Robot installation, General Safety Precautions | Hyundai HI4

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

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!1.1.6.3. Robot installation

Install robot as per the planning and layout which has been previously reviewed and studied for the optimized performance and functionality of the robot. In case of bad installation situation of robot, the serious problems can take place as follows;

-Error of relative position between robot and workpiece during operation.

-Bad performance quality of robot caused by vibration.

-Shortening lifetime of robot

-Cause of serious accidents

The following lists the safety precautions to which careful consideration must be made by operator, worker or installation persons.

General Safety Precautions

(1)Design and install the robot system in completely compliance with laws, regulations and safety requirements being valid in the country where the robot system is installed.

(2)All the workers for the robot system must have the good knowledge on the information specified in the operation and maintenance manual and also have a good command of operation and maintenance of the robot.

(3)Installation workers of robot must follow the safety requirements when they face any safety problems in installation.

(4)System Supplier must ensure that all the circuits utilizing safety function perfectly perform their functionalities in a safe way.

(5)Install primary power supply which can be disconnected from the place outside the operation area of the robot.

(6)System supplier must ensure that all the circuits utilizing emergency stop function perform their functionalities in a safe way.

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Hyundai HI4 operation manual Robot installation, General Safety Precautions

Contents

Hyundai Robot Hi4 Page Head Office JEONHA-DONG, DONG-GU Contents Basic things for step 2.2 Condition setting Application condition Machine Setting the field bus R18 Palletizing pattern register Pallete dip angle measurementR10 R17 R138 R123R136 R137 Menu tree 11.4.3 11.4.111.4.2 Panel, Teach pendant Contents General Safety Safety, Operation Panel, Teach Pendant 1 Safety Invalid environments Safety Marking Relevant Safety StandardsSafety Training Mandatory Working Envelope Restriction- ANSI/RIA R15.06-1999 Safety Stop Function-ISO 10218EN 775Operation Mode Selection- ANSI/RIA R15.06-1999 Speed Limitation Function-ISO 10218EN 775 Safety Fence Installation of Robot Safety, Operation Panel, Teach Pendant 1 Safety Safety, Operation Panel, Teach Pendant 1 Safety General Safety Precautions Robot installation Technical Safety Precautions Safety, Operation Panel, Teach Pendant 1 Safety Space for robot installation Safety measure for robot operation Safety Working Procedures 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 Position Safety Measures for Maintenance and Repair Safety, Operation Panel, Teach Pendant 1 Safety Necessary Actions after Completion of Maintenance and Repair Safety Control Chain of Operation Safety Functions Safety Chain of Operation Status of Emergency stop Emergency Stop Operating Speed Gripper Safety Related to End Effectors Liabilities Tools and Workpiece Safety, Operation Panel, Teach Pendant 1 Safety Emergency Stop ErrorOperation Panel Motor on Please refer to the following table StopAUTO/MANUAL External Shape of Teach Pendant Teach Pendant Arcof AEF#=1 Weavof Screen of Teach PendantMove Weavon WEV#=1 Arcon ASF#=1 ACC / Intp CoordAUX Axis Conti / JOG on Speed Right position of Title FrameShiftfast ESC SETYes LCD PROG/STEP Ch/Var/Fn/CMDSTOP/MANOUT Basic operation Basic operation Power OFF/ Motor OFF Select the type of robot connected controller How to initiate the systemTeaching Step and Function Select PF menu Parameter of Step command lineBasic things for step PNo999* S/F1/0 Spd100.00 Interpolation locus from between Step and Step = Robot coordinate system E = Encoder