Manuals / Hyundai / Computer Equipment / Robotics

Hyundai HI4 operation manual Invalid environments

Models: HI4

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1.Safety, Operation Panel, Teach Pendant (1) Safety

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HX130V (wall mounting type, 130kg)

HX130S (shelf mounting type, 130kg)

HX165F (floor mounting type, 165kg)

HX165V (wall mounting type, 165kg)

HX165S (shelf mounting type, 165kg)

Possible Application Usages

The Robotics System is a standard six-axis but additional axis available industrial robot for installation on the floor, on the wall or on the shelf. It is suitable for both point-to-point and continuous-path controlled tasks.

The main areas of application are

-Spot welding

-Material Handling

-Assembly

-Application of adhesives, sealants and preservatives

-MIG/MAG welding

-Palletizing and Depalletizing

-Grinding

All owners, employers or users who intend to use the Robotics System for any other purposes than the above-mentioned must request Hyundai's prior consideration and confirmation whether it can be applied without failure and/or problems or not.

Please contact our Customer Satisfaction Department or your local distributor in order to check and confirm it before any users implement any special applications of the Robotics System.

Invalid environments

The Robotics System is strictly prohibited to be located, installed, maintained, used or operated in an explosive environment and any areas contaminated by oil, flammable material or chemical material.

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Hyundai HI4 operation manual Invalid environments

