y0086.1 Y0028.2

B 2077
DO_690_@ DO_227_A
PRGBUCK TPURGBC1
N00419 X0083.0 Y0028.4

C 2079
DI_665_C DO_229_S
OMM_OK1 LCOMMOK1
N00420 X0083.6 Y0027.4

D 2081
DI_671_C DO_221_C
YCCMP1 YCCMP1
N00421 X0085.5 Y0027.5

E 2083
DI_686_2 DO_222_N
CINMIX1 O2CMIX1
N00422 X0084.2 Y0027.6

F 2085
DI_675_M DO_223_M
INFLT1 INORFLT1
N00423 X0086.2 Y0028.0

G 2087
DI_691_N DO_225_N
OZZCHG1 OZCHGRQ1
N00424 X0084.0 Y0028.1

H 2089
DI_673_H DO_226_H
I/LO1 ILOWARN1
N00425 X0026.2 Y0086.3

I 2091 FAULT RESET1
DI_211_R DO_692_F
STSL_FLT AULTRST
Y0094.3
J FAULT RESET2
DO_756_F
AULTRST2
N00426 Y0127.0 Y0086.1 Y0085.3

K 2094 PURGE1
DO_1017_ DO_690_@ DO_684__
PURGE1 PRGBUCK PURGE
X0026.4
L
DI_213_A
PRGESL_1
N00427 X0027.0 Y0084.7

M 2098 RESTART PULSE1
DI_217_R DO_680__
STRTPLS1 RESTRT
N00428 K0008.7 Y0027.0

N 2100
RESEAL_P DO_217_R
B1 ESEALPB1
O
N00429 K0011.2 Y0026.5

A 2102
AUTO_PUR DO_214_A
GE_PB1 UTPRGPB1
Y0030.5
B
DO_246_A
UTPRGPB2
N00430 X0027.0 Y0084.7

DI_217_R DO_680__
STRTPLS1 RESTRT
N00431 X0084.0 Y0028.1

D 2107
DI_673_H DO_226_H
I/LO1 ILOWARN1
N00432 X0084.3 Y0028.3

E 2109
DI_676_D DO_228_S
EPRESSIZ EALDEPR1
N00433 X0084.4 Y0028.6

F 2111
DI_677_P DO_231_P
URGCOMP1 URGCOMP1
N00434 X0084.5 Y0028.7

G 2113
DI678_PU DO_232_P
RGEACTV1 URGACTV1
N00435 X0027.1 Y0086.2

DI_218_A DO_691_A
CKNZCHG1 CKNOZCHG
N00436 X0084.6 Y0029.0

I 2117
DI_679_R DO_233_S
EFERREQ1 LRREFER1
N00437 K0009.4 D0612.0 K0009.4

MAN_FLOW ALL_IF_P MAN_FLOW
_PB1 B_TO _PB1
N00438 K0008.7 D0612.0 K0008.7

K 2122 RESEAL PB1
RESEAL_P ALL_IF_P RESEAL_P
B1 B_TO B1
N00439 K0011.2 D0612.0 K0011.2

AUTO_PUR ALL_IF_P AUTO_PUR
GE_PB1 B_TO GE_PB1
N00440 K0008.2 D0612.0 K0008.2

ACCEPTSE ALL_IF_P ACCEPTSE
ALER1_IF B_TO ALER1_IF
N00441 K0008.3 D0612.0 K0008.3

REJECTSE ALL_IF_P REJECTSE
N00442 K0012.3 D0612.0 K0012.3

INSPECTI ALL_IF_P INSPECTI
ON_PB_1 B_TO ON_PB_1
N00443 X0084.1 Y0029.1

A 2137
DI_674_D DO_234_D
OSRFIL1 OSRFILL1
N00444 K0012.3 Y0028.5

B 2139
INSPECTI DO_230_I
ON_PB_1 NSPCSEL1
N00445 X0085.6 Y0029.2

C 2141
DI_687_E DO_235_H
RRHEAT1 T/CLERR1
N00446 Y0108.7 D0612.0 Y0108.7

D 2143
DO_872_A ALL_IF_P DO_872_A
CKBRKN1 B_TO CKBRKN1
N00447 Y0029.3 D0612.0 Y0029.3

E 2146
CKNOZCH1 B_TO CKNOZCH1
N00448
F 2149 SUB72
SPE
N00449 ### DISPENSE2 ###

G 2150 SUB71 P0013
SP DISPENSE2
N00450 Y0117.7 Y0117.7 Y0091.2 R0355.2

H 2152 START DISPENSE2
DO_944_S DO_944_S DO_731_R START_DI
TRTDISP2 TRTDISP2 UN_MODE SPENSE2
R0355.2 Y0000.3 X0000.0 D0601.0