Pose Output option SpeedAccuracy Tool number Stop state variable Stop condition Coordination Base,Robot,Encoder When the coordinate system is set as encoderStep position validation/modification method 143938 *** Step Pose Data *** A0 S4 Select and Enter number. Press SET When the coordinate system is set as Base or Robot000 50.000 Step JOG operation key Coordinate system Axis coordinate Xis C o o rd Robot coordinate B o t C o o rd Axis direction Rotation direction User coordinate Rzu It shows that the robot is operating without tool Tool coordinate Select and Enter number. Press SET Execute Auto tool setting143938 ***AUTO Tool SETg*** A0 S4 Program No. = Step No. = Tool No. = Service Menu Protect Storage media format Save/Load Sram Card Use Number/UpDown and press SET Previous Next Service Menu Equalizerless GUN data Monitoring143938 *** Monitoring *** A0 S4 Monitor OFF 11 DIO169 PN100* S/F=4/0 Sp100.00 Command AngleCurrent Command Angle Enter the number of line and press SET 143938 *** M a N U a L A0 S4 Service Mspr on PN100* S/F=4/0 Sp100.00 RobotH120, 6axes Use Number/UpDown and press SET Slip count resetSlip Count display/setting Outline Break Slip Count Outline Clear to slip count? CS= CP=CR= Servo GUN Data Outline 143938 *** M a N U a L Counter Palletize Register OutlineWork State OFF OFF Shift buffer RegisterRegister Complete XYZ Shift RegisterRegister A0 S4 Select and Enter number. Press SET Service menu Reference Parallel movement shift Shift buffers Work작업A물Awork작업물a a Register A0 S4 ON-line shift register On-line shift register Group Service menu Register A0 S4 Palletizing register Palletizing register Start count # Palletizing presetPallet No Input the palletize pallet number.1-16 Select and Enter number. Press SET End Frequency condition register Select Enter Number. Press SET Conveyor DataRegister Works entered the CV line = Conveyor data clear. Continue? YES/NO Previous Next Index VariableIndex 143938 *** Program modify *** A0 S4 Condition modify Edit ProgramSelect the Program modify and then displays as follows MX2 Modify writing condition totally 143938** Speed Modification **A0 S4 Modify speed in record totally 143938 ** Position modify ** A0 S4 Modify position in record totally T1= Deg R1= Is shiftedT1= Deg T1= Deg R2= Step Copy Step Copy Service menu 143938 * Reverse step copy * A0 S4 Step Reverse-Copy Service menu Not running state. Use Manual mode.ESC Edit program in running Hot Edit Apply HotE022/3/1 PB022/4/0 Applying initiated CALLing info Escape Service SystemApply hot edit, First ? SR100% HotE022/3/1* PB022/4/0 S1 Move P,S=30%,A=1,T=0 143938 *** Hotedit *** A0 S4 Hot eidt A0 S4 Protect File ManagementCopy Delete File, 31351 Block free Internal memory file nameAll files? Yes, or just programs? No File display A0 S4 PN100* S/F4/0 Program first data Previous Next Escape Internal program axis no143938 *** Number of axes *** A0 S4 Internal memory File, 63156 block free. Page 1 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 RenameRename Internal memory File, 31351 Block free. Page 1 143938 *** RenameRAM *** A0 S4 H120 *991 31 2001-07-09Enter new No and press SET 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 H120 *995 31 2001-07-09 Use PF Key and select143938 *** RenameRAM *** A0 S4 Service menu Robot CopyCopy H120 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 143938* Save/load all files * A0 S4 DIR Save/Load Sram CardLoad all files from the Sram card Next Previous Next Select Enter the name if a folder to read.Any143938* Save/load all files * A0 S4 Folder, 1999 KB free. Page 1 Mirror Image Off-Line XYZ shift Program Conversion143938 *** Conversion Coordinate transformation Program Destination program Contents of windowObject program Mirror Image Enter number and press SET Execute Enbl Service menu Example Parallel transfer of the workpiece Off-Line XYZ Shift Enter number and press SET 143938 * Off-Line XYZ Shift * A0 S4 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 