Hyundai HI4 specification

The information presented in the manual is the property of HHI. Any copy or even partial is not allowed without prior written authorization from HHI. HHI reserves the right to modify without prior notification.

Printed in Korea - April/2002. 1st Edition

Copyright 2002 by Hyundai Heavy Industries Co.,Ltd.

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Hyundai HI4 operation manual

Contents

Hyundai Robot Hi4 Page Head Office JEONHA-DONG, DONG-GU Contents 2.2 Basic things for step Condition setting Application condition Setting the field bus Machine R17 Palletizing pattern register Pallete dip angle measurementR10 R18 R137 R123R136 R138 Menu tree 11.4.3 11.4.111.4.2 Contents Panel, Teach pendant Safety General Safety, Operation Panel, Teach Pendant 1 Safety Invalid environments Safety Marking Relevant Safety StandardsSafety Training Mandatory Speed Limitation Function-ISO 10218EN 775 Safety Stop Function-ISO 10218EN 775Operation Mode Selection- ANSI/RIA R15.06-1999 Working Envelope Restriction- ANSI/RIA R15.06-1999 Installation of Robot Safety Fence Safety, Operation Panel, Teach Pendant 1 Safety Safety, Operation Panel, Teach Pendant 1 Safety Robot installation General Safety Precautions Technical Safety Precautions Safety, Operation Panel, Teach Pendant 1 Safety Space for robot installation Safety Working Procedures Safety measure for robot operation Safety, 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 Position Safety, Operation Panel, Teach Pendant 1 Safety Necessary Actions after Completion of Maintenance and Repair Safety Functions Safety Control Chain of Operation Safety Chain of Operation Emergency Stop Status of Emergency stop Operating Speed Safety Related to End Effectors Gripper Tools and Workpiece Liabilities Safety, Operation Panel, Teach Pendant 1 Safety Motor on ErrorOperation Panel Emergency Stop Please refer to the following table StopAUTO/MANUAL Teach Pendant External Shape of Teach Pendant Weavon WEV#=1 Arcon ASF#=1 Screen of Teach PendantMove Arcof AEF#=1 Weavof Conti / JOG on CoordAUX Axis ACC / Intp ESC Right position of Title FrameShiftfast Speed LCD SETYes PROG/STEP Ch/Var/Fn/CMDSTOP/MANOUT Basic operation Power OFF/ Motor OFF Basic operation Select the type of robot connected controller How to initiate the systemTeaching Step and Function PNo999* S/F1/0 Spd100.00 Parameter of Step command lineBasic things for step Select PF menu Interpolation locus from between Step and Step Pose = Robot coordinate system E = Encoder Tool number SpeedAccuracy Output option Stop condition Stop state variable 143938 *** Step Pose Data *** A0 S4 When the coordinate system is set as encoderStep position validation/modification method Coordination Base,Robot,Encoder Select and Enter number. Press SET When the coordinate system is set as Base or Robot000 Step 50.000 Coordinate system JOG operation key Xis C o o rd Axis coordinate B o t C o o rd Robot coordinate Axis direction Rotation direction Rzu User coordinate Tool coordinate It shows that the robot is operating without tool Program No. = Step No. = Tool No. = Auto tool setting143938 ***AUTO Tool SETg*** A0 S4 Select and Enter number. Press SET Execute Service Menu Protect Storage media format Save/Load Sram Card Service Menu Use Number/UpDown and press SET Previous Next 11 DIO169 Monitoring143938 *** Monitoring *** A0 S4 Monitor OFF Equalizerless GUN data Enter the number of line and press SET Command AngleCurrent Command Angle PN100* S/F=4/0 Sp100.00 Service 143938 *** M a N U a L A0 S4 Mspr on PN100* S/F=4/0 Sp100.00 RobotH120, 6axes Break Slip Count Outline Slip count resetSlip Count display/setting Outline Use Number/UpDown and press SET Clear to slip count? CS= CP=CR= 143938 *** M a N U a L Servo GUN Data Outline OFF Palletize Register OutlineWork State Counter OFF Shift buffer RegisterRegister Select and