Positioner calibration | Hyundai HI4 specs

6. System setting

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6.6.4 Positioner calibration

Outline

Please refer to the "User manual on the positioner synchronous function".

If not carrying out the "SYSTEM"[PF2] → 5.Initialization → 6.Positioner group setting but selecting the positioner calibration, the following message is displayed.

You must setup the positioner Group[ESC]

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Screen display

14:39:38Positioner CalibrationA:0 S:4

Positioner Group No.	=	[	0]
Program No.	=	[	0]

Select and Enter number. Press [SET].

>[1 - 1]

If pressing the "Execute"[PF5] key after inputting the program number on the applicable positioner group, the result appears.

Reference

⑴The calibration of 1 axis positioner

①In case of the 1 axis positioner, it teaches the three points precisely rotating 30 per one time after fixing the sharp teaching point on the positioner and then records the program. The teaching method is the same as following picture.

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Image 273

Hyundai HI4 operation manual Positioner calibration, You must setup the positioner GroupESC Previous Next

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 R10 Palletizing pattern register Pallete dip angle measurementR17 R18 R136 R123R137 R138 Menu tree 11.4.1 11.4.211.4.3 Panel, Teach pendant Contents General Safety Safety, Operation Panel, Teach Pendant 1 Safety Invalid environments Relevant Safety Standards Safety TrainingSafety Marking Mandatory Operation Mode Selection- ANSI/RIA R15.06-1999 Safety Stop Function-ISO 10218EN 775Speed Limitation Function-ISO 10218EN 775 Working Envelope Restriction- ANSI/RIA R15.06-1999 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 Operation Panel ErrorMotor on Emergency Stop Stop AUTO/MANUALPlease refer to the following table External Shape of Teach Pendant Teach Pendant Move Screen of Teach PendantWeavon WEV#=1 Arcon ASF#=1 Arcof AEF#=1 Weavof AUX Axis CoordConti / JOG on ACC / Intp Shiftfast Right position of Title FrameESC Speed SETYes LCD Ch/Var/Fn/CMD STOP/MANOUTPROG/STEP Basic operation Basic operation Power OFF/ Motor OFF How to initiate the system TeachingSelect the type of robot connected controller Step and Function Basic things for step Parameter of Step command linePNo999* S/F1/0 Spd100.00 Select PF menu Interpolation locus from between Step and Step = Robot coordinate system E = Encoder Pose Accuracy SpeedTool number Output option Stop state variable Stop condition Step position validation/modification method When the coordinate system is set as encoder143938 *** Step Pose Data *** A0 S4 Coordination Base,Robot,Encoder When the coordinate system is set as Base or Robot 000Select and Enter number. Press SET 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 143938 ***AUTO Tool SETg*** A0 S4 Auto tool settingProgram No. = Step No. = Tool No. = Select and Enter number. Press SET Execute Service Menu Protect Storage media format Save/Load Sram Card Use Number/UpDown and press SET Previous Next Service Menu 143938 *** Monitoring *** A0 S4 Monitor OFF Monitoring11 DIO169 Equalizerless GUN data Current Command Angle Command AngleEnter the number of line and press SET PN100* S/F=4/0 Sp100.00 143938 *** M a N U a L A0 S4 Service Mspr on PN100* S/F=4/0 Sp100.00 RobotH120, 6axes Slip Count display/setting Outline Slip count resetBreak Slip Count Outline Use Number/UpDown and press SET Clear to slip count? CP= CR=CS= Servo GUN Data Outline 143938 *** M a N U a L Work State Palletize Register OutlineOFF Counter OFF Register RegisterShift buffer Register A0 S4 XYZ Shift RegisterSelect and Enter number. Press SET Complete 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 # Palletizing preset Pallet NoStart count Input the palletize pallet number.1-16 Select and Enter number. Press SET End Frequency condition register Conveyor Data RegisterSelect Enter Number. Press SET Works entered the CV line = Conveyor data clear. Continue? YES/NO Variable IndexPrevious Next Index Edit Program Select the Program modify and then displays as follows143938 *** Program modify *** A0 S4 