Hyundai HI4 Class Role Example 340.5mm/sL A0 T0 G1, Speed 340mm/s, Accuracy 0, tool 0, gun1, M33

Page 367

11.Robot Language Explanation

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CHAP. 11 ROBOT LANG. EXPLANATION

There are two ways to teach an industrial robot greatly. One is an instruction code method, and the other is a robot language method.

Our old controller model such as Hi3CE, Hi3TB, etc.. in Hi controller series has an instruction code method to teach.

instruction code of Hi controller

section

class

role

 

 

example

 

 

 

 

 

 

 

340.5mm/s(L) A0 T0 G1 X2

step

step code

move of tool end in robot

 

speed 340mm/s

 

 

 

 

accuracy 0, tool 0, gun1, X2

 

 

 

 

 

 

 

 

 

signal input/output

 

 

 

 

 

 

jump, call, stop

 

 

 

 

 

 

conditional jump, call, stop

M1 1

DI1 signal output

 

 

repeating execution

M20

 

step jump

 

 

conditional repeating

 

 

 

M81

5,I1

DI conditional program call

 

 

execution setting

 

M code

M44

3,50

GI3 group signal output

 

on-line shift

 

 

M53

1,1,5,7

online coordinate conversion

 

 

welding condition,

functio

 

M33

2

spot welding condition output

 

palletize etc.

 

 

n

 

M99

'spot

comment statement

 

various application

 

 

 

 

 

 

 

 

 

 

function execution.

 

 

 

 

 

 

etc....

 

 

 

 

 

 

 

I25

I18

 

DI18 signal wait

 

I code

DI signal wait

I53

IB1,101,2,0

time conditional

 

 

 

 

 

 

GIsignal(AND)

 

 

 

 

 

 

 

T code

time delay

T 5.0

 

5sec. wait

 

 

 

 

 

 

 

A teaching person can make a work program which can control a robot action fussily by using hundred tens of instruction codes. But, it is very difficult or almost impossible to make a program with instruction codes that needs numerical formula or string process and many data's saving and process. Also, it is difficult to analyze a program for beginner because instruction codes are consists of number codes.

On the other hand, robot language method supply that various arithmetics, string variable, functions and numerical formula type with instruction statement groups in English.

It is general that industrial robot makers has their own unique robot language. Hyundai Hi4 has its unique robot language named HR-BASIC. This language is similar with BASIC language grammar which is used in PC.

