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Hyundai HI4 operation manual Cornering

Models: HI4

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6.System setting

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⑵Discontinuous step / Continuous step

①Discontinuous step : It means a step to move off on the aimed step.

The move-off point is a point which the current value (feedback encoder) reaches to the accuracy level (Bit, Distance) designated in the step.

②Continuous step : It means a step which doesn't have the move-off point. There are steps that the cornering is possible and impossible step in the continuous step.

⑶Step that the cornering is possible

①The step that the cornering is possible shifts after planning the route between two steps. The step that the cornering is possible is the same as following. There are P(Interpolation OFF), L(Straight Line Interpolation) and C(Circular Arc Interpolation) in the interpolation type which supports in the Hi4 controller. The continuous system which supports the cornering in these types is L-L, L-J, J-L, C-J, J-C and J-J.

※Only, the step which the coordinate system changes( for example, such case as it shifts for the direction of the positioner motive interpolation step from the robot tool interpolation ) is excluded in the cornering step.

	Current step interpolation	Next step interpolation method	Cornering
	method

	MOVE L	MOVE L	Ο
	MOVE L	MOVE P	Ο
	MOVE C	MOVE P	Ο
	MOVE P	MOVE P	Ο
	MOVE P	MOVE L	Ο
	MOVE P	MOVE C	Ο
	Pedestal tool straight line	Pedestal tool straight line	Ο
	interpolation	interpolation	Ο
	interpolation	interpolation

	SMOV L	SMOV L	Ο
	SMOV L	MOVE P	Ο
	SMOV C	MOVE P	Ο
	MOVE P	SMOV L	Ο
	MOVE P	SMOV C	Ο
	The case of continuous step except those		⋅

② The locus of L-L cornering

The L-L cornering is a method that plans the locus with a circular arc between two locuci of continuous straight line. It corners describing the locus of circular arc that circumscribes on the circle of accuracy range from two straight lines and a point which is applicable to step1 in the following figure. When replaying in the automatic mode, the locus should be checked in advance due to shifting without reaching to designate step.

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Hyundai HI4 operation manual Cornering