Condition modify 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 Is shiftedT1= Deg R2= T1= Deg R1= 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 Service System Apply hot edit, First ?Applying initiated CALLing info Escape SR100% HotE022/3/1* PB022/4/0 S1 Move P,S=30%,A=1,T=0 143938 *** Hotedit *** A0 S4 Hot eidt A0 S4 Copy File ManagementDelete Protect All files? Yes, or just programs? No Internal memory file nameFile display A0 S4 File, 31351 Block free PN100* S/F4/0 Program first data 143938 *** Number of axes *** A0 S4 Internal memory Internal program axis noFile, 63156 block free. Page 1 Previous Next Escape Rename RenameInternal memory 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 Enter new No and press SET 143938 *** RenameRAM *** A0 S4 H120 *991 31 2001-07-09143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 File, 31351 Block free. Page 1 Use PF Key and select 143938 *** RenameRAM *** A0 S4H120 *995 31 2001-07-09 Service menu Copy CopyH120 Robot Select Cancel Previous Next Excute Delete DeleteH120 991 H120 .991 Delete? YesAll=1/No Protect Protect Protect or Release?1Protect/Release Reference Storage Media Format 143938 ** Sram Card Format ** A0 S4Press executePF5 or ESC key Load all files from the Sram card Save/Load Sram CardNext 143938* Save/load all files * A0 S4 DIR 143938* Save/load all files * A0 S4 Enter the name if a folder to read.AnyFolder, 1999 KB free. Page 1 Previous Next Select Program Conversion 143938 *** ConversionMirror Image Off-Line XYZ shift Coordinate transformation Contents of window Object programProgram Destination 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 System Checking Following is displayed in system checking menu143938 *** System checking *** A0 S4 System version 143938 *** System version *** A0 S4Press ESC or R Run time Run timePress ESC or R Run time Clear YES / no Data is cleared as selecting YES and following is displayed=00 Total cycle count =0 Check Diagnosis of troubles Service menu 143938 *** Error logging *** A0 S4 0005 25 Error logging143938 *** Error Log no *** A0 S4 Refresh? YES/NO Stop History 143938 *** Stop Logging *** A0 S4 01 25Use UpDown Press SET Service menu 143938 ** Operation Hist ** A0 S4 Operation HistoryPress PF3, PF4, ESC or R Refresh? Previous Next 143938 *** Date/Time set *** A0 S4 Date setting Date, TimeDate = Time = Select and Enter number, Press SET Chap 4 Condition Setting 143938 *** Condition set *** A0 S4 Press SHIFT+-- Key AppliCnd EndModification method Cycle type ServiceStep go/back max. speed Playback Speed rate Function in step go/back Robot lock Select PF menu Service SystemRecord speed type N U a L User Coordinate Interpolation baseCrd01 =100%,A=0,T=1 → 12. Coordinate setting → 1. User coordinate Chapter Application condition 143938* Application Condition A0 S4 Cond Set PF5, Press AppliCnd PF1 Screen displayConveyor Oper=Normal,Simulat.,Test Search range Press SHIFT+-- Key Cond Set Conveyor operation T ORobotH120, 6axes Steps Search Range Service Rel WaitSearch reference position record Move P S=100% A=0 T=1 Spot welding PN100* S/F4/0RobotH120, 6 axes Steps Gun Search reference point record Service Rel Wait Cond Set143938 G1 SW Wd-On 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 143938 * User configuration * A0 S4 User configurationPress SHIFT+-- Key Next End Pose Record Type Display language Change of cursor position in Auto mode Service Rel.WAITStart type Confirm when the command delete DeleteYes/No? Service SystemWait DI/WI Forcible Release Power failure Detection Not Changeable Dettachment of Teach PendantExternal Program selection 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 Monitoring External reset143938 ** DI Sig assignment ** A0 S4 External start External stop BO3 BO1B05 B07 Sig Time Setting the Earlier output OutlineHigh do Sec Low GO High „ Resister the name of in/output signal 143938 ** Character input ** A0 S4 Press SET for string inputDIO name Use UpDown, and press SET Complete File not exist, Create file? YES/NO Done 143938* En/Disable Fieldbus * A0 S4 SHIFT+-- to En/DisableDone DI9 DI1 DI8 DI1 143938 *** Assign Input No *** A0 S4DI9 Previous Next Done Form Previous 143938*** Assign