I
START_DI DO_4_RBT DI_1_EXT EXT_RUN_
SPENSE2 _IN_TCH _RNENBL ENBL_DLY
N00451 R0355.2 Y0091.2 X0001.1 Y0091.5

J 2163 START DISP CYCLE2
START_DI DO_731_R DI_10_AU DO_734_S
SPENSE2 UN_MODE TO_REPT TRT_DSP
N00452 K0009.5 Y0092.0

K 2167 MANUAL FLOW2
MAN_FLOW DO_737_M
_PB2 ANFLW
N00453 K0013.7 Y0031.3 Y0031.2 K0013.7

L 2169 S ENABLE ACCEPT/REJECT 2
ENBACCEP DO_252_R DO_251_A ENBACCEP
N00454 K0013.5 Y0031.2 K0013.7

M 2173 R ENABLE ACCEPT/REJECT 2
ACCEPTSE DO_251_A ENBACCEP
ALER2_IF CCPTSL2 TREJECT2
K0013.6 Y0031.3
N
REJECTSE DO_252_R
ALER2_IF EJSEAL2
N00455 K0013.7 K0013.5 K0013.6 Y0031.2

O 2179
ENBACCEP ACCEPTSE REJECTSE DO_251_A
TREJECT2 ALER2_IF ALER2_IF CCPTSL2
N00456 K0013.7 K0013.5 K0013.6 Y0031.3

A 2183
ENBACCEP ACCEPTSE REJECTSE DO_252_R
TREJECT2 ALER2_IF ALER2_IF EJSEAL2
N00457 X0091.4 Y0030.1

B 2187
DI_733_S DO_242_S
LREADY2 EALRDY2
N00458 X0091.1 Y0030.2

C 2189
DI_730_I DO_243_S
NCYCLE2 EALCYCL2
N00459 X0091.3 Y0030.3

D 2191
DI_732_N DO_244_M
OFLT2 AJFLT2
N00460 X0091.7 Y0030.4

E 2193
DI_736_V DO_245_V
OLOK2 OL_OK2
N00461 Y0094.1 Y0032.2

F 2195
DO_754_@ DO_259_A
PRGBUCK2 TPURGBC2
N00462 X0091.0 Y0032.4

G 2197
DI_729_C DO_261_S
OMM_OK2 LCOMMOK2
N00463 X0091.6 Y0031.4

H 2199
DI_735_C DO_253_C
YCCMP2 YCCMP2
N00464 X0093.5 Y0031.5

I 2201
DI_750_2 DO_254_N
CINMIX2 O2CMIX2
N00465 X0092.2 Y0031.6

J 2203
DI_739_M DO_255_M
INFLT2 INORFLT2
N00466 X0094.2 Y0032.0

K 2205
DI_755_N DO_257_N
OZZCHG2 OZCHGRQ2
N00467 X0092.0 Y0032.1

L 2207
DI_737_H DO_258_H
I/LO2 ILOWARN2
N00468 Y0127.1 Y0094.1 Y0093.3

M 2209 PURGE2
DO_1018_ DO_754_@ DO_748_P
PURGE2 PRGBUCK2 URGE2
X0030.4
N
DI_245_A
PRGESL_2
N00469 X0031.0 Y0092.7

O 2213 RESTART PULSE2
DI_249_R DO_744_R
STRTPLS2 ESTRT
N00470 K0009.0 Y0031.0

A 2215
RESEAL_P DO_249_R
B2 ESEALPB2
N00471 K0011.3 Y0030.5

B 2217
AUTO_PUR DO_246_A
GE_PB2 UTPRGPB2
N00472 X0031.0 Y0092.7

DI_249_R DO_744_R
STRTPLS2 ESTRT
N00473 X0092.0 Y0032.1

D 2221
DI_737_H DO_258_H
I/LO2 ILOWARN2
N00474 X0092.3 Y0032.3

E 2223
DI_740_D DO_260_S
EPRESIZ2 EALDEPR2
N00475 X0092.4 Y0032.6