Enter number. Press SET XYZ Shift RegisterRegister A0 S4 Complete Service menu Shift buffers Reference Parallel movement shift Work작업A물Awork작업물a a On-line shift register Group Register A0 S4 ON-line shift register Service menu Palletizing register Register A0 S4 Palletizing register Start count # Palletizing presetPallet No Input the palletize pallet number.1-16 Frequency condition register Select and Enter number. Press SET End Select Enter Number. Press SET Conveyor DataRegister Conveyor data clear. Continue? YES/NO Works entered the CV line = Previous Next Index VariableIndex 143938 *** Program modify *** A0 S4 Condition modify Edit ProgramSelect the Program modify and then displays as follows Modify writing condition totally MX2 Modify speed in record totally 143938** Speed Modification **A0 S4 Modify position in record totally 143938 ** Position modify ** A0 S4 T1= Deg R2= Is shiftedT1= Deg T1= Deg R1= Step Copy Step Copy Service menu Step Reverse-Copy 143938 * Reverse step copy * A0 S4 Service menu Edit program in running Hot Edit Not running state. Use Manual mode.ESC HotE022/3/1 PB022/4/0 Apply Applying initiated CALLing info Escape Service SystemApply hot edit, First ? 143938 *** Hotedit *** A0 S4 SR100% HotE022/3/1* PB022/4/0 S1 Move P,S=30%,A=1,T=0 Hot eidt A0 S4 Delete File ManagementCopy Protect File display A0 S4 Internal memory file nameAll files? Yes, or just programs? No File, 31351 Block free Program first data PN100* S/F4/0 File, 63156 block free. Page 1 Internal program axis no143938 *** Number of axes *** A0 S4 Internal memory Previous Next Escape Internal memory RenameRename 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 143938 *** RenameRAM *** A0 S4 H120 *991 31 2001-07-09Enter new No and press SET File, 31351 Block free. Page 1 H120 *995 31 2001-07-09 Use PF Key and select143938 *** RenameRAM *** A0 S4 Service menu H120 CopyCopy Robot Select Cancel Previous Next Excute H120 991 DeleteDelete H120 .991 Delete? YesAll=1/No Protect Protect Protect or Release?1Protect/Release Reference Press executePF5 or ESC key Storage Media Format143938 ** Sram Card Format ** A0 S4 Next Save/Load Sram CardLoad all files from the Sram card 143938* Save/load all files * A0 S4 DIR Folder, 1999 KB free. Page 1 Enter the name if a folder to read.Any143938* Save/load all files * A0 S4 Previous Next Select Mirror Image Off-Line XYZ shift Program Conversion143938 *** Conversion Coordinate transformation Program Destination program Contents of windowObject program Mirror Image Enbl Enter number and press SET Execute Service menu Off-Line XYZ Shift Example Parallel transfer of the workpiece 143938 * Off-Line XYZ Shift * A0 S4 Enter number and press SET 143938 *** System checking *** A0 S4 System CheckingFollowing is displayed in system checking menu Press ESC or R System version143938 *** System version *** A0 S4 Press ESC or R Run timeRun time Run time =00 Total cycle count =0 Clear YES / noData is cleared as selecting YES and following is displayed Diagnosis of troubles Check Service menu 143938 *** Error Log no *** A0 S4 Error logging143938 *** Error logging *** A0 S4 0005 25 Refresh? YES/NO Use UpDown Press SET Stop History143938 *** Stop Logging *** A0 S4 01 25 Service menu Press PF3, PF4, ESC or R Operation History143938 ** Operation Hist ** A0 S4 Refresh? Previous Next Date = Time = Date setting Date, Time143938 *** Date/Time set *** A0 S4 Select and Enter number, Press SET Chap 4 Condition Setting Modification method 143938 *** Condition set *** A0 S4Press SHIFT+-- Key AppliCnd End Step go/back max. speed ServiceCycle type Playback Function in step go/back Speed rate Record speed type Select PF menu Service SystemRobot lock N U a L Crd01 Interpolation baseUser Coordinate =100%,A=0,T=1 → 12. Coordinate setting → 1. User coordinate Chapter Application condition Conveyor Oper=Normal,Simulat.,Test Search