Installation of Robot, Safety Fence | Hyundai HI4 manual

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

------------------------------------------------------------------------------------------------

1.1.6.Installation of Robot

!1.1.6.1 Safety Fence

(1)Install Safety Fence away from the working space of robot in order to prevent from any possible collision and interface between workers and robot during the robot operation.

Any accidents can be take place when any workers or any other persons enter inside the safety fence without protective actions. Safety fence shall be equipped with the emergency stop mechanism that can activate emergency stop of robot if any workers would get into the safety fence for examination of robot and welding equipment and replacement of tip dresser and tip etc. during robot operation.

(2)Safety Fence shall fully cover the working space of robot and be installed to secure the enough space in order to evade any interference with robot during teaching and repair operation of workers within the safety fence. And it shall be

--------------------------------------------------------------------------------

1 - 8

Image 20

Hyundai HI4 operation manual Installation of Robot, Safety Fence

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 Palletizing pattern register Pallete dip angle measurement R10R17 R18 R123 R136R137 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 Safety Stop Function-ISO 10218EN 775 Operation Mode Selection- ANSI/RIA R15.06-1999Speed Limitation Function-ISO 10218EN 775 Working Envelope Restriction- ANSI/RIA R15.06-1999 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 Error Operation PanelMotor on Emergency Stop Please refer to the following table StopAUTO/MANUAL Teach Pendant External Shape of Teach Pendant Screen of Teach Pendant MoveWeavon WEV#=1 Arcon ASF#=1 Arcof AEF#=1 Weavof Coord AUX AxisConti / JOG on ACC / Intp Right position of Title Frame ShiftfastESC 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 Parameter of Step command line Basic things for stepPNo999* S/F1/0 Spd100.00 Select PF menu Interpolation locus from between Step and Step Pose = Robot coordinate system E = Encoder Speed AccuracyTool number Output option Stop condition Stop state variable When the coordinate system is set as encoder Step position validation/modification method143938 *** Step Pose Data *** A0 S4 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 Auto tool setting 143938 ***AUTO Tool SETg*** A0 S4Program No. = Step No. = Tool No. = 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 Monitoring 143938 *** Monitoring *** A0 S4 Monitor OFF11 DIO169 Equalizerless GUN data Command Angle Current Command AngleEnter the number of line and press SET 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 Slip count reset Slip Count display/setting OutlineBreak Slip Count 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 Palletize Register Outline Work StateOFF Counter OFF Shift buffer RegisterRegister XYZ Shift Register Register A0 S4Select and Enter number. Press SET 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 Is shifted T1= DegT1= Deg R2= 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 File Management CopyDelete Protect Internal memory file name All files? Yes, or just programs? NoFile display A0 S4 File, 31351 Block free Program first data PN100* S/F4/0 Internal program axis no 143938 *** Number of axes *** A0 S4 Internal memoryFile, 63156 block free. Page 1 Previous Next Escape Rename RenameInternal memory 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 143938 *** 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 1 H120 *995 31 2001-07-09 Use PF Key and select143938 *** RenameRAM *** A0 S4 Service menu Copy CopyH120 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 Save/Load Sram Card Load all files from the Sram cardNext 143938* Save/load all files * A0 S4 DIR Enter the name if a folder to read.Any 143938* Save/load all files * A0 S4Folder, 1999 KB free. Page 1 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 Error logging 143938 *** Error logging *** A0 S4 0005 25143938 *** Error Log no *** A0 S4 Refresh? YES/NO Use UpDown Press SET Stop History143938 *** Stop Logging *** A0 S4 01 25 Service menu Operation History 143938 ** Operation Hist ** A0 S4Press PF3, PF4, ESC or R Refresh? Previous Next Date setting Date, Time 143938 *** Date/Time set *** A0 S4Date = Time = Select and Enter number, Press SET Chap 4 Condition Setting Modification method 143938 *** Condition set *** A0 S4Press SHIFT+-- Key AppliCnd End Service Cycle typeStep go/back max. speed Playback Function in step go/back Speed rate Select PF menu Service System Robot lockRecord speed type N U a L Interpolation 