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Contents Hyundai Robot Hi4 Page Head Office JEONHA-DONG, DONG-GU Contents Basic things for step 2.2Condition setting Application condition Machine Setting the field busR18 Palletizing pattern register Pallete dip angle measurementR10 R17R138 R123R136 R137Menu tree 11.4.2 11.4.111.4.3 Panel, Teach pendant ContentsGeneral SafetySafety, Operation Panel, Teach Pendant 1 Safety Invalid environments Safety Training Relevant Safety StandardsSafety Marking Mandatory Working Envelope Restriction- ANSI/RIA R15.06-1999 Safety Stop Function-ISO 10218EN 775Operation Mode Selection- ANSI/RIA R15.06-1999 Speed Limitation Function-ISO 10218EN 775Safety Fence Installation of RobotSafety, Operation Panel, Teach Pendant 1 Safety Safety, Operation Panel, Teach Pendant 1 Safety General Safety Precautions Robot installationTechnical Safety Precautions Safety, Operation Panel, Teach Pendant 1 Safety Space for robot installation Safety measure for robot operation Safety Working ProceduresSafety, Operation Panel, Teach Pendant 1 Safety Interlock Safety Measure for Robot Try-out Safety, Operation Panel, Teach Pendant 1 Safety Safety Measures for Entering Inside the Safety Fence Position Safety Measures for Maintenance and RepairSafety, Operation Panel, Teach Pendant 1 Safety Necessary Actions after Completion of Maintenance and Repair Safety Control Chain of Operation Safety FunctionsSafety Chain of Operation Status of Emergency stop Emergency StopOperating Speed Gripper Safety Related to End EffectorsLiabilities Tools and WorkpieceSafety, Operation Panel, Teach Pendant 1 Safety Emergency Stop ErrorOperation Panel Motor onAUTO/MANUAL StopPlease refer to the following table External Shape of Teach Pendant Teach PendantArcof AEF#=1 Weavof Screen of Teach PendantMove Weavon WEV#=1 Arcon ASF#=1ACC / Intp CoordAUX Axis Conti / JOG onSpeed Right position of Title FrameShiftfast ESCSETYes LCDSTOP/MANOUT Ch/Var/Fn/CMDPROG/STEP Basic operation Basic operation Power OFF/ Motor OFFTeaching How to initiate the systemSelect the type of robot connected controller Step and Function Select PF menu Parameter of Step command lineBasic things for step PNo999* S/F1/0 Spd100.00Interpolation locus from between Step and Step = Robot coordinate system E = Encoder PoseOutput option SpeedAccuracy Tool numberStop state variable Stop conditionCoordination Base,Robot,Encoder When the coordinate system is set as encoderStep position validation/modification method 143938 *** Step Pose Data *** A0 S4000 When the coordinate system is set as Base or RobotSelect and Enter number. Press SET 50.000 StepJOG operation key Coordinate systemAxis coordinate Xis C o o rdRobot coordinate B o t C o o rdAxis direction Rotation direction User coordinate RzuIt shows that the robot is operating without tool Tool coordinateSelect and Enter number. Press SET Execute Auto tool setting143938 ***AUTO Tool SETg*** A0 S4 Program No. = Step No. = Tool No. =Service Menu Protect Storage media format Save/Load Sram Card Use Number/UpDown and press SET Previous Next Service MenuEqualizerless GUN data Monitoring143938 *** Monitoring *** A0 S4 Monitor OFF 11 DIO169PN100* S/F=4/0 Sp100.00 Command AngleCurrent Command Angle Enter the number of line and press SET143938 *** M a N U a L A0 S4 ServiceMspr on PN100* S/F=4/0 Sp100.00 RobotH120, 6axes Use Number/UpDown and press SET Slip count resetSlip Count display/setting Outline Break Slip Count OutlineClear to slip count? CR= CP=CS= Servo GUN Data Outline 143938 *** M a N U a LCounter Palletize Register OutlineWork State OFFOFF Register RegisterShift buffer Complete XYZ Shift RegisterRegister A0 S4 Select and Enter number. Press SETService menu Reference Parallel movement shift Shift buffersWork작업A물Awork작업물a a Register A0 S4 ON-line shift register On-line shift register GroupService