Contents

Hyundai Robot Hi4 Page Head Office JEONHA-DONG, DONG-GU Contents 2.2 Basic things for stepCondition setting Application condition Setting the field bus MachinePalletizing pattern register Pallete dip angle measurement R10R17 R18R123 R136R137 R138Menu tree 11.4.2 11.4.111.4.3 Contents Panel, Teach pendantSafety GeneralSafety, Operation Panel, Teach Pendant 1 Safety Invalid environments Safety Training Relevant Safety StandardsSafety Marking Mandatory Safety Stop Function-ISO 10218EN 775 Operation Mode Selection- ANSI/RIA R15.06-1999Speed Limitation Function-ISO 10218EN 775 Working Envelope Restriction- ANSI/RIA R15.06-1999Installation of Robot Safety FenceSafety, Operation Panel, Teach Pendant 1 Safety Safety, Operation Panel, Teach Pendant 1 Safety Robot installation General Safety PrecautionsTechnical Safety Precautions Safety, Operation Panel, Teach Pendant 1 Safety Space for robot installation Safety Working Procedures Safety measure for robot operationSafety, 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 Safety Measures for Maintenance and Repair PositionSafety, Operation Panel, Teach Pendant 1 Safety Necessary Actions after Completion of Maintenance and Repair Safety Functions Safety Control Chain of OperationSafety Chain of Operation Emergency Stop Status of Emergency stopOperating Speed Safety Related to End Effectors GripperTools and Workpiece LiabilitiesSafety, Operation Panel, Teach Pendant 1 Safety Error Operation PanelMotor on Emergency StopAUTO/MANUAL StopPlease refer to the following table Teach Pendant External Shape of Teach PendantScreen of Teach Pendant MoveWeavon WEV#=1 Arcon ASF#=1 Arcof AEF#=1 WeavofCoord AUX AxisConti / JOG on ACC / IntpRight position of Title Frame ShiftfastESC SpeedLCD SETYesSTOP/MANOUT Ch/Var/Fn/CMDPROG/STEP Basic operation Power OFF/ Motor OFF Basic operationTeaching How to initiate the systemSelect the type of robot connected controller Step and Function Parameter of Step command line Basic things for stepPNo999* S/F1/0 Spd100.00 Select PF menuInterpolation locus from between Step and Step Pose = Robot coordinate system E = EncoderSpeed AccuracyTool number Output optionStop condition Stop state variableWhen the coordinate system is set as encoder Step position validation/modification method143938 *** Step Pose Data *** A0 S4 Coordination Base,Robot,Encoder000 When the coordinate system is set as Base or RobotSelect and Enter number. Press SET Step 50.000Coordinate system JOG operation keyXis C o o rd Axis coordinateB o t C o o rd Robot coordinateAxis direction Rotation direction Rzu User coordinateTool coordinate It shows that the robot is operating without toolAuto tool setting 143938 ***AUTO Tool SETg*** A0 S4Program No. = Step No. = Tool No. = Select and Enter number. Press SET ExecuteService Menu Protect Storage media format Save/Load Sram Card Service Menu Use Number/UpDown and press SET Previous NextMonitoring 143938 *** Monitoring *** A0 S4 Monitor OFF11 DIO169 Equalizerless GUN dataCommand Angle Current Command AngleEnter the number of line and press SET PN100* S/F=4/0 Sp100.00Service 143938 *** M a N U a L A0 S4Mspr on PN100* S/F=4/0 Sp100.00 RobotH120, 6axes Slip count reset Slip Count display/setting OutlineBreak Slip Count Outline Use Number/UpDown and press SETClear to slip count? CR= CP=CS= 143938 *** M a N U a L Servo GUN Data OutlinePalletize Register Outline Work StateOFF CounterOFF Register RegisterShift buffer XYZ Shift Register Register A0 S4Select and Enter number. Press SET CompleteService menu Shift buffers Reference Parallel movement shiftWork작업A물Awork작업물a a On-line shift register Group Register A0 S4 ON-line shift registerService menu Palletizing register Register A0 S4 Palletizing registerPallet No # Palletizing presetStart count Input the palletize pallet number.1-16 Frequency condition register Select and Enter number. Press SET EndRegister Conveyor DataSelect Enter Number. Press SET Conveyor data clear. Continue? YES/NO Works entered the CV line =Index VariablePrevious Next Index Select the Program modify and then displays as follows Edit Program143938 *** Program modify *** A0 S4 Condition modify Modify writing condition totally MX2Modify speed in record totally 143938** Speed Modification **A0 S4Modify position in record totally 143938 ** Position modify ** A0 S4Is shifted T1= DegT1= Deg R2= T1= Deg