Outpur No *** A0 S4 143938 * Serial port select* A0 S4 Teach Pendant Cntp Serial portTeach Pendant Cntp Outline Cant modify! Private port for T/P.ESE Previous Next 143938 *** Serial to I/O *** A0 S4 Interface with the external vision system External computer and visa versa Ready Robot ReadyAuto Enter number and press SET Previous Next Complete Actual screen Home position registration143938 *** Home position *** A0 S4 Home 1 Program No. = Step No. = Return to the previous position 143938 ** Previous position ** A0 S4Press SHIFT+ End Relay Output Time RelaySec Interlock error time Interlock error timer = 60 sec143938 *** Interlock Abn.*** A0 S4 143938 *** Error output *** A0 S4 External error output Signal name Assignment and Quantity Type System setting Power Saving PWM OFF 12.8Press SHIFT+-- Key 200.0 Shift Limit GUN2 Setting the user key 143938 *** f-key setting *** A0 S4 F2= F3= 0 f4= 527Select and Enter number. Press SET Previous Next Complete Coordination system registration Procedure143938 *Coordinate assignment* A0 S4 User coordinate Stationary tool coordinate 143938 *** User coordinate *** A0 S4 Staionary tool 143938 *** Staionary tool *** A0 S4Staionary tool X1= Staionary tool X2= 143938 ** Machine parameter ** A0 S4 Tool data Machine Parameter Tool Weight Tool DataComponent IzZf 143938 ***AUTO Tool SETg*** A0S4 Reference ⑴ Auto calibration Outline 143938 ***TOOL Angle SETg*** A0S4 Adjust angle by jogging, then push PF5 ExecuteHH ： Body Torch ==H Side 143938 *** Axis constants *** A0 S4 Axis Constant90.0 Use UpDown Key and press SET Soft Limit 143938 *** Software limit *** A0 S4Use UpDown Key and press SET Previous Next Outline It sets the working limit between the ARM Arm Interference Angle143938 ** ARM interference ** A0 S4 Min = 25.0 Max = Encoder Offset Calibration Outline It calibrates the original point of encoderEncoder calibrationData input 143938 *** Encoder offset *** A0 S4 After axis Oper, press REC.ESCusableR2= R1= 2000000000 Acceleration/Deceleration Speed Parameter Contents of the screen „ Maximum speedOutline It sets acceleration/deceleration time 117 143938 ** B axis dead zone ** A0 S4 Axis Dead Zone Accuracy Level = 0 ∼Level Distance Cornering Discontinuous step Continuous step Speeds Additional load per each axis Contents of the screenInertia 00Kgm2 Center Inertia System setting Application parameter 143938 *Application parameter* A0 S4 Spot & StudArc Palletizing Conveyor Volt. output proportional to Speed 143938 *** Spot&Stud Weld *** A0 S4 Air-gun welding data Spot & Stud 143938 *Air-gun welding data* A0 S4 System setting Case of selecting the next screen Second2 servo gun parameterMove tip clearance mm 10.0 Fix tip clearance mm Offset mm Pressure-Current Tab.1 Gravitational 143938** Servo Gun 1 Param. ** A0 S4150 225 300 350 Pressure-Current Tab.1 Gravitational 150 225 300 350 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 Squeeze signal Number Condition signal143938 *** Weld Sequence *** A0 S4 WI wait Source number Sequence Enter number and press SET 0.0 GUN2 System setting 2 Arc Arc WeldShield Gas state Inching speed setting Contents of the screen High step forward/backward setting 143938 *** Palletizing *** A0 S4 Palletize pattern register PalletizingPalette slope calculation Use Number/UpDown and pressSET Previous Next Pattern register 143938** Palletize pattern ** A0 S4 Pattern register Press SHIFT+-- Key Previous Next Complete YES Basic pattern System setting Rec.PosiY Direct Conveyor Conveyor parameter settingConveyor Conveyor angle/centr auto-set 143938** Conveyor Parameter ** A0 S4 DsblPress SHIFT+-- Key Previous Next System setting System setting 143938* Auto Conveyor Angle * A0 S4 Automatic setting of the conveyor angle and center OutlineConveyor type 12.0 Speed proportion voltage output 12.0V ∼ +12.0VPin arrangement of analog output terminal Output Pin number Signal143938 ** Speed by voltage ** A0 S4 Port No Selecting type of the robot Positioner group setting System format143938 *** System format *** A0 S4 System format 143938 *Robot type selection * A0 S4 H120 Matsushita motor Robot type selection143938 *Robot type selection* A0 S4 Enter number and press SET Previous Next Make? Previous