F 2225
DI_741_P DO_263_P
URGCOMP2 URGCOMP2
N00476 X0092.5 Y0032.7

G 2227
DI742_PU DO_264_P
RGEACTV2 URGACTV2
N00477 X0031.1 Y0094.2

H 2229 ACK NOZZLE CHANGED
DI_250_A DO_755_A
CKNZCHG2 CKNOZCH2
N00478 X0092.6 Y0033.0

I 2231
DI_743_R DO_265_S
EFERREQ2 LRREFER2
N00479 K0009.5 D0612.0 K0009.5

MAN_FLOW ALL_IF_P MAN_FLOW
_PB2 B_TO _PB2
N00480 K0009.0 D0612.0 K0009.0

K 2236 RESEAL PB2
RESEAL_P ALL_IF_P RESEAL_P
B2 B_TO B2
N00481 K0011.3 D0612.0 K0011.3

AUTO_PUR ALL_IF_P AUTO_PUR
GE_PB2 B_TO GE_PB2
N00482 K0013.5 D0612.0 K0013.5

ACCEPTSE ALL_IF_P ACCEPTSE
N00483 K0013.6 D0612.0 K0013.6

REJECTSE ALL_IF_P REJECTSE
N00484 K0012.4 D0612.0 K0012.4

INSPECTI ALL_IF_P INSPECTI
ON_PB_2 B_TO ON_PB_2
N00485 X0092.1 Y0033.1

A 2251
DI_738_D DO_266_D
OSRFIL2 OSRFILL2
N00486 K0012.4 Y0032.5

B 2253
INSPECTI DO_262_I
ON_PB_2 NSPCSEL2
N00487 X0093.6 Y0033.2

C 2255
DI751_ER DO_267_H
RHEAT2 T/CLERR2
N00488 Y0108.2 D0612.0 Y0108.2

D 2257
CKBRKN2 B_TO CKBRKN2
N00489 Y0033.3 D0612.0 Y0033.3

E 2260
CKNOZCH2 B_TO CKNOZCH2
N00490
F 2263 SUB72
SPE
N00491 ### STUD ###

G 2264 SUB71 P0014
SP STUD
N00492 K0004.7 Y0034.0

H 2266 STUD WELD WELD/ NO WELD MODE
WELD_/_N DO_273_W
O_WELD1 LDN0WLD1
R0221.0
I REMOTE WELD / NO WELD MODE
DI_960_R
EM_WELD
N00493 X0034.0 X0099.0 Y0034.6

J 2269 STUD WELDER #1 FAULT
DI_273_S DI_793__ DO_279_W
W1_GUN1 NOFLTHD1 LDFLT1
X0034.1 X0099.5
K
DI_274_S DI_798__
W1GUN2 NOFLTHD2
N00494 X0099.1 X0099.0 X0099.2 X0034.0 Y0034.5

L 2275 STUD WELDER #1 WELD COMPLETE
DI_794__ DI_793__ DI_795__ DI_273_S DO_278_W
WLDCMPH1 NOFLTHD1 HDBCKHD1 W1_GUN1 LDCOMP1
X0099.6 X0099.5 X0099.7 X0034.1

M
DI_799__ DI_798__ DI_800__ DI_274_S
WLDCMPH2 NOFLTHD2 HDBCKHD2 W1GUN2
Y0034.5 R0527.0
N
DO_278_W STUDWLDC
LDCOMP1 MPLDLY
N00495 Y0034.5 ACT R0527.0

O 2288 SUB 3 0026 STUD WELD COMPLETE DELAY
DO_278_W TMR STUDWLDC
LDCOMP1 MPLDLY
N00496 X0099.1 X0034.0 R0214.5

A 2292 STUD WELD COMP1AND2
DI_794__ DI_273_S DI_909_W
WLDCMPH1 W1_GUN1 LDCMP1_2
X0099.6 X0034.1
B
DI_799__ DI_274_S
WLDCMPH2 W1GUN2
N00497 X0099.2 Y0099.0 X0034.0 Y0034.4