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 Set RobotH120, 6axes Steps Conveyor operationT O Service Rel Wait Search RangeSearch reference position record Move P S=100% A=0 T=1 RobotH120, 6 axes Steps Spot weldingPN100* S/F4/0 Service Rel Wait Cond Set Gun Search reference point record143938 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 User configuration 143938 * User configuration * A0 S4Press SHIFT+-- Key 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 External reset Monitoring143938 ** DI Sig assignment ** A0 S4 External start External stop BO1 BO3B05 B07 Setting 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 Complete File not exist, Create file? YES/NO Done Done 143938* En/Disable Fieldbus * A0 S4SHIFT+-- to En/Disable DI1 DI8 DI9 143938 *** Assign Input No *** A0 S4 DI1DI9 Previous Next Done 143938*** Assign Outpur No *** A0 S4 Form Previous Serial port 143938 * Serial port select* A0 S4 Teach Pendant CntpTeach Pendant Cntp Outline 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 Robot Ready ReadyAuto Enter number and press SET Previous Next Complete Home position registration Actual screen143938 *** Home position *** A0 S4 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 Procedure Coordination system registration143938 *Coordinate assignment* A0 S4 User coordinate Stationary tool coordinate 143938 *** User coordinate *** A0 S4 143938 *** Staionary tool *** A0 S4 Staionary toolStaionary tool X1= 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 Adjust angle by jogging, then push PF5 Execute 143938 ***TOOL Angle SETg*** A0S4HH ： Body Torch ==H Side Axis Constant 143938 *** Axis constants *** A0 S490.0 Use UpDown Key and press SET Use UpDown Key and press SET Previous Next Soft Limit143938 *** Software limit *** A0 S4 Arm Interference Angle Outline It sets the working limit between the ARM143938 ** ARM interference ** A0 S4 Min = 25.0 Max = Encoder calibrationData input Encoder Offset CalibrationOutline It calibrates the original point of encoder After axis Oper, press REC.ESCusable 143938 *** Encoder offset *** A0 S4R2= R1= 2000000000 Contents of the screen „ Maximum speed Acceleration/Deceleration Speed ParameterOutline It sets acceleration/deceleration time 117 Axis Dead Zone 143938 ** B axis dead zone ** A0 S4 Level = 0 ∼ AccuracyLevel Distance Cornering Discontinuous step Continuous step Speeds Contents of the screen Additional load per each axisInertia 00Kgm2 Center 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 Second2 servo gun parameter Case of selecting the next screenMove tip clearance mm 10.0 Fix tip clearance mm Offset mm 143938** Servo Gun 1 Param. ** A0 S4 Pressure-Current Tab.1 Gravitational150 225 300 350 Pressure-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 Number Condition signal Squeeze signal143938 *** Weld Sequence *** A0 S4 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 Palletizing 143938 *** Palletizing *** A0 S4 Palletize pattern registerPalette slope calculation 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 parameter setting ConveyorConveyor Conveyor angle/centr auto-set Press SHIFT+-- Key Previous Next 143938** Conveyor Parameter ** A0 S4Dsbl System setting System setting Automatic setting of the conveyor angle and center Outline 143938* Auto Conveyor Angle * A0 S4Conveyor type 12.0 Pin arrangement of analog output terminal Speed proportion voltage output12.0V ∼ +12.0V Pin number Signal Output143938 ** Speed by voltage ** A0 S4 Port No 143938 *** System format *** A0 S4 Selecting type of the robot Positioner group settingSystem format 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 Next Cant delete! Check file protectionESC Previous Next Make? Previous NextNo system file. Need to format first Previous Next System setting Use setting 143938 *** Usage setting *** A0 S4GUN 1 = 0 GUN 2 = 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 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 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 6 R18 Frequency Condition Register DISPLAY/SETTING Enter frequency register No 1R18,0 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 11 11 R49 Speed Variation Setting PN999* S/F=3/1 ServiceEnter speed rate 1 T O 12 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 R71,0 14 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 exit 16 16 R116 Program Number Modification Source program to modify?Destination program to modify? R116,999 Delete? 17 17 R117 Program DeleteProgram to delete? 