Check Diagnosis of troubles Service menu Refresh? Error logging143938 *** Error logging *** A0 S4 0005 25 143938 *** Error Log no *** A0 S4 YES/NO Use UpDown Press SET Stop History143938 *** Stop Logging *** A0 S4 01 25 Service menu Refresh? Previous Next Operation History143938 ** Operation Hist ** A0 S4 Press PF3, PF4, ESC or R Select and Enter number, Press SET Date setting Date, Time143938 *** Date/Time set *** A0 S4 Date = Time = Chap 4 Condition Setting Modification method 143938 *** Condition set *** A0 S4Press SHIFT+-- Key AppliCnd End Playback ServiceCycle type Step go/back max. speed Speed rate Function in step go/back N U a L Select PF menu Service SystemRobot lock Record speed type =100%,A=0,T=1 Interpolation baseUser Coordinate Crd01 → 12. Coordinate setting → 1. User coordinate Chapter Application condition Press SHIFT+-- Key Cond Set Cond Set PF5, Press AppliCnd PF1 Screen display143938* Application Condition A0 S4 Conveyor Oper=Normal,Simulat.,Test Search range RobotH120, 6axes Steps Conveyor operationT O Move P S=100% A=0 T=1 Service Rel WaitSearch Range Search reference position record RobotH120, 6 axes Steps Spot weldingPN100* S/F4/0 G1 SW Wd-On Service Rel Wait Cond SetGun Search reference point record 143938 On-line Shift Register Clear OutputDO signal clear System setting System setting Palletizing pattern register Palette dip angle measurement Spot welding datacondition,sequence Equalizing parameter 143938 *** System setting *** A0 S4 User parameter System setting Next End User configuration143938 * User configuration * A0 S4 Press SHIFT+-- Key Pose Record Type Display language 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 Value of Prog Selec Sig input is Service System Using the program strobe signal Lowest position proportion of the cursor Step SET Alarm Type Using the collision sensor Controller Parameter Coordinate setting Use Number/UpDown and press SET 143938** DIO signal setting ** A0 S4 Input signal logic Input/Output signal selection Previous DI9 DO9 143938*** do signal logic DO1 DO2 DO3 DO4 DO5 DO6 DO7 DO8 DO9 143938 ** do Sig attribute ** A0 S4 Enter number. Press 143938 *** Pulse table 143938 *** Delay table MXUnfolding Sig = X1 External start External stop External resetMonitoring 143938 ** DI Sig assignment ** A0 S4 B07 BO1BO3 B05 Sec Low GO High Setting the Earlier output OutlineSig Time High do „ Resister the name of in/output signal Use UpDown, and press SET Complete Press SET for string input143938 ** Character input ** A0 S4 DIO name File not exist, Create file? YES/NO Done Done 143938* En/Disable Fieldbus * A0 S4SHIFT+-- to En/Disable DI9 DI1 DI8 Previous Next Done 143938 *** Assign Input No *** A0 S4DI1 DI9 Form Previous 143938*** Assign Outpur No *** A0 S4 Cant modify! Private port for T/P.ESE Previous Next Serial port143938 * Serial port select* A0 S4 Teach Pendant Cntp Teach Pendant Cntp Outline 143938 *** Serial to I/O *** A0 S4 Interface with the external vision system External computer and visa versa Enter number and press SET Previous Next Complete Robot ReadyReady Auto Home 1 Program No. = Step No. = Home position registrationActual screen 143938 *** Home position *** A0 S4 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 143938 *** Error output *** A0 S4 External error output Signal name Assignment and Quantity Type System setting Press SHIFT+-- Key Power Saving PWM OFF12.8 200.0 Shift Limit GUN2 Setting the user key Select and Enter number. Press SET Previous Next Complete 143938 *** f-key setting *** A0 S4F2= F3= 0 f4= 527 Stationary tool coordinate ProcedureCoordination system registration 143938 *Coordinate assignment* A0 S4 User coordinate 143938 *** User coordinate *** A0 S4 Staionary tool X2= 143938 *** Staionary tool *** A0 S4Staionary tool Staionary tool X1= 143938 ** Machine parameter ** A0 S4 Tool data Machine Parameter Component Tool WeightTool Data IzZf 143938 ***AUTO Tool SETg*** A0S4 Reference ⑴ Auto calibration Outline ==H Side Adjust angle by jogging, then push PF5 Execute143938 ***TOOL Angle SETg*** A0S4 HH ： Body Torch Use UpDown Key and press SET Axis Constant143938 *** Axis constants *** A0 S4 90.0 Use UpDown Key and press SET Previous Next Soft Limit143938 *** Software limit *** A0 S4 Min = 25.0 Max = Arm Interference AngleOutline It sets the working limit between the ARM 143938 ** ARM interference ** A0 S4 Encoder calibrationData input Encoder Offset CalibrationOutline It calibrates the original point of encoder 2000000000 After axis Oper, press REC.ESCusable143938 *** Encoder offset *** A0 S4 R2= R1= 117 Contents of the screen „ Maximum speedAcceleration/Deceleration Speed Parameter Outline It sets acceleration/deceleration time 143938 ** B axis dead zone ** A0 S4 Axis Dead Zone Distance Level = 0 ∼Accuracy Level Cornering Discontinuous step Continuous step Speeds Inertia Contents of the screenAdditional load per each axis Inertia 00Kgm2 Center System setting Arc Palletizing Conveyor Volt. output proportional to Speed Application parameter143938 *Application parameter* A0 S4 Spot & Stud 143938 *** Spot&Stud Weld *** A0 S4 Air-gun welding data Spot & Stud 143938 *Air-gun welding data* A0 S4 System setting Offset mm Second2 servo gun parameterCase of selecting the next screen Move tip clearance mm 10.0 Fix tip clearance mm 150 225 300 350 143938** Servo Gun 1 Param. ** A0 S4Pressure-Current Tab.1 Gravitational 150 225 300 350 Pressure-Current Tab.1 Gravitational Check the abnormality of abrasion quantity System setting System setting Welding condition Welding sequence Welding data copy 143938*Servo-gun Welding Data* A0 S4 Sequence common data Common Data A0 S4 Force 50Kgf Number Output data Output type WI wait Number Condition signalSqueeze signal 143938 *** Weld Sequence *** A0 S4 Source number Sequence Enter number and press SET 0.0 GUN2 System setting Shield Gas state 2 ArcArc Weld Inching speed setting Contents of the screen High step forward/backward setting Use Number/UpDown and pressSET Previous Next Palletizing143938 *** Palletizing *** A0 S4 Palletize pattern register Palette slope calculation Pattern register 143938** Palletize pattern ** A0 S4 Pattern register Press SHIFT+-- Key Previous Next Complete YES Basic pattern System setting Rec.PosiY Direct Conveyor angle/centr auto-set Conveyor parameter settingConveyor Conveyor Press SHIFT+-- Key Previous Next 143938** Conveyor Parameter ** A0 S4Dsbl System setting System setting 12.0 Automatic setting of the conveyor angle and center Outline143938* Auto Conveyor Angle * A0 S4 Conveyor type Pin arrangement of analog output terminal Speed proportion voltage output12.0V ∼ +12.0V Port No Pin number SignalOutput 143938 ** Speed by voltage ** A0 S4 143938 *** System format *** A0 S4 Selecting type of the robot Positioner group settingSystem format System format Enter number and press SET Previous Next Robot type selection143938 *Robot type selection * A0 S4 H120 Matsushita motor 143938 *Robot type selection* A0 S4 Cant delete! Check file protectionESC Previous Next Make? Previous NextNo system file. Need to format first Previous Next System setting ARC Use setting143938 *** Usage setting *** A0 S4 GUN 1 = 0 GUN 2 = Additional Axis Positioner group setting143938 ** Positioner Group ** A0 S4 Former times is ineffective Positioner Calibration Automatic constant setting Optimization of axis constant and tool length Max step position errorX = System setting 143938*Positioner Calibration*A0 S4 You must setup the positioner GroupESC Previous NextPositioner calibration CP1 CP2 Constant is saved in the controller Save? 143938*Positioner Calibration* A0 S4000 DH.a= DH.alpha= DH.d= DH.theta= Code Set max. speed Step go/back Enter R code No 0 Manual 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 Clear Run Time Reset Outline All Data Clear Clear YES / no 5 R17 File Name Display in Internal Memory Enter register data 0 6 R18 Frequency Condition Register DISPLAY/SETTINGEnter frequency register No 1 R18,0 R29,0 7 R29 Tool Number SettingEnter tool No 8 R44 Conveyor Data Clear 9 R45 Conveyor Register Manual Input Reference ⑴ It cannot be executed during operation 10 10 R46 Manual Conveyor Limit Switch on T O 11 11 R49 Speed Variation SettingPN999* S/F=3/1 Service Enter speed rate 1 End palletizing? 