menu Register A0 S4 Palletizing register Palletizing registerPallet No # Palletizing presetStart count Input the palletize pallet number.1-16 Select and Enter number. Press SET End Frequency condition registerRegister Conveyor DataSelect Enter Number. Press SET Works entered the CV line = Conveyor data clear. Continue? YES/NOIndex VariablePrevious Next Index Select the Program modify and then displays as follows Edit Program143938 *** Program modify *** A0 S4 Condition modify MX2 Modify writing condition totally143938** Speed Modification **A0 S4 Modify speed in record totally143938 ** Position modify ** A0 S4 Modify position in record totallyT1= Deg R1= Is shiftedT1= Deg T1= Deg R2=Step Copy Step CopyService menu 143938 * Reverse step copy * A0 S4 Step Reverse-CopyService menu Not running state. Use Manual mode.ESC Edit program in running Hot EditApply HotE022/3/1 PB022/4/0Apply hot edit, First ? Service SystemApplying initiated CALLing info Escape SR100% HotE022/3/1* PB022/4/0 S1 Move P,S=30%,A=1,T=0 143938 *** Hotedit *** A0 S4Hot eidt A0 S4 Protect File ManagementCopy DeleteFile, 31351 Block free Internal memory file nameAll files? Yes, or just programs? No File display A0 S4PN100* S/F4/0 Program first dataPrevious Next Escape Internal program axis no143938 *** Number of axes *** A0 S4 Internal memory File, 63156 block free. Page 1143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 RenameRename Internal memoryFile, 31351 Block free. Page 1 143938 *** RenameRAM *** A0 S4 H120 *991 31 2001-07-09Enter new No and press SET 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09143938 *** RenameRAM *** A0 S4 Use PF Key and selectH120 *995 31 2001-07-09 Service menu Robot CopyCopy H120Select Cancel Previous Next Excute Delete DeleteH120 991 H120 .991 Delete? YesAll=1/No Protect ProtectProtect or Release?1Protect/Release Reference 143938 ** Sram Card Format ** A0 S4 Storage Media FormatPress executePF5 or ESC key 143938* Save/load all files * A0 S4 DIR Save/Load Sram CardLoad all files from the Sram card NextPrevious Next Select Enter the name if a folder to read.Any143938* Save/load all files * A0 S4 Folder, 1999 KB free. Page 1143938 *** Conversion Program ConversionMirror Image Off-Line XYZ shift Coordinate transformation Object program Contents of windowProgram Destination program Mirror Image Enter number and press SET Execute EnblService menu Example Parallel transfer of the workpiece Off-Line XYZ ShiftEnter number and press SET 143938 * Off-Line XYZ Shift * A0 S4Following is displayed in system checking menu System Checking143938 *** System checking *** A0 S4 143938 *** System version *** A0 S4 System versionPress ESC or R Run time Run timePress ESC or R Run time Data is cleared as selecting YES and following is displayed Clear YES / no=00 Total cycle count =0 Check Diagnosis of troublesService menu Refresh? Error logging143938 *** Error logging *** A0 S4 0005 25 143938 *** Error Log no *** A0 S4YES/NO 143938 *** Stop Logging *** A0 S4 01 25 Stop HistoryUse UpDown Press SET Service menu Refresh? Previous Next Operation History143938 ** Operation Hist ** A0 S4 Press PF3, PF4, ESC or RSelect and Enter number, Press SET Date setting Date, Time143938 *** Date/Time set *** A0 S4 Date = Time =Chap 4 Condition Setting Press SHIFT+-- Key AppliCnd End 143938 *** Condition set *** A0 S4Modification method Playback ServiceCycle type Step go/back max. speedSpeed rate Function in step go/backN U a L Select PF menu Service SystemRobot lock Record speed type=100%,A=0,T=1 Interpolation baseUser Coordinate Crd01→ 12. Coordinate setting → 1. User coordinate Chapter Application condition Press SHIFT+-- Key Cond Set Cond Set PF5, Press AppliCnd PF1 Screen display143938* Application Condition A0 S4 Conveyor Oper=Normal,Simulat.,Test Search rangeT O Conveyor operationRobotH120, 6axes Steps Move P S=100% A=0 