range Cond Set PF5, Press AppliCnd PF1 Screen display143938* Application Condition A0 S4 Press SHIFT+-- Key Cond Set RobotH120, 6axes Steps Conveyor operationT O Search reference position record Service Rel WaitSearch Range Move P S=100% A=0 T=1 RobotH120, 6 axes Steps Spot weldingPN100* S/F4/0 143938 Service Rel Wait Cond SetGun Search reference point record G1 SW Wd-On OutputDO signal clear On-line Shift Register Clear System setting System setting Spot welding datacondition,sequence Equalizing parameter Palletizing pattern register Palette dip angle measurement System setting 143938 *** System setting *** A0 S4 User parameter Press SHIFT+-- Key User configuration143938 * User configuration * A0 S4 Next End Display language Pose Record Type Start type Change of cursor position in Auto modeService Rel.WAIT Wait DI/WI Forcible Release Confirm when the command deleteDeleteYes/No? Service System External Program selection Power failure Detection Not ChangeableDettachment of Teach Pendant Using the program strobe signal Value of Prog Selec Sig input is Service System Step SET Alarm Type Lowest position proportion of the cursor Using the collision sensor Coordinate setting Use Number/UpDown and press SET Controller Parameter Input/Output signal selection 143938** DIO signal setting ** A0 S4 Input signal logic DI9 Previous 143938*** do signal logic DO9 143938 ** do Sig attribute ** A0 S4 DO1 DO2 DO3 DO4 DO5 DO6 DO7 DO8 DO9 143938 *** Pulse table Enter number. Press 143938 *** Delay table MXUnfolding Sig = X1 143938 ** DI Sig assignment ** A0 S4 External resetMonitoring External start External stop B05 BO1BO3 B07 High do Setting the Earlier output OutlineSig Time Sec Low GO High „ Resister the name of in/output signal DIO name Press SET for string input143938 ** Character input ** A0 S4 Use UpDown, and press SET Complete File not exist, Create file? YES/NO Done Done 143938* En/Disable Fieldbus * A0 S4SHIFT+-- to En/Disable DI1 DI8 DI9 DI9 143938 *** Assign Input No *** A0 S4DI1 Previous Next Done 143938*** Assign Outpur No *** A0 S4 Form Previous Teach Pendant Cntp Outline Serial port143938 * Serial port select* A0 S4 Teach Pendant Cntp Cant modify! Private port for T/P.ESE Previous Next 143938 *** Serial to I/O *** A0 S4 External computer and visa versa Interface with the external vision system Auto Robot ReadyReady Enter number and press SET Previous Next Complete 143938 *** Home position *** A0 S4 Home position registrationActual screen Home 1 Program No. = Step No. = Press SHIFT+ Return to the previous position143938 ** Previous position ** A0 S4 Sec End Relay Output TimeRelay 143938 *** Interlock Abn.*** A0 S4 Interlock error timeInterlock error timer = 60 sec External error output 143938 *** Error output *** A0 S4 Signal name Assignment and Quantity Type System setting Press SHIFT+-- Key Power Saving PWM OFF12.8 Shift Limit 200.0 Setting the user key GUN2 Select and Enter number. Press SET Previous Next Complete 143938 *** f-key setting *** A0 S4F2= F3= 0 f4= 527 143938 *Coordinate assignment* A0 S4 User coordinate ProcedureCoordination system registration Stationary tool coordinate 143938 *** User coordinate *** A0 S4 Staionary tool X1= 143938 *** Staionary tool *** A0 S4Staionary tool Staionary tool X2= Machine Parameter 143938 ** Machine parameter ** A0 S4 Tool data Component Tool WeightTool Data IzZf Reference ⑴ Auto calibration Outline 143938 ***AUTO Tool SETg*** A0S4 HH ： Body Torch Adjust angle by jogging, then push PF5 Execute143938 ***TOOL Angle SETg*** A0S4 ==H Side 90.0 Axis Constant143938 *** Axis constants *** A0 S4 Use UpDown Key and press SET Use UpDown Key and press SET Previous Next Soft Limit143938 *** Software limit *** A0 S4 143938 ** ARM interference ** A0 S4 Arm Interference AngleOutline It sets the working limit between the ARM Min = 25.0 Max = Encoder calibrationData input Encoder Offset