12 12 R55 Palletize Counter Reset R71,0 13 13 R71 Recorded Speed Specification Method SelectionSpecify Sec Rec speed type?Standard=0,%=1,mm/s=2 Use cursor Up/Down, then ESC for exit 14 14 R107 Program Head Data Display15 15 R115 Program Copy 143938 *** M a N U a L *** A0 SH4 R116,999 16 16 R116 Program Number ModificationSource program to modify? Destination program to modify? Delete? 17 17 R117 Program DeleteProgram to delete? R123,0 18 18 R123 Robot LockOutline It sets the robot lock to ON/OFF Set robot lock DSBL=0,ENBL=1 Reference 19 19 R136 Modify Accuracy in Steps„ If press R137,0 Set MX signal Off=0, On=120 20 R137 Modify MX in Step Enter MX No 1 R138,1,0 21 21 R138 Modify GUN in StepEnter gun No R138,0 22 22 R162 Shift Register Value Change 23 23 R163 ON-LINE Shift Cancel Input binary WELDg condition 0 24 24 R204 Spot Welding Condition Manual OutputInput discrete welding condition 0 R210,1 26 26 R211 Squeeze Force Setting25 25 R210 Servo GUN Number Selection Enter gun number R213,0.00 27 27 R212 MOVING-TIP Consumption Preset28 28 R213 FIXED-TIP Consumption Preset Enter fix tip consumption. -10 R220,0.00 30 30 R220 Equalizing Welder TIP Consumption Preset29 29 R219 Equalizerless GUN Number Selection R219,1 144 10 DIO145 168 31 31 R245 Monitor Mode SelectionMonitoring 120 Protect type?1Whole/2Section/3Playb 32 32 R269 Memory Protection SettingProgram to protect? Protect or Release?1Protect/2Release DSP3 S/W 33 33 R286 Software Version DisplayDSP1 S/W DSP2 S/W Input data to be output manually 34 34 R310 Manual Output of GO-SIGNALEnter Group number 1 R310,10 R320,200 35 35 R320 SET MAX. Speed of Step GO/BACKStep GO/BACK speed? 1 255mm/s R323 Set reference point setting 036 36 R323 Robot Interrupt Function Record 0DI Sig,1Analog,2Weld sticking0 RobotH120, 6 axes, 1steps Enter reference X -3000.0Enter reference Y -3000.0 Enter reference Z -3000.0 M30=1,-5.00,5.00 ExampleInput minimum voltage. -10.0 M30,1 Reference ⑴ It can not be executed during operation M30=1,-5.00,5.00,1M30=1,-5.00,5.00,1,200.0,150.0 Move P,S=100%,A=0,H=1 37 37 R341 Execution Code BACK-UP Backup execution code of controller?Y/N Programming Programming Delete of Step Edit StepRecord of Step Modification of Step Word Cursor Status Summary of Operation Keys EN+PSTEP „ Address Area Edit Command„ Command Area Edition Screen Select interpolation type Example Move Sentence RobotH6 6axes, 2steps Command Input Select inputting commandSelect command Spd100.00 Enter index1-999 Enter poseLocal Unit EnterP3+R2 Enter speed 2steps Adjust output optionToggleEnter accuracy Spd100.00 RobotH6 Pose form With numerical keys and menuSentence form To statement input status menu for sentence form constant Enter variable Variable, numerical formula and string editEnter variable 120 Pose Shift Out Enter variable 120 SET Enter variable V2% Unit Conv ENABLE+Ö SET‘ +-*/=&~,%!$?`. @#￦ Smm/sec=V1%/2 Weld ‘ Abcdefghijklmnopqrstuvwxyz‘ abc efghkjklmnopqrstuvwxyz ‘ +-*/=&~,%!$?`.@#￦ Line number is reflected on the edit frame Line number editSET Set start position of block region Block editWelding Goto S2 Select block edit function V11!=0 S1 Move L,P1+R2,S=120mm/s,A=0,H=0S2 Move L S=100mm/sec,A=0,H=0 Position of block region PN999* S/F1/3 Sp100.00 RobotH6 , 6axes, 14steps V10!=0 PN999* S/F1/2 Sp100.00 RobotH6 , 6axes, 14steps V10!