C 2298 STUD IN WELD CYCLE
DI_795__ DO_793__ DI_273_S DO_277_W
HDBCKHD1 STRWLDH1 W1_GUN1 LDCYC1
X0099.7 Y0099.1 X0034.1

D
DI_800__ DO_794__ DI_274_S
HDBCKHD2 STRWLDH2 W1GUN2
N00498 Y0034.7 Y0034.7

E 2306 S STUD TIME DELAY EXCEEDED
DO_280_T DO_280_T
IMDLYEX1 IMDLYEX1
N00499 R0214.5 Y0034.7

F 2308 R STUD TIME DELAY EXCEEDED
DI_909_W DO_280_T
LDCMP1_2 IMDLYEX1
N00500 X0104.1 Y0034.2

G 2310 STUD COMMUNICATION OK
DI_834__ DO_275_S
COMMOK TDCOMOK1
N00501 X0102.1 Y0035.0

H 2312 STUD MAINTENANCE REQUIRED
DI_818__ DO_281_M
MAINTREQ AINTREQ1
N00502 K0004.7 Y0101.4

I 2314 STUD MODE SELECT 1
WELD_/_N DO_813__
O_WELD1 MODSEL1
N00503 K0004.7 Y0101.5

J 2316 STUD MODE SELECT 2
WELD_/_N DO_814__
O_WELD1 MODSEL2
K0004.7 X0001.1
K
WELD_/_N DI_10_AU
O_WELD1 TO_REPT
O
N00504 Y0100.2 Y0116.5 X0102.3 K0004.7 X0034.0 Y0099.0

A 2321 STUD START WELD CYCLE HEAD 1
DO_803__ DO_934__ DI_820_R WELD_/_N DI_273_S DO_793__
WLDSELB1 RD_SCHD1 DY4AUTO O_WELD1 W1_GUN1 STRWLDH1
Y0100.3 X0001.1
B
DO_804__ DI_10_AU
WLDSELB2 TO_REPT
Y0100.4
C
DO_805__
WLDSELB4
Y0100.5
D
DO_806__
WLDSELB8
Y0100.6
E
DO_807__
WLDSLB16
Y0100.7
F
DO_808__
WLDSLB32
Y0101.0
G
DO_809__
WLDSLB64
N00505 Y0100.2 Y0116.6 X0102.3 K0004.7 X0034.1 Y0099.1

H 2335 STUD START WELD CYCLE HEAD 2
DO_803__ DO_935__ DI_820_R WELD_/_N DI_274_S DO_794__
WLDSELB1 RD_SCHD2 DY4AUTO O_WELD1 W1GUN2 STRWLDH2
Y0100.3 X0001.1
I
DO_804__ DI_10_AU
WLDSELB2 TO_REPT
Y0100.4
J
DO_805__
WLDSELB4
Y0100.5
K
DO_806__
WLDSELB8
Y0100.6
L
DO_807__
WLDSLB16
Y0100.7
M
DO_808__
WLDSLB32
Y0101.0
N
DO_809__
WLDSLB64
N00506 X0102.3 Y0034.3

O 2349 STUD READY FOR AUTOMATION
DI_820_R DO_276_R
DY4AUTO DY4AUTO1
N00507 X0102.2 Y0035.1

A 2351 STUD LOW STUD WARNING
DI_819_S DO_282_L
TUDSLOW OWSTDWR1
N00508 K0011.6 Y0035.3 ACT D0614.0

B 2353 SUB 3 0029 STUD ENABLE SS TIMEOUT
STUDENAB DO_284_R TMR STUDENAB
LESS1 JCTPRT1 LESSTO
Y0035.4
C
DO_285_S
KPREMST1
Y0126.5
D
DO1014_M
ANWELD
Y0035.2
E
DO_283_N
ORECALP1
Y0101.2
F
DO_811_R
ESTRWLD
N00509 K0011.6 D0614.0 K0011.6

G 2363 STUD ENABLE SS 1
STUDENAB STUDENAB STUDENAB
LESS1 LESSTO LESS1
N00510 K0011.6 K0012.0 X0034.0 X0099.0 Y0035.3

H 2366 STUD REJECT PART
STUDENAB STUDREJE DI_273_S DI_793__ DO_284_R
LESS1 CTPB1 W1_GUN1 NOFLTHD1 JCTPRT1
X0034.1 X0099.5
I
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
J
PAUSED
Y0035.3
K
DO_284_R
JCTPRT1
N00511 K0011.6 K0011.7 X0034.0 X0099.0 Y0035.4

L 2377 SKIP REMAINING STUDS
STUDENAB STUDSKPR DI_273_S DI_793__ DO_285_S
LESS1 EMSTDPB1 W1_GUN1 NOFLTHD1 KPREMST1
X0034.1 X0099.5
M
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
N
PAUSED
Y0035.4
O
DO_285_S
KPREMST1
N00512 K0011.6 K0012.1 F1000.3 Y0126.5

A 2388 STUD MANUAL WELD
STUDENAB STUDMANU PAUSED DO1014_M
LESS1 ALPB1 ANWELD
Y0126.5
B
DO1014_M
ANWELD
N00513 K0011.6 K0013.2 X0034.0 X0099.0 Y0035.2

