Safety Chain of Operation | Hyundai HI4 specification

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

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The Safety Chain of Operation

The emergency stop buttons on the operator's panel and on the teach pendant and external emergency stop buttons are included in the safety chain of operation. You are recommended to install safety devices such as safety plug and safety stop device while entering inside the working envelope etc. which can be operated in the AUTO operating mode. You can connect the general safety stop devices that is active in all operating modes.

No workers/persons can enter inside the working envelope of robot in automatic operation mode due to the unconditional operation of the safety devices(door, safety mat, safety plug etc.). In manual mode, maximum speed of robot is completely restricted to 250mm/s. The aim of this safeguarded stop function is to make the area around the manipulator safe while still being able to access it for maintenance and programming.

When the robot is stopped by a limit switch, it can be moved from this position by jogging it with the move key in CONSTANT mode(refer to the Parameter Setting 1 of Chapter 9). Status indication is available on the teach pendant display.

The safety chains must never be bypassed, modified or changed in any other way.

safeguard	AUTO	External	Emergency

		Em. stop	stop

MANUAL	Mode select	Motor
MANUAL	switch
	switch
<250mm/s

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Hyundai HI4 operation manual Safety Chain of Operation

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 11.4.2 11.4.111.4.3 Panel, Teach pendant Contents General Safety Safety, Operation Panel, Teach Pendant 1 Safety Invalid environments Safety Training Relevant Safety StandardsSafety 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 AUTO/MANUAL StopPlease 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 STOP/MANOUT Ch/Var/Fn/CMDPROG/STEP Basic operation Basic operation Power OFF/ Motor OFF Teaching How to initiate the systemSelect 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 000 When the coordinate system is set as Base or RobotSelect 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? CR= CP=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 Pallet No # Palletizing presetStart count Input the palletize pallet number.1-16 Select and Enter number. Press SET End Frequency condition register Register Conveyor DataSelect Enter Number. Press SET Works entered the CV line = Conveyor data clear. Continue? YES/NO Index VariablePrevious Next Index Select the Program modify and then displays as follows Edit Program143938 *** 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 Apply hot edit, First ? Service SystemApplying 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 143938 *** RenameRAM *** A0 S4 Use PF Key and selectH120 *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 143938 ** Sram Card Format ** A0 S4 Storage Media FormatPress 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 143938 *** Conversion Program ConversionMirror Image Off-Line XYZ shift Coordinate transformation Object program Contents of windowProgram 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 Following 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 Check Diagnosis of troubles Service menu 143938 *** Error logging *** A0 S4 0005 25 Error logging143938 *** Error Log no *** A0 S4 Refresh? YES/NO 143938 *** Stop Logging *** A0 S4 01 25 Stop HistoryUse 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 Press SHIFT+-- Key AppliCnd End 143938 *** Condition set *** A0 S4Modification 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 T O Conveyor operationRobotH120, 6axes Steps Search Range Service Rel WaitSearch reference position record Move P S=100% A=0 T=1 PN100* S/F4/0 Spot weldingRobotH120, 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 Service 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 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 SHIFT+-- to En/Disable 143938* En/Disable Fieldbus * A0 S4Done 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. = 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 143938 *** Error output *** A0 S4 External error output Signal name Assignment and Quantity Type System setting 12.8 Power Saving PWM OFFPress SHIFT+-- Key 200.0 Shift Limit GUN2 Setting the user key F2= F3= 0 f4= 527 143938 *** f-key setting *** A0 S4Select 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 Data Tool WeightComponent 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 143938 *** Software limit *** A0 S4 Soft LimitUse 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 = Outline It calibrates the original point of encoder Encoder Offset CalibrationEncoder 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 143938 *Application parameter* A0 S4 Spot & Stud Application parameterArc 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 Arc Weld 2 ArcShield 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 Dsbl 143938** Conveyor Parameter ** A0 S4Press 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 12.0V ∼ +12.0V Speed proportion voltage outputPin arrangement of analog output terminal Output Pin number Signal143938 ** Speed by voltage ** A0 S4 Port No System format Selecting type of the robot Positioner group setting143938 *** 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 No system file. Need to format first Previous Next Make? Previous NextCant delete! Check file protectionESC Previous Next System setting 143938 *** Usage setting *** A0 S4 Use settingGUN 1 = 0 GUN 2 = ARC 143938 ** Positioner Group ** A0 S4 Positioner group settingAdditional Axis Former times is ineffective Positioner Calibration Automatic constant setting Optimization of axis constant and tool length Max step position errorX = System setting Positioner calibration You must setup the positioner GroupESC Previous Next143938*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 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 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 Enter tool No 7 R29 Tool Number SettingR29,0 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 Program to delete? 17 17 R117 Program DeleteDelete? Outline It sets the robot lock to ON/OFF 18 18 R123 Robot LockSet robot lock DSBL=0,ENBL=1 R123,0 „ If press 19 19 R136 Modify Accuracy in StepsReference 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 Input discrete welding condition 0 24 24 R204 Spot Welding Condition Manual OutputInput 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 Step GO/BACK speed? 1 255mm/s 35 35 R320 SET MAX. Speed of Step GO/BACKR320,200 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 Local Enter poseEnter 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% ‘ +-*/=&~,%!$?`. @#￦ Smm/sec=V1%/2 ENABLE+Ö SETUnit Conv ‘ abc efghkjklmnopqrstuvwxyz ‘ +-*/=&~,%!$?`.@#￦ ‘ AbcdefghijklmnopqrstuvwxyzWeld SET Line number editLine 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 143938** Arc Condition File **A0 S4 Welding Start Condition EXE. AT ASF#=xSave 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 ARC Auxiliary Condition File Restart Welding Auxiliary Condition 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 H0 ∼&HFFFF Constant∼&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 $CONVREG Formula OperatorNot Or XOR Substitution Command lineV2$= Emergency Stop Until Robot Control Move Command ∼3 0 is most accurate Tool Smove Command Print #0, Signal Value = Print Command11.2.3 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 11.2.4.5 on ∼GOTO Command Call 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 Goto *RANGE Print Range Error ENDEndif Print Comments ARC Welding Arcon CommandREM Spot Welding #1 Arcon Arccur Command Arcof 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 Call program to put in a insert sheet M94 Syntax Tierst CommandNo,TP=Insert sheet Program PAL Command Palpu Command Palrst Command Palend CommandPalend P=1, ES=81 Callpr Callpr Command ∼10 Selcrd CommandSystem Coordinate systems Number Example Selcrd ARC Welding MIT CodeM101 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 Program 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 Maker Type Specification Specification of ConnectorMDR 20-Pin Maker Type Specification