Next No system file. Need to format first Previous NextCant delete! Check file protectionESC Previous Next System setting 143938 *** Usage setting *** A0 S4 Use settingGUN 1 = 0 GUN 2 = ARC Positioner group setting 143938 ** Positioner Group ** A0 S4Additional Axis Former times is ineffective Positioner Calibration Automatic constant setting Optimization of axis constant and tool length Max step position errorX = System setting You must setup the positioner GroupESC Previous Next Positioner calibration143938*Positioner Calibration*A0 S4 CP1 CP2 Constant is saved in the controller 000 143938*Positioner Calibration* A0 S4DH.a= DH.alpha= DH.d= DH.theta= Save? Code Set max. speed Step go/back Enter R code No 0 Manual 1 R0 Step Counter Reset 2 R5 External Start Selection ENABLE/DISABLER5,0 3 R6 External Program Selection ENABLE/DISABLE Set Ext program selectionDSBL=0,ENBL=1R6,0 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 frequency register No 1 6 R18 Frequency Condition Register DISPLAY/SETTINGR18,0 Enter register data 0 7 R29 Tool Number Setting Enter tool NoR29,0 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 PN999* S/F=3/1 Service 11 11 R49 Speed Variation SettingEnter speed rate 1 T O End palletizing? 12 12 R55 Palletize Counter Reset Specify Sec 13 13 R71 Recorded Speed Specification Method SelectionRec speed type?Standard=0,%=1,mm/s=2 R71,0 15 15 R115 Program Copy 14 14 R107 Program Head Data Display143938 *** M a N U a L *** A0 SH4 Use cursor Up/Down, then ESC for exit Source program to modify? 16 16 R116 Program Number ModificationDestination program to modify? R116,999 17 17 R117 Program Delete Program to delete?Delete? Outline It sets the robot lock to ON/OFF 18 18 R123 Robot LockSet robot lock DSBL=0,ENBL=1 R123,0 19 19 R136 Modify Accuracy in Steps „ If pressReference 20 20 R137 Modify MX in Step Set MX signal Off=0, On=1Enter MX No 1 R137,0 Enter gun No 21 21 R138 Modify GUN in StepR138,0 R138,1,0 22 22 R162 Shift Register Value Change 23 23 R163 ON-LINE Shift Cancel 24 24 R204 Spot Welding Condition Manual Output Input discrete welding condition 0Input binary WELDg condition 0 25 25 R210 Servo GUN Number Selection 26 26 R211 Squeeze Force SettingEnter gun number R210,1 28 28 R213 FIXED-TIP Consumption Preset 27 27 R212 MOVING-TIP Consumption PresetEnter fix tip consumption. -10 R213,0.00 29 29 R219 Equalizerless GUN Number Selection 30 30 R220 Equalizing Welder TIP Consumption PresetR219,1 R220,0.00 Monitoring 31 31 R245 Monitor Mode Selection120 144 10 DIO145 168 Program to protect? 32 32 R269 Memory Protection SettingProtect or Release?1Protect/2Release Protect type?1Whole/2Section/3Playb DSP1 S/W 33 33 R286 Software Version DisplayDSP2 S/W DSP3 S/W Enter Group number 1 34 34 R310 Manual Output of GO-SIGNALR310,10 Input data to be output manually 35 35 R320 SET MAX. Speed of Step GO/BACK Step GO/BACK speed? 1 255mm/sR320,200 36 36 R323 Robot Interrupt Function Record Set reference point setting 00DI Sig,1Analog,2Weld sticking0 R323 Enter reference Y -3000.0 Enter reference X -3000.0Enter reference Z -3000.0 RobotH120, 6 axes, 1steps Input minimum voltage. -10.0 ExampleM30,1 M30=1,-5.00,5.00 M30=1,-5.00,5.00,1,200.0,150.0 M30=1,-5.00,5.00,1Move P,S=100%,A=0,H=1 Reference ⑴ It can not be executed during operation 37 37 R341 Execution Code BACK-UP Backup execution code of controller?Y/N Programming Programming Record of Step Edit StepModification of Step Delete of Step Word Cursor Status Summary of Operation Keys EN+PSTEP „ Command Area Edit CommandEdition Screen „ Address Area Select interpolation type Example Move Sentence Select command Command Input Select inputting commandSpd100.00 RobotH6 6axes, 2steps Enter pose LocalEnter index1-999 P3+R2 EnterEnter speed Unit Enter accuracy Adjust output optionToggleSpd100.00 RobotH6 2steps Sentence form With numerical keys and menuTo statement input status menu for sentence form constant Pose form Enter variable 120 Pose Shift Out Variable, numerical formula and string editEnter variable 120 Enter variable SET Enter variable V2% ENABLE+Ö SET ‘ +-*/=&~,%!$?`. @#￦ Smm/sec=V1%/2Unit Conv ‘ Abcdefghijklmnopqrstuvwxyz ‘ abc efghkjklmnopqrstuvwxyz ‘ +-*/=&~,%!$?