Step position validation/modification method | Hyundai HI4 manual

2.Basic operation

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2.2.2 Step position validation/modification method

After move robot with axis operation keys, if press [REC] key on teach pendant can verify or modify robot's posture.

2.2.2.1 When the coordinate system is set as encoder

At manual mode, check the type of pose record from 'SYSTEM'[PF2] → 1 : User parameter →

2 : Default Pose. If the MOVE command's pose type is in a state of encoder, press then following screen will be displayed. For encoder setting robot posture, validation of location only can be done. You cannot modify position data.

14:39:38 * Step Pose Data * A:0 S:4

POSE OF CURRENT STEP
S :[	00400000]	T1:[	00400000]
H :[	00400000]	T2:[	00400000]
V :[	00400000]	T3:[	00400000]
R2:[	00400000]
B :[	00400000]
R1:[	00400000]

Coordination : <Base,Robot,Encoder>

Press [Shift]+[<-][->] Key.

>

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Hyundai HI4 operation manual Step position validation/modification method, When the coordinate system is set as encoder

Contents

Hyundai Robot Hi4 Page Head Office JEONHA-DONG, DONG-GU Contents 2.2 Basic things for step Condition setting Application condition Setting the field bus Machine Palletizing pattern register Pallete dip angle measurement R10R17 R18 R123 R136R137 R138 Menu tree 11.4.1 11.4.211.4.3 Contents Panel, Teach pendant Safety General Safety, Operation Panel, Teach Pendant 1 Safety Invalid environments Relevant Safety Standards Safety TrainingSafety Marking Mandatory Safety Stop Function-ISO 10218EN 775 Operation Mode Selection- ANSI/RIA R15.06-1999Speed Limitation Function-ISO 10218EN 775 Working Envelope Restriction- ANSI/RIA R15.06-1999 Installation of Robot Safety Fence Safety, Operation Panel, Teach Pendant 1 Safety Safety, Operation Panel, Teach Pendant 1 Safety Robot installation General Safety Precautions Technical Safety Precautions Safety, Operation Panel, Teach Pendant 1 Safety Space for robot installation Safety Working Procedures Safety measure for robot operation 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 Safety Measures for Maintenance and Repair Position Safety, Operation Panel, Teach Pendant 1 Safety Necessary Actions after Completion of Maintenance and Repair Safety Functions Safety Control Chain of Operation Safety Chain of Operation Emergency Stop Status of Emergency stop Operating Speed Safety Related to End Effectors Gripper Tools and Workpiece Liabilities Safety, Operation Panel, Teach Pendant 1 Safety Error Operation PanelMotor on Emergency Stop Stop AUTO/MANUALPlease refer to the following table Teach Pendant External Shape of Teach Pendant Screen of Teach Pendant MoveWeavon WEV#=1 Arcon ASF#=1 Arcof AEF#=1 Weavof Coord AUX AxisConti / JOG on ACC / Intp Right position of Title Frame ShiftfastESC Speed LCD SETYes Ch/Var/Fn/CMD STOP/MANOUTPROG/STEP Basic operation Power OFF/ Motor OFF Basic operation How to initiate the system TeachingSelect the type of robot connected controller Step and Function Parameter of Step command line Basic things for stepPNo999* S/F1/0 Spd100.00 Select PF menu Interpolation locus from between Step and Step Pose = Robot coordinate system E = Encoder Speed AccuracyTool number Output option Stop condition Stop state variable When the coordinate system is set as encoder Step position validation/modification method143938 *** 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 Step 50.000 Coordinate system JOG operation key Xis C o o rd Axis coordinate B o t C o o rd Robot coordinate Axis direction Rotation direction Rzu User coordinate Tool coordinate It shows that the robot is operating