CalibrationOutline It calibrates the original point of encoder R2= R1= After axis Oper, press REC.ESCusable143938 *** Encoder offset *** A0 S4 2000000000 Outline It sets acceleration/deceleration time Contents of the screen „ Maximum speedAcceleration/Deceleration Speed Parameter 117 Axis Dead Zone 143938 ** B axis dead zone ** A0 S4 Level Level = 0 ∼Accuracy Distance Cornering Discontinuous step Continuous step Speeds Inertia 00Kgm2 Center Contents of the screenAdditional load per each axis Inertia System setting Arc Palletizing Conveyor Volt. output proportional to Speed Application parameter143938 *Application parameter* A0 S4 Spot & Stud Spot & Stud 143938 *** Spot&Stud Weld *** A0 S4 Air-gun welding data 143938 *Air-gun welding data* A0 S4 System setting Move tip clearance mm 10.0 Fix tip clearance mm Second2 servo gun parameterCase of selecting the next screen Offset mm 150 225 300 350 Pressure-Current Tab.1 Gravitational 143938** Servo Gun 1 Param. ** A0 S4Pressure-Current Tab.1 Gravitational 150 225 300 350 Check 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 copy Common Data A0 S4 Number Output data Output type Force 50Kgf 143938 *** Weld Sequence *** A0 S4 Number Condition signalSqueeze signal WI wait Sequence Source number GUN2 Enter number and press SET 0.0 System setting Shield Gas state 2 ArcArc Weld Contents of the screen High step forward/backward setting Inching speed setting Palette slope calculation Palletizing143938 *** Palletizing *** A0 S4 Palletize pattern register Use Number/UpDown and pressSET Previous Next 143938** Palletize pattern ** A0 S4 Pattern register Pattern register YES Press SHIFT+-- Key Previous Next Complete Basic pattern System setting Rec.PosiY Direct Conveyor Conveyor parameter settingConveyor Conveyor angle/centr auto-set Press SHIFT+-- Key Previous Next 143938** Conveyor Parameter ** A0 S4Dsbl System setting System setting Conveyor type Automatic setting of the conveyor angle and center Outline143938* Auto Conveyor Angle * A0 S4 12.0 Pin arrangement of analog output terminal Speed proportion voltage output12.0V ∼ +12.0V 143938 ** Speed by voltage ** A0 S4 Pin number SignalOutput Port No 143938 *** System format *** A0 S4 Selecting type of the robot Positioner group settingSystem format System format 143938 *Robot type selection* A0 S4 Robot type selection143938 *Robot type selection * A0 S4 H120 Matsushita motor Enter number and press SET Previous Next Cant delete! Check file protectionESC Previous Next Make? Previous NextNo system file. Need to format first Previous Next System setting GUN 1 = 0 GUN 2 = Use setting143938 *** Usage setting *** A0 S4 ARC Additional Axis Positioner group setting143938 ** Positioner Group ** A0 S4 Former times is ineffective Automatic constant setting Positioner Calibration Max step position errorX = Optimization of axis constant and tool length System setting 143938*Positioner Calibration*A0 S4 You must setup the positioner GroupESC Previous NextPositioner calibration CP1 CP2 Constant is saved in the controller DH.a= DH.alpha= DH.d= DH.theta= 143938*Positioner Calibration* A0 S4000 Save? Code Set max. speed Step go/back Enter R code No 0 Manual R5,0 1 R0 Step Counter Reset2 R5 External Start Selection ENABLE/DISABLE R6,0 3 R6 External Program Selection ENABLE/DISABLESet Ext program selectionDSBL=0,ENBL=1 4 R10 RUN Time Display Run Time Reset Outline All Data Clear Run Time Clear Clear YES / no 5 R17 File Name Display in Internal Memory R18,0 6 R18 Frequency Condition Register DISPLAY/SETTINGEnter frequency register No 1 Enter register data 0 R29,0 7 R29 Tool Number SettingEnter tool No 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 operation Enter speed rate 1 11 11 R49 Speed Variation SettingPN999* S/F=3/1 Service T O 12 12 R55 Palletize Counter Reset End palletizing? Rec speed type?Standard=0,%=1,mm/s=2 13 13 R71 Recorded Speed Specification Method SelectionSpecify Sec R71,0 143938 *** M a N U a L *** A0 SH4 14 14 R107 Program Head Data Display15 15 R115 Program Copy Use cursor Up/Down, then ESC for exit Destination program to modify? 