R1=Step Copy Step CopyService menu Step Reverse-Copy 143938 * Reverse step copy * A0 S4Service menu Edit program in running Hot Edit Not running state. Use Manual mode.ESCHotE022/3/1 PB022/4/0 ApplyApply hot edit, First ? Service SystemApplying initiated CALLing info Escape 143938 *** Hotedit *** A0 S4 SR100% HotE022/3/1* PB022/4/0 S1 Move P,S=30%,A=1,T=0Hot eidt A0 S4 File Management CopyDelete ProtectInternal memory file name All files? Yes, or just programs? NoFile display A0 S4 File, 31351 Block freeProgram first data PN100* S/F4/0Internal program axis no 143938 *** Number of axes *** A0 S4 Internal memoryFile, 63156 block free. Page 1 Previous Next EscapeRename RenameInternal memory 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09143938 *** RenameRAM *** A0 S4 H120 *991 31 2001-07-09 Enter new No and press SET143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 File, 31351 Block free. Page 1143938 *** RenameRAM *** A0 S4 Use PF Key and selectH120 *995 31 2001-07-09 Service menu Copy CopyH120 RobotSelect 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 Save/Load Sram Card Load all files from the Sram cardNext 143938* Save/load all files * A0 S4 DIREnter the name if a folder to read.Any 143938* Save/load all files * A0 S4Folder, 1999 KB free. Page 1 Previous Next Select143938 *** Conversion Program ConversionMirror Image Off-Line XYZ shift Coordinate transformation Object program Contents of windowProgram Destination program Mirror Image Enbl Enter number and press SET ExecuteService menu Off-Line XYZ Shift Example Parallel transfer of the workpiece143938 * Off-Line XYZ Shift * A0 S4 Enter number and press SETFollowing 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 Diagnosis of troubles CheckService menu Error logging 143938 *** Error logging *** A0 S4 0005 25143938 *** Error Log no *** A0 S4 Refresh?YES/NO 143938 *** Stop Logging *** A0 S4 01 25 Stop HistoryUse UpDown Press SET Service menu Operation History 143938 ** Operation Hist ** A0 S4Press PF3, PF4, ESC or R Refresh? Previous NextDate setting Date, Time 143938 *** Date/Time set *** A0 S4Date = Time = Select and Enter number, Press SETChap 4 Condition Setting Press SHIFT+-- Key AppliCnd End 143938 *** Condition set *** A0 S4Modification method Service Cycle typeStep go/back max. speed PlaybackFunction in step go/back Speed rateSelect PF menu Service System Robot lockRecord speed type N U a LInterpolation base User CoordinateCrd01 =100%,A=0,T=1→ 12. Coordinate setting → 1. User coordinate Chapter Application condition Cond Set PF5, Press AppliCnd PF1 Screen display 143938* Application Condition A0 S4Conveyor Oper=Normal,Simulat.,Test Search range Press SHIFT+-- Key Cond SetT O Conveyor operationRobotH120, 6axes Steps Service Rel Wait Search RangeSearch reference position record Move P S=100% A=0 T=1PN100* S/F4/0 Spot weldingRobotH120, 6 axes Steps Service Rel Wait Cond Set Gun Search reference point record143938 G1 SW Wd-OnOutputDO signal clear On-line Shift Register ClearSystem setting System setting Spot welding datacondition,sequence Equalizing parameter Palletizing pattern register Palette dip angle measurementSystem setting 143938 *** System setting *** A0 S4 User parameterUser configuration 143938 * User configuration * A0 S4Press SHIFT+-- Key Next EndDisplay language Pose Record TypeService 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 Using the program strobe signal Value of Prog Selec Sig input is Service SystemStep SET Alarm Type Lowest position proportion of the cursorUsing the collision sensor Coordinate setting Use Number/UpDown and press SET Controller ParameterInput/Output signal selection 143938** DIO signal setting ** A0 S4 Input signal logicDI9 Previous143938*** do signal logic DO9143938 ** do Sig attribute ** A0 S4 DO1 DO2 DO3 DO4 DO5 DO6 DO7 DO8 DO9143938 *** Pulse table Enter number. Press143938 *** Delay table MXUnfolding Sig = X1 External reset Monitoring143938 ** DI Sig assignment ** A0 S4 External start External stopBO1 BO3B05 B07Setting the Earlier output Outline Sig TimeHigh do Sec Low GO High„ Resister the name of in/output signal Press SET for string input 143938 ** Character input ** A0 S4DIO name Use UpDown, and press SET CompleteFile not exist, Create file? YES/NO Done SHIFT+-- to En/Disable 143938* En/Disable Fieldbus * A0 S4Done DI1 DI8 DI9143938 *** Assign Input No *** A0 