without tool Auto tool setting 143938 ***AUTO Tool SETg*** A0 S4Program No. = Step No. = Tool No. = Select and Enter number. Press SET Execute Service Menu Protect Storage media format Save/Load Sram Card Service Menu Use Number/UpDown and press SET Previous Next Monitoring 143938 *** Monitoring *** A0 S4 Monitor OFF11 DIO169 Equalizerless GUN data Command Angle Current Command AngleEnter the number of line and press SET PN100* S/F=4/0 Sp100.00 Service 143938 *** M a N U a L A0 S4 Mspr on PN100* S/F=4/0 Sp100.00 RobotH120, 6axes Slip count reset Slip Count display/setting OutlineBreak Slip Count Outline Use Number/UpDown and press SET Clear to slip count? CP= CR=CS= 143938 *** M a N U a L Servo GUN Data Outline Palletize Register Outline Work StateOFF Counter OFF Register RegisterShift buffer XYZ Shift Register Register A0 S4Select and Enter number. Press SET Complete Service menu Shift buffers Reference Parallel movement shift Work작업A물Awork작업물a a On-line shift register Group Register A0 S4 ON-line shift register Service menu Palletizing register Register A0 S4 Palletizing register # Palletizing preset Pallet NoStart count Input the palletize pallet number.1-16 Frequency condition register Select and Enter number. Press SET End Conveyor Data RegisterSelect Enter Number. Press SET Conveyor data clear. Continue? YES/NO Works entered the CV line = Variable IndexPrevious Next Index Edit Program Select the Program modify and then displays as follows143938 *** Program modify *** A0 S4 Condition modify Modify writing condition totally MX2 Modify speed in record totally 143938** Speed Modification **A0 S4 Modify position in record totally 143938 ** Position modify ** A0 S4 Is shifted T1= DegT1= Deg R2= T1= Deg R1= Step Copy Step Copy Service menu Step Reverse-Copy 143938 * Reverse step copy * A0 S4 Service menu Edit program in running Hot Edit Not running state. Use Manual mode.ESC HotE022/3/1 PB022/4/0 Apply Service System Apply hot edit, First ?Applying initiated CALLing info Escape 143938 *** Hotedit *** A0 S4 SR100% HotE022/3/1* PB022/4/0 S1 Move P,S=30%,A=1,T=0 Hot eidt A0 S4 File Management CopyDelete Protect Internal memory file name All files? Yes, or just programs? NoFile display A0 S4 File, 31351 Block free Program first data PN100* S/F4/0 Internal program axis no 143938 *** Number of axes *** A0 S4 Internal memoryFile, 63156 block free. Page 1 Previous Next Escape Rename RenameInternal memory 143938 *** RenameRAM *** A0 S4 H120 .991 31 2001-07-09 143938 *** RenameRAM *** A0 S4 H120 *991 31 2001-07-09 Enter new No and press SET143938 *** 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 Save/Load Sram Card Load all files from the Sram cardNext 143938* Save/load all files * A0 S4 DIR Enter the name if a folder to read.Any 143938* Save/load all files * A0 S4Folder, 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 Enbl Enter number and press SET Execute Service menu Off-Line XYZ Shift Example Parallel transfer of the workpiece 143938 * Off-Line XYZ Shift * A0 S4 Enter number and press SET 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 Diagnosis of troubles Check Service menu Error logging 143938 *** Error logging *** A0 S4 0005 25143938 *** Error Log no *** A0 S4 Refresh? YES/NO Stop History 143938 *** Stop Logging *** A0 S4 01 25Use UpDown Press SET Service menu Operation History 143938 ** Operation Hist ** A0 S4Press PF3, PF4, ESC or R Refresh? Previous Next Date setting Date, Time 143938 *** Date/Time set *** A0 S4Date = Time = Select and Enter number, Press SET Chap 4 Condition Setting 143938 *** Condition set *** A0 S4 Press SHIFT+-- Key AppliCnd EndModification method Service Cycle typeStep go/back max. speed