T=1 Service Rel WaitSearch Range Search reference position recordPN100* S/F4/0 Spot weldingRobotH120, 6 axes Steps G1 SW Wd-On Service Rel Wait Cond SetGun Search reference point record 143938On-line Shift Register Clear OutputDO signal clearSystem setting System setting Palletizing pattern register Palette dip angle measurement Spot welding datacondition,sequence Equalizing parameter143938 *** System setting *** A0 S4 User parameter System settingNext End User configuration143938 * User configuration * A0 S4 Press SHIFT+-- KeyPose Record Type Display languageService Rel.WAIT Change of cursor position in Auto modeStart type DeleteYes/No? Service System Confirm when the command deleteWait DI/WI Forcible Release Dettachment of Teach Pendant Power failure Detection Not ChangeableExternal Program selection Value of Prog Selec Sig input is Service System Using the program strobe signalLowest position proportion of the cursor Step SET Alarm TypeUsing the collision sensor Controller Parameter Coordinate setting Use Number/UpDown and press SET143938** DIO signal setting ** A0 S4 Input signal logic Input/Output signal selectionPrevious DI9DO9 143938*** do signal logicDO1 DO2 DO3 DO4 DO5 DO6 DO7 DO8 DO9 143938 ** do Sig attribute ** A0 S4Enter number. Press 143938 *** Pulse table143938 *** Delay table MXUnfolding Sig = X1 External start External stop External resetMonitoring 143938 ** DI Sig assignment ** A0 S4B07 BO1BO3 B05Sec Low GO High Setting the Earlier output OutlineSig Time High do„ Resister the name of in/output signal Use UpDown, and press SET Complete Press SET for string input143938 ** Character input ** A0 S4 DIO nameFile not exist, Create file? YES/NO Done SHIFT+-- to En/Disable 143938* En/Disable Fieldbus * A0 S4Done DI9 DI1 DI8Previous Next Done 143938 *** Assign Input No *** A0 S4DI1 DI9Form Previous 143938*** Assign Outpur No *** A0 S4Cant modify! Private port for T/P.ESE Previous Next Serial port143938 * Serial port select* A0 S4 Teach Pendant Cntp Teach Pendant Cntp Outline143938 *** Serial to I/O *** A0 S4 Interface with the external vision system External computer and visa versaEnter number and press SET Previous Next Complete Robot ReadyReady AutoHome 1 Program No. = Step No. = Home position registrationActual screen 143938 *** Home position *** A0 S4143938 ** Previous position ** A0 S4 Return to the previous positionPress SHIFT+ Relay End Relay Output TimeSec Interlock error timer = 60 sec Interlock error time143938 *** Interlock Abn.*** A0 S4 143938 *** Error output *** A0 S4 External error outputSignal name Assignment and Quantity Type System setting 12.8 Power Saving PWM OFFPress SHIFT+-- Key 200.0 Shift LimitGUN2 Setting the user keyF2= F3= 0 f4= 527 143938 *** f-key setting *** A0 S4Select and Enter number. Press SET Previous Next Complete Stationary tool coordinate ProcedureCoordination system registration 143938 *Coordinate assignment* A0 S4 User coordinate143938 *** User coordinate *** A0 S4 Staionary tool X2= 143938 *** Staionary tool *** A0 S4Staionary tool Staionary tool X1=143938 ** Machine parameter ** A0 S4 Tool data Machine ParameterTool Data Tool WeightComponent IzZf 143938 ***AUTO Tool SETg*** A0S4 Reference ⑴ Auto calibration Outline==H Side Adjust angle by jogging, then push PF5 Execute143938 ***TOOL Angle SETg*** A0S4 HH ： Body TorchUse UpDown Key and press SET Axis Constant143938 *** Axis constants *** A0 S4 90.0143938 *** Software limit *** A0 S4 Soft LimitUse UpDown Key and press SET Previous Next Min = 25.0 Max = Arm Interference AngleOutline It sets the working limit between the ARM 143938 ** ARM interference ** A0 S4Outline It calibrates the original point of encoder Encoder Offset CalibrationEncoder calibrationData input 2000000000 After axis Oper, press REC.ESCusable143938 *** Encoder offset *** A0 S4 R2= R1=117 Contents of the screen „ Maximum