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 MachineR17 Palletizing pattern register Pallete dip angle measurementR10 R18R137 R123R136 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 Speed Limitation Function-ISO 10218EN 775 Safety Stop Function-ISO 10218EN 775Operation Mode Selection- ANSI/RIA R15.06-1999 Working Envelope Restriction- ANSI/RIA R15.06-1999Installation 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 Motor on ErrorOperation Panel Emergency StopAUTO/MANUAL StopPlease refer to the following table Teach Pendant External Shape of Teach PendantWeavon WEV#=1 Arcon ASF#=1 Screen of Teach PendantMove Arcof AEF#=1 WeavofConti / JOG on CoordAUX Axis ACC / IntpESC Right position of Title FrameShiftfast 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 PNo999* S/F1/0 Spd100.00 Parameter of Step command lineBasic things for step Select PF menuInterpolation locus from between Step and Step Pose = Robot coordinate system E = EncoderTool number SpeedAccuracy Output optionStop condition Stop state variable143938 *** Step Pose Data *** A0 S4 When the coordinate system is set as encoderStep position validation/modification method 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 toolProgram No. = Step No. = Tool No. = Auto tool setting143938 ***AUTO Tool SETg*** A0 S4 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 Next11 DIO169 Monitoring143938 *** Monitoring *** A0 S4 Monitor OFF Equalizerless GUN dataEnter the number of line and press SET Command AngleCurrent Command Angle 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 Break Slip Count Outline Slip count resetSlip Count display/setting Outline Use Number/UpDown and press SETClear to slip count? CR= CP=CS= 143938 *** M a N U a L Servo GUN Data OutlineOFF Palletize Register OutlineWork State CounterOFF Register RegisterShift buffer Select and Enter number. Press SET XYZ Shift RegisterRegister A0 S4 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 S4T1= Deg R2= Is shiftedT1= Deg 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 Delete File ManagementCopy ProtectFile display A0 S4 Internal memory file nameAll files? Yes, or just programs? No File, 31351 Block freeProgram first data PN100* S/F4/0File, 63156 block free. Page 1 Internal program axis no143938 *** Number of axes *** A0 S4 Internal memory Previous Next EscapeInternal memory RenameRename 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09143938 *** 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 1143938 *** RenameRAM *** A0 S4 Use PF Key and selectH120 *995 31 2001-07-09 Service menu H120 CopyCopy 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 Next Save/Load Sram CardLoad all files from the Sram card 143938* Save/load all files * A0 S4 DIRFolder, 1999 KB free. Page 1 Enter the name if a folder to read.Any143938* Save/load all files * A0 S4 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 143938 *** Error Log no *** A0 S4 Error logging143938 *** Error logging *** A0 S4 0005 25 Refresh?YES/NO 143938 *** Stop Logging *** A0 S4 01 25 Stop HistoryUse UpDown Press SET Service menu Press PF3, PF4, ESC or R Operation History143938 ** Operation Hist ** A0 S4 Refresh? Previous NextDate = Time = Date setting Date, Time143938 *** Date/Time set *** A0 S4 Select and Enter number, Press SETChap 4 Condition Setting Press SHIFT+-- Key AppliCnd End 143938 *** Condition set *** A0 S4Modification method Step go/back max. speed ServiceCycle type PlaybackFunction in step go/back Speed rateRecord speed type Select PF menu Service SystemRobot lock N U a LCrd01 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 SetT O Conveyor operationRobotH120, 6axes Steps Search reference position record Service Rel WaitSearch Range Move P S=100% A=0 T=1PN100* S/F4/0 Spot weldingRobotH120, 6 axes Steps 143938 Service Rel Wait Cond SetGun Search reference point record 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 parameterPress SHIFT+-- Key User configuration143938 * User configuration * A0 S4 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 143938 ** DI Sig assignment ** A0 S4 External resetMonitoring External start External stopB05 BO1BO3 B07High 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 CompleteFile not exist, Create file? YES/NO Done SHIFT+-- to En/Disable 143938* En/Disable Fieldbus * A0 S4Done DI1 DI8 DI9DI9 143938 *** Assign Input No *** A0 S4DI1 Previous Next Done143938*** Assign Outpur No *** A0 S4 Form PreviousTeach Pendant Cntp Outline Serial port143938 * Serial port select* A0 S4 Teach Pendant Cntp 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 systemAuto Robot ReadyReady Enter number and press SET Previous Next Complete143938 *** Home position *** A0 S4 Home position registrationActual screen 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 143938 *Coordinate assignment* A0 S4 User coordinate ProcedureCoordination system registration Stationary tool coordinate143938 *** User coordinate *** A0 S4 Staionary tool X1= 143938 *** Staionary tool *** A0 S4Staionary tool 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*** A0S4HH ： Body Torch Adjust angle by jogging, then push PF5 Execute143938 ***TOOL Angle SETg*** A0S4 ==H Side90.0 Axis Constant143938 *** Axis constants *** A0 S4 Use UpDown Key and press SET143938 *** Software limit *** A0 S4 Soft LimitUse UpDown Key and press SET Previous Next 143938 ** ARM interference ** A0 S4 Arm Interference AngleOutline It sets the working limit between the ARM Min = 25.0 Max =Outline It calibrates the original point of encoder Encoder Offset CalibrationEncoder calibrationData input R2= R1= After axis Oper, press REC.ESCusable143938 *** Encoder offset *** A0 S4 2000000000Outline It sets acceleration/deceleration time Contents of the screen „ Maximum speedAcceleration/Deceleration Speed Parameter 117Axis Dead Zone 143938 ** B axis dead zone ** A0 S4Level Level = 0 ∼Accuracy DistanceCornering Discontinuous step Continuous step Speeds Inertia 00Kgm2 Center Contents of the screenAdditional load per each axis 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 Move tip clearance mm 10.0 Fix tip clearance mm Second2 servo gun parameterCase of selecting the next screen Offset mm150 225 300 350 Pressure-Current Tab.1 Gravitational 143938** Servo Gun 1 Param. ** A0 S4Pressure-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 50Kgf143938 *** Weld Sequence *** A0 S4 Number Condition signalSqueeze signal 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 settingPalette slope calculation Palletizing143938 *** Palletizing *** A0 S4 Palletize pattern register 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 Conveyor parameter settingConveyor Conveyor angle/centr auto-setDsbl 143938** Conveyor Parameter ** A0 S4Press SHIFT+-- Key Previous Next System setting System setting Conveyor type Automatic setting of the conveyor angle and center Outline143938* Auto Conveyor Angle * A0 S4 12.012.0V ∼ +12.0V Speed proportion voltage outputPin arrangement of analog output terminal 143938 ** Speed by voltage ** A0 S4 Pin number SignalOutput Port NoSystem format Selecting type of the robot Positioner group setting143938 *** System format *** A0 S4 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 NextNo system file. Need to format first Previous Next Make? Previous NextCant delete! Check file protectionESC Previous Next System setting GUN 1 = 0 GUN 2 = Use setting143938 *** Usage setting *** A0 S4 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 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 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 R18,0 6 R18 Frequency Condition Register DISPLAY/SETTINGEnter frequency register No 1 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 operationEnter speed rate 1 11 11 R49 Speed Variation SettingPN999* S/F=3/1 Service T O12 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 R71,0143938 *** 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 exitDestination program to modify? 16 16 R116 Program Number ModificationSource program to modify? R116,999Program to delete? 17 17 R117 Program DeleteDelete? Set robot lock DSBL=0,ENBL=1 18 18 R123 Robot LockOutline It sets the robot lock to ON/OFF R123,0„ If press 19 19 R136 Modify Accuracy in StepsReference Enter MX No 1 Set MX signal Off=0, On=120 20 R137 Modify MX in Step R137,0R138,0 21 21 R138 Modify GUN in StepEnter gun No 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 Enter gun number 26 26 R211 Squeeze Force Setting25 25 R210 Servo GUN Number Selection R210,1Enter fix tip consumption. -10 27 27 R212 MOVING-TIP Consumption Preset28 28 R213 FIXED-TIP Consumption Preset R213,0.00R219,1 30 30 R220 Equalizing Welder TIP Consumption Preset29 29 R219 Equalizerless GUN Number Selection R220,0.00120 31 31 R245 Monitor Mode SelectionMonitoring 144 10 DIO145 168Protect or Release?1Protect/2Release 32 32 R269 Memory Protection SettingProgram to protect? Protect type?1Whole/2Section/3PlaybDSP2 S/W 33 33 R286 Software Version DisplayDSP1 S/W DSP3 S/WR310,10 34 34 R310 Manual Output of GO-SIGNALEnter Group number 1 Input data to be output manuallyStep GO/BACK speed? 1 255mm/s 35 35 R320 SET MAX. Speed of Step GO/BACKR320,200 0DI Sig,1Analog,2Weld sticking0 Set reference point setting 036 36 R323 Robot Interrupt Function Record R323Enter reference Z -3000.0 Enter reference X -3000.0Enter reference Y -3000.0 RobotH120, 6 axes, 1stepsM30,1 ExampleInput minimum voltage. -10.0 M30=1,-5.00,5.00Move 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 operationBackup execution code of controller?Y/N 37 37 R341 Execution Code BACK-UPProgramming Programming Modification of Step Edit StepRecord of Step Delete of StepSummary of Operation Keys Word Cursor StatusEN+PSTEP Edition Screen Edit Command„ Command Area „ Address AreaExample Move Sentence Select interpolation typeSpd100.00 Command Input Select inputting commandSelect command RobotH6 6axes, 2stepsLocal Enter poseEnter index1-999 Enter speed EnterP3+R2 UnitSpd100.00 RobotH6 Adjust output optionToggleEnter accuracy 2stepsTo statement input status menu for sentence form constant With numerical keys and menuSentence form Pose formEnter variable 120 Variable, numerical formula and string editEnter variable 120 Pose Shift Out 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 Goto S2 Block editWelding Set start position of block regionPosition 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 functionCopy 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!=0Quick Open Function Function Summary OutlineInstructi Remark840.000 mm Move step positionPose of Current Step 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 ARC Auxiliary Condition File Welding Auxiliary Condition Retry143938** Arc Condition File **A0 S4 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 Delay 30 sec Welding Auxiliary Condition AUTO. Wire Stick ReleaseAuto Stick Recovery 20.0Weaving Condition File Select and Enter number. Press SET Previous Next SaveQuick Open Function =30%,A=1,T=0 Program Edit in RunningHotE022/3/1 Select PF menu Escape Apply OK143938*Servo-gun Welding Data*A0 S4 Welding condition Spot Welding FunctionWelding 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 11.1.3 11.1.111.1.2 11.1.4Execution setting Signal input/output Jump, call, stopDI1 signal output M44 GI3 group signal output On-line shift M53Character Basic elementsLine AddressH0 ∼&HFFFF Constant∼&HFFFFFFFF S180 Flip Front Robot type information∼7 bit Bit Base R2180 Down Rear AutoVariable Global variableLocal variable Input/output variable System variableRN1~RN16 Bit 1 start limit switchactive highRN1~16 $CONVREGFormula OperatorNot Or XOR Substitution Command lineV2$= 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 #1 Serial port COM1 #2 Serial port COM2 Parameter Input CommandInput #0 Teach Pendant Arithmetic Variable, String variableProgram Flow Control Goto Command Gosub ∼ Return Command11.2.4.5 on ∼GOTO Command Call CommandDelay Command Wait Command Stop CommandEND 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 REM Spot Welding #1 ARC Welding Arcon CommandComments ArconArccur Command Arcof CommandArcvol Command Weavon Command Arcdc CommandArcdv Command Weavof CommandRefp Command Unsigned integer NumberNumber of DI signal receiving interrupt Print CommandDescription Robot Interrupt I signal M29 Syntax OthersRinta Command Parame Volt, interrupt occurs ∼10.0 Upper volt TerSpotcnd Command Sreq CommandSonl Command Online coordinate conversion Slipping M53 Syntax TONL1 CommandTONL2 Command 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 CallprSystem Coordinate systems Number Example Selcrd Command∼10 SelcrdARC Welding MIT CodeM101 1,JOB Finished Function Arithmetic Function OrderrorTimer 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 CircuitBD430 Board Common voltage only Connection Diagram BD431 Board Common + or voltageUse external power source for power source 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 MDR Specification of ConnectorMaker Type Specification 20-PinMaker Type Specification