16 16 R116 Program Number ModificationSource program to modify? R116,999 Delete? 17 17 R117 Program DeleteProgram to delete? Set robot lock DSBL=0,ENBL=1 18 18 R123 Robot LockOutline It sets the robot lock to ON/OFF R123,0 Reference 19 19 R136 Modify Accuracy in Steps„ If press Enter MX No 1 Set MX signal Off=0, On=120 20 R137 Modify MX in Step R137,0 R138,0 21 21 R138 Modify GUN in StepEnter gun No R138,1,0 23 23 R163 ON-LINE Shift Cancel 22 22 R162 Shift Register Value Change Input binary WELDg condition 0 24 24 R204 Spot Welding Condition Manual OutputInput discrete welding condition 0 Enter gun number 26 26 R211 Squeeze Force Setting25 25 R210 Servo GUN Number Selection R210,1 Enter fix tip consumption. -10 27 27 R212 MOVING-TIP Consumption Preset28 28 R213 FIXED-TIP Consumption Preset R213,0.00 R219,1 30 30 R220 Equalizing Welder TIP Consumption Preset29 29 R219 Equalizerless GUN Number Selection R220,0.00 120 31 31 R245 Monitor Mode SelectionMonitoring 144 10 DIO145 168 Protect or Release?1Protect/2Release 32 32 R269 Memory Protection SettingProgram to protect? Protect type?1Whole/2Section/3Playb DSP2 S/W 33 33 R286 Software Version DisplayDSP1 S/W DSP3 S/W R310,10 34 34 R310 Manual Output of GO-SIGNALEnter Group number 1 Input data to be output manually R320,200 35 35 R320 SET MAX. Speed of Step GO/BACKStep GO/BACK speed? 1 255mm/s 0DI Sig,1Analog,2Weld sticking0 Set reference point setting 036 36 R323 Robot Interrupt Function Record R323 Enter reference Z -3000.0 Enter reference X -3000.0Enter reference Y -3000.0 RobotH120, 6 axes, 1steps M30,1 ExampleInput minimum voltage. -10.0 M30=1,-5.00,5.00 Move P,S=100%,A=0,H=1 M30=1,-5.00,5.00,1M30=1,-5.00,5.00,1,200.0,150.0 Reference ⑴ It can not be executed during operation Backup execution code of controller?Y/N 37 37 R341 Execution Code BACK-UP Programming Programming Modification of Step Edit StepRecord of Step Delete of Step Summary of Operation Keys Word Cursor Status EN+PSTEP Edition Screen Edit Command„ Command Area „ Address Area Example Move Sentence Select interpolation type Spd100.00 Command Input Select inputting commandSelect command RobotH6 6axes, 2steps Enter index1-999 Enter poseLocal Enter speed EnterP3+R2 Unit Spd100.00 RobotH6 Adjust output optionToggleEnter accuracy 2steps To statement input status menu for sentence form constant With numerical keys and menuSentence form Pose form Enter variable 120 Variable, numerical formula and string editEnter variable 120 Pose Shift Out Enter variable Enter variable V2% SET Unit Conv ENABLE+Ö SET‘ +-*/=&~,%!$?`. @#￦ Smm/sec=V1%/2 Weld ‘ Abcdefghijklmnopqrstuvwxyz‘ abc efghkjklmnopqrstuvwxyz ‘ +-*/=&~,%!$?`.@#￦ Line number is reflected on the edit frame Line number editSET Goto S2 Block editWelding Set start position of block region Position of block region V11!=0 S1 Move L,P1+R2,S=120mm/s,A=0,H=0S2 Move L S=100mm/sec,A=0,H=0 Select block edit function Copy Copied area is pasted just below a cursor PN999* S/F1/2 Sp100.00 RobotH6 , 6axes, 14steps V10!=0Select block edit function Unselect Copy Move Delete Close PN999* S/F1/3 Sp100.00 RobotH6 , 6axes, 14steps V10!