speedAcceleration/Deceleration Speed Parameter Outline It sets acceleration/deceleration time143938 ** B axis dead zone ** A0 S4 Axis Dead ZoneDistance Level = 0 ∼Accuracy LevelCornering Discontinuous step Continuous step Speeds Inertia Contents of the screenAdditional load per each axis Inertia 00Kgm2 CenterSystem setting 143938 *Application parameter* A0 S4 Spot & Stud Application parameterArc Palletizing Conveyor Volt. output proportional to Speed 143938 *** Spot&Stud Weld *** A0 S4 Air-gun welding data Spot & Stud143938 *Air-gun welding data* A0 S4 System setting Offset mm Second2 servo gun parameterCase of selecting the next screen Move tip clearance mm 10.0 Fix tip clearance mm150 225 300 350 143938** Servo Gun 1 Param. ** A0 S4Pressure-Current Tab.1 Gravitational 150 225 300 350 Pressure-Current Tab.1 GravitationalCheck the abnormality of abrasion quantity System setting System setting Welding condition Welding sequence Welding data copy 143938*Servo-gun Welding Data* A0 S4 Sequence common dataCommon Data A0 S4 Force 50Kgf Number Output data Output typeWI wait Number Condition signalSqueeze signal 143938 *** Weld Sequence *** A0 S4Source number SequenceEnter number and press SET 0.0 GUN2System setting Arc Weld 2 ArcShield Gas state Inching speed setting Contents of the screen High step forward/backward settingUse Number/UpDown and pressSET Previous Next Palletizing143938 *** Palletizing *** A0 S4 Palletize pattern register Palette slope calculationPattern register 143938** Palletize pattern ** A0 S4 Pattern registerPress SHIFT+-- Key Previous Next Complete YESBasic pattern System setting Rec.PosiY Direct Conveyor angle/centr auto-set Conveyor parameter settingConveyor ConveyorDsbl 143938** Conveyor Parameter ** A0 S4Press SHIFT+-- Key Previous Next System setting System setting 12.0 Automatic setting of the conveyor angle and center Outline143938* Auto Conveyor Angle * A0 S4 Conveyor type12.0V ∼ +12.0V Speed proportion voltage outputPin arrangement of analog output terminal Port No Pin number SignalOutput 143938 ** Speed by voltage ** A0 S4System format Selecting type of the robot Positioner group setting143938 *** System format *** A0 S4 System format Enter number and press SET Previous Next Robot type selection143938 *Robot type selection * A0 S4 H120 Matsushita motor 143938 *Robot type selection* A0 S4No system file. Need to format first Previous Next Make? Previous NextCant delete! Check file protectionESC Previous Next System setting ARC Use setting143938 *** Usage setting *** A0 S4 GUN 1 = 0 GUN 2 =143938 ** Positioner Group ** A0 S4 Positioner group settingAdditional Axis Former times is ineffective Positioner Calibration Automatic constant settingOptimization of axis constant and tool length Max step position errorX =System setting Positioner calibration You must setup the positioner GroupESC Previous Next143938*Positioner Calibration*A0 S4 CP1 CP2 Constant is saved in the controller Save? 143938*Positioner Calibration* A0 S4000 DH.a= DH.alpha= DH.d= DH.theta=Code Set max. speed Step go/back Enter R code No 0 Manual 2 R5 External Start Selection ENABLE/DISABLE 1 R0 Step Counter ResetR5,0 Set Ext program selectionDSBL=0,ENBL=1 3 R6 External Program Selection ENABLE/DISABLER6,0 4 R10 RUN Time Display Run Time Clear Run Time Reset Outline All Data ClearClear YES / no 5 R17 File Name Display in Internal Memory Enter register data 0 6 R18 Frequency Condition Register DISPLAY/SETTINGEnter frequency register No 1 R18,0Enter tool No 7 R29 Tool Number SettingR29,0 8 R44 Conveyor Data Clear 9 R45 Conveyor Register Manual Input Reference ⑴ It cannot be executed during operation 10 10 R46 Manual Conveyor Limit Switch onT O 11 11 R49 Speed Variation SettingPN999* S/F=3/1 Service Enter speed rate 1End palletizing? 