Playback Function in step go/back Speed rate Select PF menu Service System Robot lockRecord speed type N U a L Interpolation base User CoordinateCrd01 =100%,A=0,T=1 → 12. Coordinate setting → 1. User coordinate Chapter Application condition Cond Set PF5, Press AppliCnd PF1 Screen display 143938* Application Condition A0 S4Conveyor Oper=Normal,Simulat.,Test Search range Press SHIFT+-- Key Cond Set Conveyor operation T ORobotH120, 6axes Steps Service Rel Wait Search RangeSearch reference position record Move P S=100% A=0 T=1 Spot welding PN100* S/F4/0RobotH120, 6 axes Steps Service Rel Wait Cond Set Gun Search reference point record143938 G1 SW Wd-On OutputDO signal clear On-line Shift Register Clear System setting System setting Spot welding datacondition,sequence Equalizing parameter Palletizing pattern register Palette dip angle measurement System setting 143938 *** System setting *** A0 S4 User parameter User configuration 143938 * User configuration * A0 S4Press SHIFT+-- Key Next End Display language Pose Record Type 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 Using the program strobe signal Value of Prog Selec Sig input is Service System Step SET Alarm Type Lowest position proportion of the cursor Using the collision sensor Coordinate setting Use Number/UpDown and press SET Controller Parameter Input/Output signal selection 143938** DIO signal setting ** A0 S4 Input signal logic DI9 Previous 143938*** do signal logic DO9 143938 ** do Sig attribute ** A0 S4 DO1 DO2 DO3 DO4 DO5 DO6 DO7 DO8 DO9 143938 *** Pulse table Enter number. Press 143938 *** Delay table MXUnfolding Sig = X1 External reset Monitoring143938 ** DI Sig assignment ** A0 S4 External start External stop BO1 BO3B05 B07 Setting the Earlier output Outline Sig TimeHigh do Sec Low GO High „ Resister the name of in/output signal Press SET for string input 143938 ** Character input ** A0 S4DIO 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 DI1 DI8 DI9 143938 *** Assign Input No *** A0 S4 DI1DI9 Previous Next Done 143938*** Assign Outpur No *** A0 S4 Form Previous Serial port 143938 * Serial port select* A0 S4 Teach Pendant CntpTeach Pendant Cntp Outline Cant modify! Private port for T/P.ESE Previous Next 143938 *** Serial to I/O *** A0 S4 External computer and visa versa Interface with the external vision system Robot Ready ReadyAuto Enter number and press SET Previous Next Complete Home position registration Actual screen143938 *** 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 External error output 143938 *** Error output *** A0 S4 Signal name Assignment and Quantity Type System setting Power Saving PWM OFF 12.8Press SHIFT+-- Key Shift Limit 200.0 Setting the user key GUN2 143938 *** f-key setting *** A0 S4 F2= F3= 0 f4= 527Select and Enter number. Press SET Previous Next Complete Procedure Coordination system registration143938 *Coordinate assignment* A0 S4 User coordinate Stationary tool coordinate 143938 *** User coordinate *** A0 S4 143938 *** Staionary tool *** A0 S4 Staionary toolStaionary tool X1= Staionary tool X2= Machine Parameter 143938 ** Machine parameter ** A0 S4 Tool data Tool Weight Tool DataComponent IzZf Reference ⑴ Auto calibration Outline 143938 ***AUTO Tool SETg*** A0S4 Adjust angle by jogging, then push PF5 Execute 143938 ***TOOL Angle SETg*** A0S4HH ： Body Torch ==H Side Axis Constant 143938 *** Axis constants *** A0 S490.0 Use UpDown Key and press SET Soft Limit 143938 *** Software limit *** A0 S4Use UpDown Key and press SET Previous Next Arm Interference Angle Outline It sets the working limit between the ARM143938 ** ARM interference ** A0 S4 Min = 25.0 Max = Encoder Offset Calibration Outline It calibrates the original point of