Control Parameter →, Error Time, Program ACK. Signal | Hyundai HI4

12.Signal connection (3) BD481 circuit

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8)	INTERLOCK	ERROR	SIGNAL
It is output		this signal in case that interlock				signal is not input despite of
exceeding the time			set in	"SYSTEM [PF5] →	2.	CONTROL PARAMETER →
7.	Interlock	Error	Time	waiting interlock	in playback.

If interlock signal is normally input after this signal is output, the next step is executed at that state.

output

24V

connector
load CNOUT2		signal
	pin no	signal
	pin no

(44)(37) interlock error

(49),(39),(50)(40) COMOUT7

9) PROGRAM ACK. SIGNAL

It is output the confirming signal when program is selected by external program selection. This signal is output for 200msec

output

24V

	connector
load	CNOUT2		signal
		pin no	signal
		pin no

(User(38)setting) program

ACK

(User(39),setting)(40) COMOUT7

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Image 423

Hyundai HI4 operation manual Control Parameter →, Error Time, Program ACK. Signal

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 11.4.1 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 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 Stop AUTO/MANUALPlease refer to the following table 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 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 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 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 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? CP= CR=CS= Servo GUN Data Outline 143938 *** M a N U a L Counter Palletize Register OutlineWork State OFF OFF Register RegisterShift buffer 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 # 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 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 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 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 Use PF Key and select 143938 *** RenameRAM *** A0 S4H120 *995 31 2001-07-09 Service menu Robot CopyCopy H120 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 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 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 Refresh? Error logging143938 *** Error logging *** A0 S4 0005 25 143938 *** Error Log no *** A0 S4 YES/NO Stop History 143938 *** Stop Logging *** A0 S4 01 25Use UpDown Press SET 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 143938 *** Condition set *** A0 S4 Press SHIFT+-- Key AppliCnd EndModification method 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 Conveyor operation T ORobotH120, 6axes Steps Move P S=100% A=0 T=1 Service Rel WaitSearch Range Search reference position record Spot welding PN100* S/F4/0RobotH120, 6 axes Steps 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 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 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 143938* En/Disable Fieldbus * A0 S4 SHIFT+-- to En/DisableDone 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 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 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 Tool Weight Tool DataComponent 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 Soft Limit 143938 *** Software limit *** A0 S4Use UpDown Key and press SET Previous Next Min = 25.0 Max = Arm Interference AngleOutline It sets the working limit between the ARM 143938 ** ARM interference ** A0 S4 Encoder Offset Calibration Outline It calibrates the original point of encoderEncoder calibrationData input 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 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 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 2 Arc Arc WeldShield Gas state 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 143938** Conveyor Parameter ** A0 S4 DsblPress SHIFT+-- Key Previous Next System setting System setting 12.0 Automatic setting of the conveyor angle and center Outline143938* Auto Conveyor Angle * A0 S4 Conveyor type Speed proportion voltage output 12.0V ∼ +12.0VPin arrangement of analog output terminal Port No Pin number SignalOutput 143938 ** Speed by voltage ** A0 S4 Selecting type of the robot Positioner group setting System format143938 *** System format *** A0 S4 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 Make? Previous Next No system file. Need to format first Previous NextCant delete! Check file protectionESC Previous Next System setting ARC Use setting143938 *** Usage setting *** A0 S4 GUN 1 = 0 GUN 2 = 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 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 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 register data 0 6 R18 Frequency Condition Register DISPLAY/SETTINGEnter frequency register No 1 R18,0 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 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? 17 17 R117 Program Delete Program to delete?Delete? R123,0 18 18 R123 Robot LockOutline It sets the robot lock to ON/OFF Set robot lock DSBL=0,ENBL=1 19 19 R136 Modify Accuracy in Steps „ If pressReference 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 24 24 R204 Spot Welding Condition Manual Output Input discrete welding condition 0Input binary WELDg 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 35 35 R320 SET MAX. Speed of Step GO/BACK Step GO/BACK speed? 1 255mm/sR320,200 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 pose LocalEnter index1-999 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% ENABLE+Ö SET ‘ +-*/=&~,%!$?`. @#￦ Smm/sec=V1%/2Unit Conv ‘ Abcdefghijklmnopqrstuvwxyz ‘ abc efghkjklmnopqrstuvwxyz ‘ +-*/=&~,%!$?`.@#￦Weld Line number edit SETLine number is reflected on the edit frame 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 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 ASF Welding Auxiliary Condition Retry143938** Arc Condition File **A0 S4 ARC Auxiliary Condition File 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 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 Constant H0 ∼&HFFFF∼&HFFFFFFFF Down Rear Auto Robot type information∼7 bit Bit Base R2180 S180 Flip Front Global variable Variable Local variable System variable Input/output variable $CONVREG Bit 1 start limit switchactive highRN1~16 RN1~RN16 Operator FormulaNot Or XOR Command line SubstitutionV2$= 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 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 Call Command 11.2.4.5 on ∼GOTO CommandDelay 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 Print Range Error END Goto *RANGEEndif Print Arcon ARC Welding Arcon CommandComments REM Spot Welding #1 Arcof Command Arccur CommandArcvol 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 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 Selcrd Selcrd Command∼10 System Coordinate systems Number Example MIT Code ARC WeldingM101 1,JOB Finished 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 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 20-Pin Specification of ConnectorMaker Type Specification MDR Maker Type Specification