12 12 R55 Palletize Counter ResetR71,0 13 13 R71 Recorded Speed Specification Method SelectionSpecify Sec Rec speed type?Standard=0,%=1,mm/s=2Use cursor Up/Down, then ESC for exit 14 14 R107 Program Head Data Display15 15 R115 Program Copy 143938 *** M a N U a L *** A0 SH4R116,999 16 16 R116 Program Number ModificationSource program to modify? Destination program to modify?Program to delete? 17 17 R117 Program DeleteDelete? R123,0 18 18 R123 Robot LockOutline It sets the robot lock to ON/OFF Set robot lock DSBL=0,ENBL=1„ If press 19 19 R136 Modify Accuracy in StepsReference R137,0 Set MX signal Off=0, On=120 20 R137 Modify MX in Step Enter MX No 1R138,1,0 21 21 R138 Modify GUN in StepEnter gun No R138,022 22 R162 Shift Register Value Change 23 23 R163 ON-LINE Shift CancelInput discrete welding condition 0 24 24 R204 Spot Welding Condition Manual OutputInput binary WELDg condition 0 R210,1 26 26 R211 Squeeze Force Setting25 25 R210 Servo GUN Number Selection Enter gun numberR213,0.00 27 27 R212 MOVING-TIP Consumption Preset28 28 R213 FIXED-TIP Consumption Preset Enter fix tip consumption. -10R220,0.00 30 30 R220 Equalizing Welder TIP Consumption Preset29 29 R219 Equalizerless GUN Number Selection R219,1144 10 DIO145 168 31 31 R245 Monitor Mode SelectionMonitoring 120Protect type?1Whole/2Section/3Playb 32 32 R269 Memory Protection SettingProgram to protect? Protect or Release?1Protect/2ReleaseDSP3 S/W 33 33 R286 Software Version DisplayDSP1 S/W DSP2 S/WInput data to be output manually 34 34 R310 Manual Output of GO-SIGNALEnter Group number 1 R310,10Step GO/BACK speed? 1 255mm/s 35 35 R320 SET MAX. Speed of Step GO/BACKR320,200 R323 Set reference point setting 036 36 R323 Robot Interrupt Function Record 0DI Sig,1Analog,2Weld sticking0RobotH120, 6 axes, 1steps Enter reference X -3000.0Enter reference Y -3000.0 Enter reference Z -3000.0M30=1,-5.00,5.00 ExampleInput minimum voltage. -10.0 M30,1Reference ⑴ It can not be executed during operation M30=1,-5.00,5.00,1M30=1,-5.00,5.00,1,200.0,150.0 Move P,S=100%,A=0,H=137 37 R341 Execution Code BACK-UP Backup execution code of controller?Y/NProgramming Programming Delete of Step Edit StepRecord of Step Modification of StepWord Cursor Status Summary of Operation KeysEN+PSTEP „ Address Area Edit Command„ Command Area Edition ScreenSelect interpolation type Example Move SentenceRobotH6 6axes, 2steps Command Input Select inputting commandSelect command Spd100.00Local Enter poseEnter index1-999 Unit EnterP3+R2 Enter speed2steps Adjust output optionToggleEnter accuracy Spd100.00 RobotH6Pose form With numerical keys and menuSentence form To statement input status menu for sentence form constantEnter variable Variable, numerical formula and string editEnter variable 120 Pose Shift Out Enter variable 120SET Enter variable V2%‘ +-*/=&~,%!$?`. @#￦ Smm/sec=V1%/2 ENABLE+Ö SETUnit Conv ‘ abc efghkjklmnopqrstuvwxyz ‘ +-*/=&~,%!$?`.@#￦ ‘ AbcdefghijklmnopqrstuvwxyzWeld SET Line number editLine number is reflected on the edit frame Set start position of block region Block editWelding Goto S2Select block edit function V11!=0 S1 Move L,P1+R2,S=120mm/s,A=0,H=0S2 Move L S=100mm/sec,A=0,H=0 Position of block regionPN999* S/F1/3 Sp100.00 RobotH6 , 6axes, 14steps V10!=0 PN999* S/F1/2 Sp100.00 RobotH6 , 6axes, 14steps V10!=0Select block edit function Unselect Copy Move Delete Close Copy Copied area is pasted just below a cursorQuick Open Function Outline Function SummaryRemark Instructi960.000 mm Move step positionPose of Current Step 840.000 mm143938** Arc Condition File **A0 S4 Welding Start Condition EXE. AT ASF#=xSave Quick Open Function Condition File Welding END Condition EXE. AT AEF#=Quick Open Function ASF Welding Auxiliary Condition Retry143938** Arc Condition File **A0 S4 ARC Auxiliary Condition FileIt starts with the current value of welding start condition ARC Auxiliary Condition File Restart Welding Auxiliary Condition RestartRetry Quick Open Function Quick