encoderEncoder calibrationData input After axis Oper, press REC.ESCusable 143938 *** Encoder offset *** A0 S4R2= R1= 2000000000 Contents of the screen „ Maximum speed Acceleration/Deceleration Speed ParameterOutline It sets acceleration/deceleration time 117 Axis Dead Zone 143938 ** B axis dead zone ** A0 S4 Level = 0 ∼ AccuracyLevel Distance Cornering Discontinuous step Continuous step Speeds Contents of the screen Additional load per each axisInertia 00Kgm2 Center Inertia System setting Application parameter 143938 *Application parameter* A0 S4 Spot & StudArc Palletizing Conveyor Volt. output proportional to Speed Spot & Stud 143938 *** Spot&Stud Weld *** A0 S4 Air-gun welding data 143938 *Air-gun welding data* A0 S4 System setting Second2 servo gun parameter Case of selecting the next screenMove tip clearance mm 10.0 Fix tip clearance mm Offset mm 143938** Servo Gun 1 Param. ** A0 S4 Pressure-Current Tab.1 Gravitational150 225 300 350 Pressure-Current Tab.1 Gravitational 150 225 300 350 Check the abnormality of abrasion quantity System setting System setting 143938*Servo-gun Welding Data* A0 S4 Sequence common data Welding condition Welding sequence Welding data copy Common Data A0 S4 Number Output data Output type Force 50Kgf Number Condition signal Squeeze signal143938 *** Weld Sequence *** A0 S4 WI wait Sequence Source number GUN2 Enter number and press SET 0.0 System setting 2 Arc Arc WeldShield Gas state Contents of the screen High step forward/backward setting Inching speed setting Palletizing 143938 *** Palletizing *** A0 S4 Palletize pattern registerPalette slope calculation Use Number/UpDown and pressSET Previous Next 143938** Palletize pattern ** A0 S4 Pattern register Pattern register YES Press SHIFT+-- Key Previous Next Complete Basic pattern System setting Rec.PosiY Direct Conveyor parameter setting ConveyorConveyor Conveyor angle/centr auto-set 143938** Conveyor Parameter ** A0 S4 DsblPress SHIFT+-- Key Previous Next System setting System setting Automatic setting of the conveyor angle and center Outline 143938* Auto Conveyor Angle * A0 S4Conveyor type 12.0 Speed proportion voltage output 12.0V ∼ +12.0VPin arrangement of analog output terminal Pin number Signal Output143938 ** Speed by voltage ** A0 S4 Port No Selecting type of the robot Positioner group setting System format143938 *** System format *** A0 S4 System format Robot type selection 143938 *Robot type selection * A0 S4 H120 Matsushita motor143938 *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 Use setting 143938 *** Usage setting *** A0 S4GUN 1 = 0 GUN 2 = ARC Positioner group setting 143938 ** Positioner Group ** A0 S4Additional Axis Former times is ineffective Automatic constant setting Positioner Calibration Max step position errorX = Optimization of axis constant and tool length System setting You must setup the positioner GroupESC Previous Next Positioner calibration143938*Positioner Calibration*A0 S4 CP1 CP2 Constant is saved in the controller 143938*Positioner Calibration* A0 S4 000DH.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 Reset Outline All Data Clear Run Time Clear Clear YES / no 5 R17 File Name Display in Internal Memory 6 R18 Frequency Condition Register DISPLAY/SETTING Enter frequency register No 1R18,0 Enter register data 0 7 R29 Tool Number Setting Enter tool NoR29,0 8 R44 Conveyor Data Clear 9 R45 Conveyor Register Manual Input 10 10 R46 Manual Conveyor Limit Switch on Reference ⑴ It cannot be executed during operation 11 11 R49 Speed Variation Setting PN999* S/F=3/1 ServiceEnter speed rate 1 T O 12 12 R55 Palletize Counter Reset End palletizing? 