S4 DI1DI9 Previous Next Done143938*** Assign Outpur No *** A0 S4 Form PreviousSerial port 143938 * Serial port select* A0 S4 Teach Pendant CntpTeach Pendant Cntp Outline Cant modify! Private port for T/P.ESE Previous Next143938 *** Serial to I/O *** A0 S4 External computer and visa versa Interface with the external vision systemRobot Ready ReadyAuto Enter number and press SET Previous Next CompleteHome position registration Actual screen143938 *** Home position *** A0 S4 Home 1 Program No. = Step No. =143938 ** 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 External error output 143938 *** Error output *** A0 S4Signal name Assignment and Quantity Type System setting 12.8 Power Saving PWM OFFPress SHIFT+-- Key Shift Limit 200.0Setting the user key GUN2F2= F3= 0 f4= 527 143938 *** f-key setting *** A0 S4Select and Enter number. Press SET Previous Next Complete Procedure Coordination system registration143938 *Coordinate assignment* A0 S4 User coordinate Stationary tool coordinate143938 *** User coordinate *** A0 S4 143938 *** Staionary tool *** A0 S4 Staionary toolStaionary tool X1= Staionary tool X2=Machine Parameter 143938 ** Machine parameter ** A0 S4 Tool dataTool Data Tool WeightComponent IzZf Reference ⑴ Auto calibration Outline 143938 ***AUTO Tool SETg*** A0S4Adjust angle by jogging, then push PF5 Execute 143938 ***TOOL Angle SETg*** A0S4HH ： Body Torch ==H SideAxis Constant 143938 *** Axis constants *** A0 S490.0 Use UpDown Key and press SET143938 *** Software limit *** A0 S4 Soft LimitUse UpDown Key and press SET Previous Next Arm Interference Angle Outline It sets the working limit between the ARM143938 ** ARM interference ** A0 S4 Min = 25.0 Max =Outline It calibrates the original point of encoder Encoder Offset CalibrationEncoder calibrationData input After axis Oper, press REC.ESCusable 143938 *** Encoder offset *** A0 S4R2= R1= 2000000000Contents of the screen „ Maximum speed Acceleration/Deceleration Speed ParameterOutline It sets acceleration/deceleration time 117Axis Dead Zone 143938 ** B axis dead zone ** A0 S4Level = 0 ∼ AccuracyLevel DistanceCornering Discontinuous step Continuous step Speeds Contents of the screen Additional load per each axisInertia 00Kgm2 Center InertiaSystem setting 143938 *Application parameter* A0 S4 Spot & Stud Application parameterArc Palletizing Conveyor Volt. output proportional to Speed Spot & Stud 143938 *** Spot&Stud Weld *** A0 S4 Air-gun welding data143938 *Air-gun welding data* A0 S4 System setting Second2 servo gun parameter Case of selecting the next screenMove tip clearance mm 10.0 Fix tip clearance mm Offset mm143938** Servo Gun 1 Param. ** A0 S4 Pressure-Current Tab.1 Gravitational150 225 300 350 Pressure-Current Tab.1 Gravitational 150 225 300 350Check the abnormality of abrasion quantity System setting System setting 143938*Servo-gun Welding Data* A0 S4 Sequence common data Welding condition Welding sequence Welding data copyCommon Data A0 S4 Number Output data Output type Force 50KgfNumber Condition signal Squeeze signal143938 *** Weld Sequence *** A0 S4 WI waitSequence Source numberGUN2 Enter number and press SET 0.0System setting Arc Weld 2 ArcShield Gas state Contents of the screen High step forward/backward setting Inching speed settingPalletizing 143938 *** Palletizing *** A0 S4 Palletize pattern registerPalette slope calculation Use Number/UpDown and pressSET Previous Next143938** Palletize pattern ** A0 S4 Pattern register Pattern registerYES Press SHIFT+-- Key Previous Next CompleteBasic pattern System setting Rec.PosiY Direct Conveyor parameter setting ConveyorConveyor Conveyor angle/centr auto-setDsbl 143938** Conveyor Parameter ** A0 S4Press SHIFT+-- Key Previous Next System setting System setting Automatic setting of the conveyor angle and center Outline 143938* Auto Conveyor Angle * A0 S4Conveyor type 12.012.0V ∼ +12.0V Speed proportion voltage outputPin arrangement of analog output terminal Pin number Signal Output143938 ** Speed by voltage ** A0 S4 Port NoSystem format Selecting type of the robot Positioner group setting143938 *** System format *** A0 S4 System format Robot type selection 143938 *Robot type selection * A0 S4 H120 Matsushita motor143938 *Robot type selection* A0 S4 Enter number and press SET Previous NextNo system file. Need to format first Previous Next Make? Previous NextCant delete! Check file protectionESC Previous Next System setting Use setting 143938 *** Usage setting *** A0 S4GUN 1 = 0 GUN 2 = ARC143938 ** Positioner Group ** A0 S4 Positioner group settingAdditional Axis Former times is ineffective Automatic constant setting Positioner CalibrationMax step position errorX = Optimization of axis constant and tool lengthSystem setting Positioner calibration You must setup the positioner GroupESC Previous Next143938*Positioner Calibration*A0 S4 CP1 CP2 Constant is saved in the controller 143938*Positioner Calibration* A0 S4 000DH.a= DH.alpha= DH.d= DH.theta= Save?