`.@#￦Weld Line number edit SETLine number is reflected on the edit frame Welding Block editGoto S2 Set start position of block region S2 Move L S=100mm/sec,A=0,H=0 V11!=0 S1 Move L,P1+R2,S=120mm/s,A=0,H=0Position of block region Select block edit function Select block edit function Unselect Copy Move Delete Close PN999* S/F1/2 Sp100.00 RobotH6 , 6axes, 14steps V10!=0Copy Copied area is pasted just below a cursor PN999* S/F1/3 Sp100.00 RobotH6 , 6axes, 14steps V10!=0 Quick Open Function Outline Function Summary Remark Instructi Pose of Current Step Move step position840.000 mm 960.000 mm Welding Start Condition EXE. AT ASF#=x 143938** Arc Condition File **A0 S4Save Quick Open Function Condition File Welding END Condition EXE. AT AEF#= Quick Open Function 143938** Arc Condition File **A0 S4 Welding Auxiliary Condition RetryARC Auxiliary Condition File ASF It starts with the current value of welding start condition Welding Auxiliary Condition Restart ARC Auxiliary Condition File RestartRetry Quick Open Function Quick Open Function Auto Stick Recovery Welding Auxiliary Condition AUTO. Wire Stick ReleaseDelay 30 sec 20.0 Select and Enter number. Press SET Previous Next Save Weaving Condition File Quick Open Function HotE022/3/1 Program Edit in Running=30%,A=1,T=0 Select PF menu Escape Apply OK Welding condition Spot Welding Function143938*Servo-gun Welding Data*A0 S4 Welding condition Use Number/UpDownand press SET 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 11.1.2 11.1.111.1.3 11.1.4 DI1 signal output Signal input/output Jump, call, stopExecution setting M44 GI3 group signal output On-line shift M53 Line Basic elementsCharacter Address Constant H0 ∼&HFFFF∼&HFFFFFFFF ∼7 bit Bit Base R2180 Robot type informationS180 Flip Front Down Rear Auto Global variable Variable Local variable System variable Input/output variable RN1~16 Bit 1 start limit switchactive highRN1~RN16 $CONVREG Operator FormulaNot Or XOR Command line SubstitutionV2$= Emergency Stop Until Robot Control Move Command ∼3 0 is most accurate Tool Smove Command Print Command Print #0, Signal Value =11.2.3 I/O 11.2.3.1 I/O Substitution Input #0 Teach Pendant Input Command#1 Serial port COM1 #2 Serial port COM2 Parameter Arithmetic Variable, String variable Gosub ∼ Return Command Program Flow Control Goto Command Call Command 11.2.4.5 on ∼GOTO CommandDelay Command END Command Stop CommandWait Command Stop If DI9=1 then 11.2.4.11 FOR∼NEXT Commands 11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command Print Range Error END Goto *RANGEEndif Print Comments ARC Welding Arcon CommandREM Spot Welding #1 Arcon Arcof Command Arccur CommandArcvol Command Arcdv Command Arcdc CommandWeavon Command Weavof Command Unsigned integer Number Refp Command Description Robot Interrupt I signal M29 Syntax Print CommandNumber of DI signal receiving interrupt Others Parame Volt, interrupt occurs ∼10.0 Upper volt Ter Rinta Command Sreq Command Spotcnd Command Sonl Command TONL2 Command TONL1 CommandOnline coordinate conversion Slipping M53 Syntax Number2,RF3=Basic Step number3 Start/End Sxyz Command Sreqt Command SEA Command Teach Point Welding Line Search Range Application of Search Dimension search Gunsea Command Spot Command Tierst Command Call program to put in a insert sheet M94 SyntaxNo,TP=Insert sheet Program PAL Command Palpu Command Palend Command Palrst CommandPalend P=1, ES=81 Callpr Callpr Command ∼10 Selcrd CommandSystem Coordinate systems Number Example Selcrd MIT Code ARC WeldingM101 1,JOB Finished Timer OrderrorFunction Arithmetic Function DEGRAD270 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 Use external power source for power source Connection Diagram BD431 Board Common + or voltageBD430 Board Common voltage only Set noise absorbing diode to a load CNOUT2 Output signal CNOUT2 GUN Signal Reset Step SET Alarm Signal It is output when emergency stop is pressed Error Time Program ACK. SignalControl Parameter → It is out the confirming signal that robot is running LOW Mode SignalRobot Running Robot Ready Signal Robot Home SignalControl Parameter 4. Home Position Registration Maker Type Specification Specification of ConnectorMDR 20-Pin Maker Type Specification