=0Select block edit function Unselect Copy Move Delete Close Copy Copied area is pasted just below a cursor Quick Open Function Outline Function Summary Remark Instructi 960.000 mm Move step positionPose of Current Step 840.000 mm Save Welding Start Condition EXE. AT ASF#=x143938** Arc Condition File **A0 S4 Quick Open Function Condition File Welding END Condition EXE. AT AEF#= Quick Open Function ASF Welding Auxiliary Condition Retry143938** Arc Condition File **A0 S4 ARC Auxiliary Condition File 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 20.0 Welding Auxiliary Condition AUTO. Wire Stick ReleaseAuto Stick Recovery Delay 30 sec Select and Enter number. Press SET Previous Next Save Weaving Condition File Quick Open Function Select PF menu Escape Apply OK Program Edit in RunningHotE022/3/1 =30%,A=1,T=0 Use Number/UpDownand press SET Spot Welding FunctionWelding condition 143938*Servo-gun Welding Data*A0 S4 Welding condition End wait time =0.00 Welding sequence Menu Tree Menu List Chap Menu Tree Move, I/O Grammar Input input direction , variable ,timeout time Endif Flow control Jumpcall 10.4 ETC REM Commemt =voltage output valueVP=voltage ratio ,T=time ,ANTSTK 10.5 ARC =100 Substitutional Statement 11.1.4 11.1.111.1.2 11.1.3 M44 GI3 group signal output On-line shift M53 Signal input/output Jump, call, stopDI1 signal output Execution setting Address Basic elementsLine Character ∼&HFFFFFFFF ConstantH0 ∼&HFFFF Down Rear Auto Robot type information∼7 bit Bit Base R2180 S180 Flip Front Global variable Variable Local variable System variable Input/output variable $CONVREG Bit 1 start limit switchactive highRN1~16 RN1~RN16 Not Or XOR OperatorFormula V2$= Emergency Stop Command lineSubstitution Until Robot Control Move Command ∼3 0 is most accurate Tool Smove Command 11.2.3 I/O 11.2.3.1 I/O Substitution Print CommandPrint #0, Signal Value = Arithmetic Variable, String variable Input CommandInput #0 Teach Pendant #1 Serial port COM1 #2 Serial port COM2 Parameter Gosub ∼ Return Command Program Flow Control Goto Command Delay Command Call Command11.2.4.5 on ∼GOTO Command Stop If DI9=1 then Stop CommandEND Command Wait Command 11.2.4.11 FOR∼NEXT Commands 11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command Endif Print Print Range Error ENDGoto *RANGE Arcon ARC Welding Arcon CommandComments REM Spot Welding #1 Arcvol Command Arcof CommandArccur Command Weavof Command Arcdc CommandArcdv Command Weavon Command Unsigned integer Number Refp Command Others Print CommandDescription Robot Interrupt I signal M29 Syntax Number of DI signal receiving interrupt Parame Volt, interrupt occurs ∼10.0 Upper volt Ter Rinta Command Sreq Command Spotcnd Command Sonl Command Number2,RF3=Basic Step number3 Start/End TONL1 CommandTONL2 Command Online coordinate conversion Slipping M53 Syntax Sxyz Command Sreqt Command SEA Command Teach Point Welding Line Search Range Application of Search Dimension search Gunsea Command Spot Command No,TP=Insert sheet Program Tierst CommandCall program to put in a insert sheet M94 Syntax PAL Command Palpu Command Palend P=1, ES=81 Palend CommandPalrst Command Callpr Callpr Command Selcrd Selcrd Command∼10 System Coordinate systems Number Example M101 1,JOB Finished MIT CodeARC Welding DEGRAD270 OrderrorTimer Function Arithmetic Function String Function Spotcnd T Function Code T Function Code Example of corresponding HR Basic syntax REM Spot Weld Palend P=1,ES=81 Signal Connection Plug-side 3M MDR 10140-3000VE HOOD10340-55F0-008 External Input Signal BD430/BD431 Use external power source DI22/WI CNIN2 Input Signal Connect program selection signal as followings General DI Signal DI1 ∼ DI18 signal connect as followings ※ Turn it on always Connect Discrete/Binary input signal as followings Output Circuit External Output Signal BD430, BD431 Set noise absorbing diode to a load Connection Diagram BD431 Board Common + or voltageUse external power source for power source BD430 Board Common voltage only CNOUT2 Output signal CNOUT2 GUN Signal Reset Step SET Alarm Signal It is output when emergency stop is pressed 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 20-Pin Specification of ConnectorMaker Type Specification MDR Maker Type Specification