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 Reset Outline All Data Clear Run Time ClearClear YES / no 5 R17 File Name Display in Internal Memory 6 R18 Frequency Condition Register DISPLAY/SETTING Enter frequency register No 1R18,0 Enter register data 0Enter tool No 7 R29 Tool Number SettingR29,0 8 R44 Conveyor Data Clear 9 R45 Conveyor Register Manual Input 10 10 R46 Manual Conveyor Limit Switch on Reference ⑴ It cannot be executed during operation11 11 R49 Speed Variation Setting PN999* S/F=3/1 ServiceEnter speed rate 1 T O12 12 R55 Palletize Counter Reset End palletizing?13 13 R71 Recorded Speed Specification Method Selection Specify SecRec speed type?Standard=0,%=1,mm/s=2 R71,014 14 R107 Program Head Data Display 15 15 R115 Program Copy143938 *** M a N U a L *** A0 SH4 Use cursor Up/Down, then ESC for exit16 16 R116 Program Number Modification Source program to modify?Destination program to modify? R116,999Program to delete? 17 17 R117 Program DeleteDelete? 18 18 R123 Robot Lock Outline It sets the robot lock to ON/OFFSet robot lock DSBL=0,ENBL=1 R123,0„ If press 19 19 R136 Modify Accuracy in StepsReference Set MX signal Off=0, On=1 20 20 R137 Modify MX in StepEnter MX No 1 R137,021 21 R138 Modify GUN in Step Enter gun NoR138,0 R138,1,023 23 R163 ON-LINE Shift Cancel 22 22 R162 Shift Register Value ChangeInput discrete welding condition 0 24 24 R204 Spot Welding Condition Manual OutputInput binary WELDg condition 0 26 26 R211 Squeeze Force Setting 25 25 R210 Servo GUN Number SelectionEnter gun number R210,127 27 R212 MOVING-TIP Consumption Preset 28 28 R213 FIXED-TIP Consumption PresetEnter fix tip consumption. -10 R213,0.0030 30 R220 Equalizing Welder TIP Consumption Preset 29 29 R219 Equalizerless GUN Number SelectionR219,1 R220,0.0031 31 R245 Monitor Mode Selection Monitoring120 144 10 DIO145 16832 32 R269 Memory Protection Setting Program to protect?Protect or Release?1Protect/2Release Protect type?1Whole/2Section/3Playb33 33 R286 Software Version Display DSP1 S/WDSP2 S/W DSP3 S/W34 34 R310 Manual Output of GO-SIGNAL Enter Group number 1R310,10 Input data to be output manuallyStep GO/BACK speed? 1 255mm/s 35 35 R320 SET MAX. Speed of Step GO/BACKR320,200 Set reference point setting 0 36 36 R323 Robot Interrupt Function Record0DI Sig,1Analog,2Weld sticking0 R323Enter reference X -3000.0 Enter reference Y -3000.0Enter reference Z -3000.0 RobotH120, 6 axes, 1stepsExample Input minimum voltage. -10.0M30,1 M30=1,-5.00,5.00M30=1,-5.00,5.00,1 M30=1,-5.00,5.00,1,200.0,150.0Move P,S=100%,A=0,H=1 Reference ⑴ It can not be executed during operationBackup execution code of controller?Y/N 37 37 R341 Execution Code BACK-UPProgramming Programming Edit Step Record of StepModification of Step Delete of StepSummary of Operation Keys Word Cursor StatusEN+PSTEP Edit Command „ Command AreaEdition Screen „ Address AreaExample Move Sentence Select interpolation typeCommand Input Select inputting command Select commandSpd100.00 RobotH6 6axes, 2stepsLocal Enter poseEnter index1-999 Enter P3+R2Enter speed UnitAdjust output optionToggle Enter accuracySpd100.00 RobotH6 2stepsWith numerical keys and menu Sentence formTo statement input status menu for sentence form constant Pose formVariable, numerical formula and string edit Enter variable 120 Pose Shift OutEnter variable 120 Enter variableEnter variable V2% SET‘ +-*/=&~,%!$?`. @#￦ Smm/sec=V1%/2 ENABLE+Ö SETUnit Conv ‘ abc efghkjklmnopqrstuvwxyz ‘ +-*/=&~,%!$?`.@#￦ ‘ AbcdefghijklmnopqrstuvwxyzWeld SET Line number editLine number is reflected on the edit frame Block edit WeldingGoto S2 Set start position of block regionV11!=0 S1 Move L,P1+R2,S=120mm/s,A=0,H=0 S2 Move L S=100mm/sec,A=0,H=0Position of block region Select block edit functionPN999* S/F1/2 Sp100.00 RobotH6 , 6axes, 14steps V10!