=0 Quick Open Function Function Summary Outline Instructi Remark 840.000 mm Move step positionPose of Current Step 960.000 mm Save Welding Start Condition EXE. AT ASF#=x143938** Arc Condition File **A0 S4 Quick Open Function Welding END Condition EXE. AT AEF#= Condition File Quick Open Function ARC Auxiliary Condition File Welding Auxiliary Condition Retry143938** Arc Condition File **A0 S4 ASF It starts with the current value of welding start condition Retry Welding Auxiliary Condition RestartARC Auxiliary Condition File Restart Quick Open Function Quick Open Function Delay 30 sec Welding Auxiliary Condition AUTO. Wire Stick ReleaseAuto Stick Recovery 20.0 Weaving Condition File Select and Enter number. Press SET Previous Next Save Quick Open Function =30%,A=1,T=0 Program Edit in RunningHotE022/3/1 Select PF menu Escape Apply OK 143938*Servo-gun Welding Data*A0 S4 Welding condition Spot Welding FunctionWelding condition Use Number/UpDownand press SET Welding sequence End wait time =0.00 Menu Tree Chap Menu Tree Menu List Move, I/O Grammar Input input direction , variable ,timeout time Flow control Endif Jumpcall REM Commemt 10.4 ETC 10.5 ARC =voltage output valueVP=voltage ratio ,T=time ,ANTSTK =100 Substitutional Statement 11.1.3 11.1.111.1.2 11.1.4 Execution setting Signal input/output Jump, call, stopDI1 signal output M44 GI3 group signal output On-line shift M53 Character Basic elementsLine Address ∼&HFFFFFFFF ConstantH0 ∼&HFFFF S180 Flip Front Robot type information∼7 bit Bit Base R2180 Down Rear Auto Variable Global variable Local variable Input/output variable System variable RN1~RN16 Bit 1 start limit switchactive highRN1~16 $CONVREG Not Or XOR OperatorFormula V2$= Emergency Stop Command lineSubstitution Robot Control Move Command Until Smove Command ∼3 0 is most accurate Tool 11.2.3 I/O 11.2.3.1 I/O Substitution Print CommandPrint #0, Signal Value = #1 Serial port COM1 #2 Serial port COM2 Parameter Input CommandInput #0 Teach Pendant Arithmetic Variable, String variable Program Flow Control Goto Command Gosub ∼ Return Command Delay Command Call Command11.2.4.5 on ∼GOTO Command Wait Command Stop CommandEND Command Stop If DI9=1 then 11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command 11.2.4.11 FOR∼NEXT Commands Endif Print Print Range Error ENDGoto *RANGE REM Spot Welding #1 ARC Welding Arcon CommandComments Arcon Arcvol Command Arcof CommandArccur Command Weavon Command Arcdc CommandArcdv Command Weavof Command Refp Command Unsigned integer Number Number of DI signal receiving interrupt Print CommandDescription Robot Interrupt I signal M29 Syntax Others Rinta Command Parame Volt, interrupt occurs ∼10.0 Upper volt Ter Spotcnd Command Sreq Command Sonl Command Online coordinate conversion Slipping M53 Syntax TONL1 CommandTONL2 Command Number2,RF3=Basic Step number3 Start/End Sreqt Command Sxyz Command SEA Command Application of Search Dimension search Teach Point Welding Line Search Range Spot Command Gunsea Command No,TP=Insert sheet Program Tierst CommandCall program to put in a insert sheet M94 Syntax Palpu Command PAL Command Palend P=1, ES=81 Palend CommandPalrst Command Callpr Command Callpr System Coordinate systems Number Example Selcrd Command∼10 Selcrd M101 1,JOB Finished MIT CodeARC Welding Function Arithmetic Function OrderrorTimer DEGRAD270 String Function T Function Code Spotcnd T Function Code Example of corresponding HR Basic syntax Palend P=1,ES=81 REM Spot Weld Signal Connection External Input Signal BD430/BD431 Plug-side 3M MDR 10140-3000VE HOOD10340-55F0-008 Use external power source CNIN2 Input Signal DI22/WI General DI Signal DI1 ∼ DI18 signal connect as followings Connect program selection signal as followings Connect Discrete/Binary input signal as followings ※ Turn it on always External Output Signal BD430, BD431 Output Circuit BD430 Board Common voltage only Connection Diagram BD431 Board Common + or voltageUse external power source for power source Set noise absorbing diode to a load CNOUT2 Output signal CNOUT2 GUN Signal Reset It is output when emergency stop is pressed Step SET Alarm Signal Control Parameter → Error TimeProgram ACK. Signal Robot Running It is out the confirming signal that robot is runningLOW Mode Signal Control Parameter 4. Home Position Registration Robot Ready SignalRobot Home Signal MDR Specification of ConnectorMaker Type Specification 20-Pin Maker Type Specification