C 2394 STUD REJECT PART, DONT RECALL
STUDENAB REJECTNO DI_273_S DI_793__ DO_283_N
LESS1 PGRECLL1 W1_GUN1 NOFLTHD1 ORECALP1
X0034.1 X0099.5
D
DI_274_S DI_798__
W1GUN2 NOFLTHD2
F1000.3
E
PAUSED
Y0035.2
F
DO_283_N
ORECALP1
N00514 K0011.6 K0012.2 X0034.0 Y0099.0 Y0101.2

G 2405 STUD RESTART WELD
STUDENAB STUDFAUL DI_273_S DO_793__ DO_811_R
LESS1 TRSTPB1 W1_GUN1 STRWLDH1 ESTRWLD
X0034.1 Y0099.1
H
DI_274_S DO_794__
W1GUN2 STRWLDH2
F1000.3
I
PAUSED
Y0101.2
J
DO_811_R
ESTRWLD
N00515 Y0035.3 Y0101.3

K 2416 STUD FORCE WELD COMPLETE
DO_284_R DO_812__
JCTPRT1 FRCWLDCM
Y0035.4 Y0101.1
L STUD INTERNAL RESET
DO_285_S DO_810_R
KPREMST1 ESET
Y0126.5
M
DO1014_M
ANWELD
Y0035.2
N
DO_283_N
ORECALP1
Y0101.2
O
DO_811_R
ESTRWLD
N00516 X0034.0 R0214.3

A 2423 STUD GUN WC 1 SELECTED
DI_273_S DI_907_S
W1_GUN1 TDGUN1SL
X0034.1
B
DI_274_S
W1GUN2
N00517 X0099.2 X0034.0 R0214.1

C 2426 STUD HEAD BACK WC 1
DI_795__ DI_273_S DI_905_S
HDBCKHD1 W1_GUN1 TDHDBCK1
X0099.7 X0034.1
D
DI_800__ DI_274_S
HDBCKHD2 W1GUN2
N00518 Y0035.2 Y0126.4

E 2432 S STUD ABORT FLAG
DO_283_N DO1013_S
ORECALP1 TUDABORT
N00519 Y0126.4 F1000.6 F1000.3 F1000.2 Y0126.4

F 2434 R STUD ABORT FLAG
DO1013_S AT_HOME PAUSED PROGRAM_ DO1013_S
TUDABORT RUNNING TUDABORT
N00520 K0012.0 D0612.0 K0012.0

G 2439 STUD REJECT PB 1
STUDREJE ALL_IF_P STUDREJE
CTPB1 B_TO CTPB1
N00521 K0011.7 D0612.0 K0011.7

H 2442 STUD SKIP REMAINING STUDS PB 1
STUDSKPR ALL_IF_P STUDSKPR
EMSTDPB1 B_TO EMSTDPB1
N00522 K0012.1 D0612.0 K0012.1

I 2445 STUD MANUAL PB 1
STUDMANU ALL_IF_P STUDMANU
ALPB1 B_TO ALPB1
N00523 K0013.2 D0612.0 K0013.2

J 2448 REJECT - NO PG RECALL1
REJECTNO ALL_IF_P REJECTNO
PGRECLL1 B_TO PGRECLL1
N00524 K0012.2 D0612.0 K0012.2

K 2451 STUD WELD FAULT RESET PB 1
STUDFAUL ALL_IF_P STUDFAUL
TRSTPB1 B_TO TRSTPB1
N00525 X1025.1 Y0000.5 R0224.7

L 2454 STUD MOVE OUT OF MAINTENANCE
FAULT___ DO_6_RBT DI1024_S
RESET _@_MAINT TUDOMAIN
Y0073.2
M
DO587_@M
INMAINT
N00526 Y0099.5 D0612.0 Y0099.5