=0 Select block edit function Unselect Copy Move Delete CloseCopy Copied area is pasted just below a cursor PN999* S/F1/3 Sp100.00 RobotH6 , 6axes, 14steps V10!=0Quick Open Function Function Summary OutlineInstructi RemarkMove step position Pose of Current Step840.000 mm 960.000 mm143938** Arc Condition File **A0 S4 Welding Start Condition EXE. AT ASF#=xSave Quick Open Function Welding END Condition EXE. AT AEF#= Condition FileQuick Open Function Welding Auxiliary Condition Retry 143938** Arc Condition File **A0 S4ARC Auxiliary Condition File ASFIt starts with the current value of welding start condition ARC Auxiliary Condition File Restart Welding Auxiliary Condition RestartRetry Quick Open Function Quick Open Function Welding Auxiliary Condition AUTO. Wire Stick Release Auto Stick RecoveryDelay 30 sec 20.0Weaving Condition File Select and Enter number. Press SET Previous Next SaveQuick Open Function Program Edit in Running HotE022/3/1=30%,A=1,T=0 Select PF menu Escape Apply OKSpot Welding Function Welding condition143938*Servo-gun Welding Data*A0 S4 Welding condition Use Number/UpDownand press SETWelding sequence End wait time =0.00Menu Tree Chap Menu Tree Menu ListMove, I/O Grammar Input input direction , variable ,timeout time Flow control EndifJumpcall REM Commemt 10.4 ETC10.5 ARC =voltage output valueVP=voltage ratio ,T=time ,ANTSTK=100 Substitutional Statement 11.1.1 11.1.211.1.3 11.1.4Signal input/output Jump, call, stop DI1 signal outputExecution setting M44 GI3 group signal output On-line shift M53Basic elements LineCharacter AddressH0 ∼&HFFFF Constant∼&HFFFFFFFF Robot type information ∼7 bit Bit Base R2180S180 Flip Front Down Rear AutoVariable Global variableLocal variable Input/output variable System variableBit 1 start limit switchactive high RN1~16RN1~RN16 $CONVREGFormula OperatorNot Or XOR Substitution Command lineV2$= Emergency Stop Robot Control Move Command UntilSmove Command ∼3 0 is most accurate ToolPrint #0, Signal Value = Print Command11.2.3 I/O 11.2.3.1 I/O Substitution Input Command Input #0 Teach Pendant#1 Serial port COM1 #2 Serial port COM2 Parameter Arithmetic Variable, String variableProgram Flow Control Goto Command Gosub ∼ Return Command11.2.4.5 on ∼GOTO Command Call CommandDelay Command Stop Command END CommandWait Command Stop If DI9=1 then11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command 11.2.4.11 FOR∼NEXT CommandsGoto *RANGE Print Range Error ENDEndif Print ARC Welding Arcon Command CommentsREM Spot Welding #1 ArconArccur Command Arcof CommandArcvol Command Arcdc Command Arcdv CommandWeavon Command Weavof CommandRefp Command Unsigned integer NumberPrint Command Description Robot Interrupt I signal M29 SyntaxNumber of DI signal receiving interrupt OthersRinta Command Parame Volt, interrupt occurs ∼10.0 Upper volt TerSpotcnd Command Sreq CommandSonl Command TONL1 Command TONL2 CommandOnline coordinate conversion Slipping M53 Syntax Number2,RF3=Basic Step number3 Start/EndSreqt Command Sxyz CommandSEA Command Application of Search Dimension search Teach Point Welding Line Search RangeSpot Command Gunsea CommandCall program to put in a insert sheet M94 Syntax Tierst CommandNo,TP=Insert sheet Program Palpu Command PAL CommandPalrst Command Palend CommandPalend P=1, ES=81 Callpr Command CallprSelcrd Command ∼10System Coordinate systems Number Example SelcrdARC Welding MIT CodeM101 1,JOB Finished Orderror TimerFunction Arithmetic Function DEGRAD270String Function T Function Code SpotcndT Function Code Example of corresponding HR Basic syntax Palend P=1,ES=81 REM Spot WeldSignal Connection External Input Signal BD430/BD431 Plug-side 3M MDR 10140-3000VE HOOD10340-55F0-008Use external power source CNIN2 Input Signal DI22/WIGeneral DI Signal DI1 ∼ DI18 signal connect as followings Connect program selection signal as followingsConnect Discrete/Binary input signal as followings ※ Turn it on alwaysExternal Output Signal BD430, BD431 Output CircuitConnection Diagram BD431 Board Common + or voltage Use external power source for power sourceBD430 Board Common voltage only Set noise absorbing diode to a loadCNOUT2 Output signal CNOUT2 GUN Signal Reset It is output when emergency stop is pressed Step SET Alarm SignalProgram 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 Specification of Connector Maker Type SpecificationMDR 20-PinMaker Type Specification