Open Function 20.0 Welding Auxiliary Condition AUTO. Wire Stick ReleaseAuto Stick Recovery Delay 30 secSelect and Enter number. Press SET Previous Next Save Weaving Condition FileQuick Open Function Select PF menu Escape Apply OK Program Edit in RunningHotE022/3/1 =30%,A=1,T=0Use Number/UpDownand press SET Spot Welding FunctionWelding condition 143938*Servo-gun Welding Data*A0 S4 Welding conditionEnd wait time =0.00 Welding sequenceMenu Tree Menu List Chap Menu TreeMove, I/O Grammar Input input direction , variable ,timeout time Endif Flow controlJumpcall 10.4 ETC REM Commemt=voltage output valueVP=voltage ratio ,T=time ,ANTSTK 10.5 ARC=100 Substitutional Statement 11.1.4 11.1.111.1.2 11.1.3M44 GI3 group signal output On-line shift M53 Signal input/output Jump, call, stopDI1 signal output Execution settingAddress Basic elementsLine CharacterH0 ∼&HFFFF Constant∼&HFFFFFFFF Down Rear Auto Robot type information∼7 bit Bit Base R2180 S180 Flip FrontGlobal variable VariableLocal variable System variable Input/output variable$CONVREG Bit 1 start limit switchactive highRN1~16 RN1~RN16Formula OperatorNot Or XOR Substitution Command lineV2$= Emergency Stop Until Robot Control Move Command∼3 0 is most accurate Tool Smove CommandPrint #0, Signal Value = Print Command11.2.3 I/O 11.2.3.1 I/O Substitution Arithmetic Variable, String variable Input CommandInput #0 Teach Pendant #1 Serial port COM1 #2 Serial port COM2 ParameterGosub ∼ Return Command Program Flow Control Goto Command11.2.4.5 on ∼GOTO Command Call CommandDelay Command Stop If DI9=1 then Stop CommandEND Command Wait Command11.2.4.11 FOR∼NEXT Commands 11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF CommandGoto *RANGE Print Range Error ENDEndif Print Arcon ARC Welding Arcon CommandComments REM Spot Welding #1Arccur Command Arcof CommandArcvol Command Weavof Command Arcdc CommandArcdv Command Weavon CommandUnsigned integer Number Refp CommandOthers Print CommandDescription Robot Interrupt I signal M29 Syntax Number of DI signal receiving interruptParame Volt, interrupt occurs ∼10.0 Upper volt Ter Rinta CommandSreq Command Spotcnd CommandSonl Command Number2,RF3=Basic Step number3 Start/End TONL1 CommandTONL2 Command Online coordinate conversion Slipping M53 SyntaxSxyz Command Sreqt CommandSEA Command Teach Point Welding Line Search Range Application of Search Dimension searchGunsea Command Spot CommandCall program to put in a insert sheet M94 Syntax Tierst CommandNo,TP=Insert sheet Program PAL Command Palpu CommandPalrst Command Palend CommandPalend P=1, ES=81 Callpr Callpr CommandSelcrd Selcrd Command∼10 System Coordinate systems Number ExampleARC Welding MIT CodeM101 1,JOB Finished DEGRAD270 OrderrorTimer Function Arithmetic FunctionString Function Spotcnd T Function CodeT Function Code Example of corresponding HR Basic syntax REM Spot Weld Palend P=1,ES=81Signal Connection Plug-side 3M MDR 10140-3000VE HOOD10340-55F0-008 External Input Signal BD430/BD431Use external power source DI22/WI CNIN2 Input SignalConnect program selection signal as followings General DI Signal DI1 ∼ DI18 signal connect as followings※ Turn it on always Connect Discrete/Binary input signal as followingsOutput Circuit External Output Signal BD430, BD431Set noise absorbing diode to a load Connection Diagram BD431 Board Common + or voltageUse external power source for power source BD430 Board Common voltage onlyCNOUT2 Output signal CNOUT2 GUN Signal Reset Step SET Alarm Signal It is output when emergency stop is pressedProgram ACK. Signal Error TimeControl Parameter → LOW Mode Signal It is out the confirming signal that robot is runningRobot Running Robot Home Signal Robot Ready SignalControl Parameter 4. Home Position Registration 20-Pin Specification of ConnectorMaker Type Specification MDRMaker Type Specification
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