18 18 R123 Robot Lock Outline It sets the robot lock to ON/OFFSet robot lock DSBL=0,ENBL=1 R123,0 Reference 19 19 R136 Modify Accuracy in Steps„ If press Set MX signal Off=0, On=1 20 20 R137 Modify MX in StepEnter MX No 1 R137,0 21 21 R138 Modify GUN in Step Enter gun NoR138,0 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 26 26 R211 Squeeze Force Setting 25 25 R210 Servo GUN Number SelectionEnter gun number R210,1 27 27 R212 MOVING-TIP Consumption Preset 28 28 R213 FIXED-TIP Consumption PresetEnter fix tip consumption. -10 R213,0.00 30 30 R220 Equalizing Welder TIP Consumption Preset 29 29 R219 Equalizerless GUN Number SelectionR219,1 R220,0.00 31 31 R245 Monitor Mode Selection Monitoring120 144 10 DIO145 168 32 32 R269 Memory Protection Setting Program to protect?Protect or Release?1Protect/2Release Protect type?1Whole/2Section/3Playb 33 33 R286 Software Version Display DSP1 S/WDSP2 S/W DSP3 S/W 34 34 R310 Manual Output of GO-SIGNAL Enter Group number 1R310,10 Input data to be output manually R320,200 35 35 R320 SET MAX. Speed of Step GO/BACKStep GO/BACK speed? 1 255mm/s Set reference point setting 0 36 36 R323 Robot Interrupt Function Record0DI Sig,1Analog,2Weld sticking0 R323 Enter reference X -3000.0 Enter reference Y -3000.0Enter reference Z -3000.0 RobotH120, 6 axes, 1steps Example Input minimum voltage. -10.0M30,1 M30=1,-5.00,5.00 M30=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 operation Backup execution code of controller?Y/N 37 37 R341 Execution Code BACK-UP Programming Programming Edit Step Record of StepModification of Step Delete of Step Summary of Operation Keys Word Cursor Status EN+PSTEP Edit Command „ Command AreaEdition Screen „ Address Area Example Move Sentence Select interpolation type Command Input Select inputting command Select commandSpd100.00 RobotH6 6axes, 2steps Enter index1-999 Enter poseLocal Enter P3+R2Enter speed Unit Adjust output optionToggle Enter accuracySpd100.00 RobotH6 2steps With numerical keys and menu Sentence formTo statement input status menu for sentence form constant Pose form Variable, numerical formula and string edit Enter variable 120 Pose Shift OutEnter variable 120 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 Block edit WeldingGoto S2 Set start position of block region V11!=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 function PN999* 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!=0 Quick Open Function Function Summary Outline Instructi Remark Move step position Pose of Current Step840.000 mm 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 Welding Auxiliary Condition Retry 143938** Arc Condition File **A0 S4ARC Auxiliary Condition File 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 Welding Auxiliary Condition AUTO. Wire Stick Release Auto Stick RecoveryDelay 30 sec 20.0 Weaving Condition File Select and Enter number. Press SET Previous Next Save Quick Open Function Program Edit in Running HotE022/3/1=30%,A=1,T=0 Select PF menu Escape Apply OK Spot Welding Function Welding condition143938*Servo-gun Welding Data*A0 S4 Welding 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 11.1.1 11.1.211.1.3 11.1.4 Signal input/output Jump, call, stop DI1 signal outputExecution setting M44 GI3 group signal output On-line shift M53 Basic elements LineCharacter Address ∼&HFFFFFFFF ConstantH0 ∼&HFFFF Robot type information ∼7 bit Bit Base R2180S180 Flip Front Down Rear Auto Variable Global variable Local variable Input/output variable System variable Bit 1 start limit switchactive high RN1~16RN1~RN16 $CONVREG Not Or XOR OperatorFormula V2$= 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 = Input Command Input #0 Teach Pendant#1 Serial port COM1 #2 Serial port COM2 Parameter Arithmetic Variable, String variable Program Flow Control Goto Command Gosub ∼ Return Command Delay Command Call Command11.2.4.5 on ∼GOTO Command Stop Command END CommandWait 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 ARC Welding Arcon Command CommentsREM Spot Welding #1 Arcon Arcvol Command Arcof CommandArccur Command Arcdc Command Arcdv CommandWeavon Command Weavof Command Refp Command Unsigned integer Number Print Command Description Robot Interrupt I signal M29 SyntaxNumber of DI signal receiving interrupt Others Rinta Command Parame Volt, interrupt occurs ∼10.0 Upper volt Ter Spotcnd Command Sreq Command Sonl Command TONL1 Command TONL2 CommandOnline coordinate conversion Slipping M53 Syntax 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 Selcrd Command ∼10System Coordinate systems Number Example Selcrd M101 1,JOB Finished MIT CodeARC Welding Orderror TimerFunction Arithmetic Function 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 Connection Diagram BD431 Board Common + or voltage Use external power source for power sourceBD430 Board Common voltage only 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 Specification of Connector Maker Type SpecificationMDR 20-Pin Maker Type Specification