N 2459 STUD START FEED CYCLE HEAD 1
DO_798__ ALL_IF_P DO_798__
STRFEDH1 B_TO STRFEDH1
N00527 Y0099.6 D0612.0 Y0099.6

O 2462 STUD START FEED CYCLE HEAD 2
DO_799__ ALL_IF_P DO_799__
N00528 Y0099.7 D0612.0 Y0099.7

A 2465 STUD START FEED CYCLE HEAD 3
DO_800__ ALL_IF_P DO_800__
N00529 Y0100.0 D0612.0 Y0100.0

B 2468 STUD START FEED CYCLE HEAD 4
DO_801__ ALL_IF_P DO_801__
N00530 Y0100.1 D0612.0 Y0100.1

C 2471 STUD START FEED CYCLE HEAD 5
DO_802__ ALL_IF_P DO_802__
N00531 Y0126.6 Y0036.0

D 2474 STUD SKIP REMAINING ACTIVE
DO1015_F DO_289_S
FRECOVER RACTIVE1
N00532
E 2476 SUB72
SPE
N00533 ### VISION ###

F 2477 SUB71 P0024
SP VISION
N00534 K0001.3 K0001.3

G 2479 S VISION INTERVENTION ENABLE SS
VISIONIN VISIONIN
TERVENSS TERVENSS
N00535 K0001.3 X1025.1 K0001.3

H 2481 R VISION INTERVENTION ENABLE SS
VISIONIN FAULT___ VISIONIN
TERVENSS RESET TERVENSS
K0001.3 K0001.4 K0001.5 K0001.7 K0001.6

I
VISIONIN LOAD2AVE ABORTPRO RETRYOPE CALIBREQ
TERVENSS RAGE CESS RATION UEST
N00536 K0001.3 K0001.4 Y0084.4

J 2490 PART1 ID BIN4
VISIONIN LOAD2AVE DO_677_P
TERVENSS RAGE RTID4
X0043.5
K
DI_350_O
K2LDAVRG
N00537 K0001.4 D0612.0 K0001.4

L 2494 S VISION LOAD TO AVERAGE
LOAD2AVE ALL_IF_P LOAD2AVE
RAGE B_TO RAGE
N00538 K0001.4 D0612.0 K0001.4

M 2497 R VISION LOAD TO AVERAGE
LOAD2AVE ALL_IF_P LOAD2AVE
RAGE B_TO RAGE
N00539 K0001.3 K0001.5 Y0084.4

N 2500 PART1 ID BIN4
VISIONIN ABORTPRO DO_677_P
TERVENSS CESS RTID4
X0042.7
O
DI_344_A
BRTVISOP
N00540 K0001.5 D0612.0 K0001.5

A 2504 S VISION ABORT VISION PROCESS
ABORTPRO ALL_IF_P ABORTPRO
CESS B_TO CESS
N00541 K0001.5 D0612.0 K0001.5

B 2507 R VISION ABORT VISION PROCESS
ABORTPRO ALL_IF_P ABORTPRO
CESS B_TO CESS
N00542 K0001.3 K0001.6 Y0084.4

C 2510 PART1 ID BIN4
VISIONIN CALIBREQ DO_677_P
TERVENSS UEST RTID4
X0015.3
D
DI_124_N
EWTPRST1
N00543 K0001.6 D0612.0 K0001.6

E 2514 S VISION CALIB REQUEST
CALIBREQ ALL_IF_P CALIBREQ
UEST B_TO UEST
N00544 K0001.6 D0612.0 K0001.6

F 2517 R VISION CALIB REQUEST
CALIBREQ ALL_IF_P CALIBREQ
UEST B_TO UEST
N00545 K0001.3 K0001.7 Y0084.4

G 2520 PART1 ID BIN4
VISIONIN RETRYOPE DO_677_P
TERVENSS RATION RTID4
X0043.0
H
DI_345_R
TRYVISOP
N00546 K0001.7 D0612.0 K0001.7

I 2524 S VISION RETRY OPERATION
RETRYOPE ALL_IF_P RETRYOPE
RATION B_TO RATION
N00547 K0001.7 D0612.0 K0001.7

J 2527 R VISION RETRY OPERATION
RETRYOPE ALL_IF_P RETRYOPE
RATION B_TO RATION
N00548
K 2530 SUB72
SPE

Ford Fanuc R30ia R30ib Nextgen E180

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VEHICLE OPERATION STRUCTURE AND STANDARDS

FORD Robot Programming Guide - FANUC Implementation

Appendix – Grinding Applications

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1.1 PG21 (Mainline)

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1.6 PG10 – Disk Change Main

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2.1 Rack Hardware Configuration

Slot 0 Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7

24VDC Analog Analog Analog 24VDC 24VDC Analog

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Table 3: EtherNet/IP Setup

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3.1 MH Software I/F Panel

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N00001 R0000.0 R0000.0

N00002 R0000.0 G1000.0

N00003 X0000.0 R0100.5 G1000.1

N00004 X1026.4 R0100.5

N00005 X1026.5 R0100.5

N00006 R0000.0 G1000.2

N00007 X1000.3 G1000.3

N00008 X1025.1 G1000.4