13 13 R71 Recorded Speed Specification Method Selection Specify SecRec speed type?Standard=0,%=1,mm/s=2 R71,0 14 14 R107 Program Head Data Display 15 15 R115 Program Copy143938 *** M a N U a L *** A0 SH4 Use cursor Up/Down, then ESC for exit 16 16 R116 Program Number Modification Source program to modify?Destination program to modify? R116,999 17 17 R117 Program Delete Program to delete?Delete? 18 18 R123 Robot Lock Outline It sets the robot lock to ON/OFFSet robot lock DSBL=0,ENBL=1 R123,0 19 19 R136 Modify Accuracy in Steps „ If pressReference Set MX signal Off=0, On=1 20 20 R137 Modify MX in StepEnter MX No 1 R137,0 21 21 R138 Modify GUN in Step Enter gun NoR138,0 R138,1,0 23 23 R163 ON-LINE Shift Cancel 22 22 R162 Shift Register Value Change 24 24 R204 Spot Welding Condition Manual Output Input discrete welding condition 0Input binary WELDg condition 0 26 26 R211 Squeeze Force Setting 25 25 R210 Servo GUN Number SelectionEnter gun number R210,1 27 27 R212 MOVING-TIP Consumption Preset 28 28 R213 FIXED-TIP Consumption PresetEnter fix tip consumption. -10 R213,0.00 30 30 R220 Equalizing Welder TIP Consumption Preset 29 29 R219 Equalizerless GUN Number SelectionR219,1 R220,0.00 31 31 R245 Monitor Mode Selection Monitoring120 144 10 DIO145 168 32 32 R269 Memory Protection Setting Program to protect?Protect or Release?1Protect/2Release Protect type?1Whole/2Section/3Playb 33 33 R286 Software Version Display DSP1 S/WDSP2 S/W DSP3 S/W 34 34 R310 Manual Output of GO-SIGNAL Enter Group number 1R310,10 Input data to be output manually 35 35 R320 SET MAX. Speed of Step GO/BACK Step GO/BACK speed? 1 255mm/sR320,200 Set reference point setting 0 36 36 R323 Robot Interrupt Function Record0DI Sig,1Analog,2Weld sticking0 R323 Enter reference X -3000.0 Enter reference Y -3000.0Enter reference Z -3000.0 RobotH120, 6 axes, 1steps Example Input minimum voltage. -10.0M30,1 M30=1,-5.00,5.00 M30=1,-5.00,5.00,1 M30=1,-5.00,5.00,1,200.0,150.0Move P,S=100%,A=0,H=1 Reference ⑴ It can not be executed during operation Backup execution code of controller?Y/N 37 37 R341 Execution Code BACK-UP Programming Programming Edit Step Record of StepModification of Step Delete of Step Summary of Operation Keys Word Cursor Status EN+PSTEP Edit Command „ Command AreaEdition Screen „ Address Area Example Move Sentence Select interpolation type Command Input Select inputting command Select commandSpd100.00 RobotH6 6axes, 2steps Enter pose LocalEnter index1-999 Enter P3+R2Enter speed Unit Adjust output optionToggle Enter accuracySpd100.00 RobotH6 2steps With numerical keys and menu Sentence formTo statement input status menu for sentence form constant Pose form Variable, numerical formula and string edit Enter variable 120 Pose Shift OutEnter variable 120 Enter variable Enter variable V2% SET ENABLE+Ö SET ‘ +-*/=&~,%!$?`. @#￦ Smm/sec=V1%/2Unit Conv ‘ Abcdefghijklmnopqrstuvwxyz ‘ abc efghkjklmnopqrstuvwxyz ‘ +-*/=&~,%!$?`.@#￦Weld Line number edit SETLine number is reflected on the edit frame Block edit WeldingGoto S2 Set start position of block region V11!=0 S1 Move L,P1+R2,S=120mm/s,A=0,H=0 S2 Move L S=100mm/sec,A=0,H=0Position of block region Select block edit function PN999* S/F1/2 Sp100.00 RobotH6 , 6axes, 14steps V10!=0 Select block edit function Unselect Copy Move Delete CloseCopy Copied area is pasted just below a cursor PN999* S/F1/3 Sp100.00 RobotH6 , 6axes, 14steps V10!=0 Quick Open Function Function Summary Outline Instructi Remark Move step position Pose of Current Step840.000 mm 960.000 mm Welding Start Condition EXE. AT ASF#=x 143938** Arc Condition File **A0 S4Save Quick Open Function Welding END Condition EXE. AT AEF#= Condition File Quick Open Function Welding Auxiliary Condition Retry 143938** Arc Condition File **A0 S4ARC 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 Welding Auxiliary Condition AUTO. Wire Stick Release Auto Stick RecoveryDelay 30 sec 20.0 Weaving Condition File Select and Enter number. Press SET Previous Next Save Quick Open Function Program Edit in Running HotE022/3/1=30%,A=1,T=0 Select PF menu Escape Apply OK Spot Welding Function Welding condition143938*Servo-gun Welding Data*A0 S4 Welding condition Use Number/UpDownand press SET Welding sequence End wait time =0.00 Menu Tree Chap Menu Tree Menu List Move, I/O Grammar Input input direction , variable ,timeout time Flow control Endif Jumpcall REM Commemt 10.4 ETC 10.5 ARC =voltage output valueVP=voltage ratio ,T=time ,ANTSTK =100 Substitutional Statement 11.1.1 11.1.211.1.3 11.1.4 Signal input/output Jump, call, stop DI1 signal outputExecution setting M44 GI3 group signal output On-line shift M53 Basic elements LineCharacter Address Constant H0 ∼&HFFFF∼&HFFFFFFFF Robot type information ∼7 bit Bit Base R2180S180 Flip Front Down Rear Auto Variable Global variable Local variable Input/output variable System variable Bit 1 start limit switchactive high RN1~16RN1~RN16 $CONVREG Operator FormulaNot Or XOR Command line SubstitutionV2$= Emergency Stop Robot Control Move Command Until Smove Command ∼3 0 is most accurate Tool Print Command Print #0, Signal Value =11.2.3 I/O 11.2.3.1 I/O Substitution Input Command Input #0 Teach Pendant#1 Serial port COM1 #2 Serial port COM2 Parameter Arithmetic Variable, String variable Program Flow Control Goto Command Gosub ∼ Return Command Call Command 11.2.4.5 on ∼GOTO CommandDelay Command Stop Command END CommandWait Command Stop If DI9=1 then 11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command 11.2.4.11 FOR∼NEXT Commands Print Range Error END Goto *RANGEEndif Print ARC Welding Arcon Command CommentsREM Spot Welding #1 Arcon Arcof Command Arccur CommandArcvol Command Arcdc Command Arcdv CommandWeavon Command Weavof Command Refp Command Unsigned integer Number Print Command Description Robot Interrupt I signal M29 SyntaxNumber of DI signal receiving interrupt Others Rinta Command Parame Volt, interrupt occurs ∼10.0 Upper volt Ter Spotcnd Command Sreq Command Sonl Command TONL1 Command TONL2 CommandOnline coordinate conversion Slipping M53 Syntax Number2,RF3=Basic Step number3 Start/End Sreqt Command Sxyz Command SEA Command Application of Search Dimension search Teach Point Welding Line Search Range Spot Command Gunsea Command Tierst Command Call program to put in a insert sheet M94 SyntaxNo,TP=Insert sheet Program Palpu Command PAL Command Palend Command Palrst CommandPalend P=1, ES=81 Callpr Command Callpr Selcrd Command ∼10System Coordinate systems Number Example Selcrd MIT Code ARC WeldingM101 1,JOB Finished Orderror TimerFunction Arithmetic Function DEGRAD270 String Function T Function Code Spotcnd T Function Code Example of corresponding HR Basic syntax Palend P=1,ES=81 REM Spot Weld Signal Connection External Input Signal BD430/BD431 Plug-side 3M MDR 10140-3000VE HOOD10340-55F0-008 Use external power source CNIN2 Input Signal DI22/WI General DI Signal DI1 ∼ DI18 signal connect as followings Connect program selection signal as followings Connect Discrete/Binary input signal as followings ※ Turn it on always External Output Signal BD430, BD431 Output Circuit Connection Diagram BD431 Board Common + or voltage Use external power source for power sourceBD430 Board Common voltage only Set noise absorbing diode to a load CNOUT2 Output signal CNOUT2 GUN Signal Reset It is output when emergency stop is pressed Step SET Alarm Signal 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 Specification of Connector Maker Type SpecificationMDR 20-Pin Maker Type Specification