Chrysler's Robotics Group Standards

Chryslers Robotics Group Applications Standards For
Controlled Robots For Use On CUSW North America Projects
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AS OF 1/12/2012 Printed copies are not source controlled
CUSW REL1.3
TABLE OF CONTENTS
RELEASE REVISION AND COMMENTS PAGE...................................................................................................... 5 PROCESS REQUIREMENTS TO ALLOW FOR ALIGNMENT OF ROBOT ............................................................ 7 ROBOTIC BY-PASS CONCEPT ............................................................................................................................... 7 TEACH PENDANT USER KEY ASSIGNMENT ........................................................................................................ 7 USE OF PULSED OUTPUTS .................................................................................................................................... 7 USE OF ROBOT PROGRAM SPACE CHECK ........................................................................................................ 7 COORDINATED MOTION OF HORIZONTAL AXIS ................................................................................................. 7 ROBOT DRESS REQUIREMENTS........................................................................................................................... 7 SEALER STYLE NUMBERS..................................................................................................................................... 7 SEALER SYSTEM CALIBRATION TO ROBOT ANALOG OUTPUT ...................................................................... 8 SEALER SCHEDULES ............................................................................................................................................. 8 NETWORK ADDRESSES ......................................................................................................................................... 8 FANUC ROBOTICS ROBOT SIGNALS AND MACHINE AUTOMATIC .................................................................. 8 ROBOT D-NET OUTPUT BIT MAP (ROBOT TO PLC)............................................................................................ 9 ROBOT D-NET INPUT BIT MAP (PLC TO ROBOT).............................................................................................. 13 ROBOT IO MAP ASSIGNMENTS ........................................................................................................................... 18 ROBOT BIT MAP .................................................................................................................................................... 19 ROBOT APPLICATION ERROR TIMING ............................................................................................................... 41 ROBOT APPLICATION ERRORS .......................................................................................................................... 42 PLC LOGIC REFERENCE ...................................................................................................................................... 48 ROBOT PROGRAM NAMING ................................................................................................................................. 49 ROBOT INTERFERENCE ZONES.......................................................................................................................... 50 INTERFERENCE ZONE EXAMPLE 1 ............................................................................................................................ 51 INTERFERENCE ZONE EXAMPLE 2 ............................................................................................................................ 52 INTERFERENCE ZONE EXAMPLE 3.................................................................................................................... 53 PLC / ROBOT TIMING DIAGRAMS........................................................................................................................ 54 REGISTER USAGE ................................................................................................................................................. 57 NUMERICAL REGISTER USAGE .......................................................................................................................... 57 POSITION REGISTER USAGE ............................................................................................................................... 59 USER ALARMS ....................................................................................................................................................... 61
CUSW REL1.3
REFERENCE POSITION USAGE ........................................................................................................................... 62 INTERCONNECTS .................................................................................................................................................. 63 MACROS ................................................................................................................................................................. 64 FLOW CHART EXAMPLES .................................................................................................................................... 66 MATERIAL HANDLING .............................................................................................................................................. 67 DISPENSE............................................................................................................................................................... 72 SPOT W ELDING ...................................................................................................................................................... 73 STUD W ELDING ...................................................................................................................................................... 75 TIP CHANGE (STYLE #3) ......................................................................................................................................... 76 PURGE (STYLE #4) ................................................................................................................................................. 77 TIP BURN IN (STYLE #5).......................................................................................................................................... 78 SERVICE (STYLE #6) ............................................................................................................................................... 79 TIP DRESS GUN 1 (STYLE #7) ................................................................................................................................. 80 TIP DRESS GUN 2 (STYLE #8) ................................................................................................................................. 81 TOOL CHANGE (STYLE #9) ...................................................................................................................................... 82 SET APPLICATION IO (MACRO) ................................................................................................................................ 83 CHECK ATI ERRORS (MACRO) ................................................................................................................................ 84 CHECK TOOL (MACRO) ........................................................................................................................................... 85 DROP TOOL NEST 1 (MACRO) ................................................................................................................................. 86 ENTER ZONE 1 (MACRO)......................................................................................................................................... 88 HOME IO (MACRO) ................................................................................................................................................. 88 MOVE HOME (MACRO) ............................................................................................................................................ 88 MOVE HOME FROM POUNCE (MACRO) .................................................................................................................... 88 PICK TOOL NEST 1 (MACRO) ................................................................................................................................... 89 PROCESS APPLICATION MACROS (SPOT, DISPENSE, STUD) ...................................................................................... 91 PURGE PED GUN (MACRO) ..................................................................................................................................... 94 RESET STEPPER (MACRO) ...................................................................................................................................... 94 TIP BURN IN (MACRO) ............................................................................................................................................. 95 TIP DRESS GUN 1 (MACRO) .................................................................................................................................... 97 TIP DRESS GUN 2 (MACRO) .................................................................................................................................... 98 TIP DRESS PED GUN (MACRO) ................................................................................................................................ 99 TOOL DROP PREPARATION (MACRO) ..................................................................................................................... 100 TOOL PICK PREPARATION (MACRO)....................................................................................................................... 101 TEACH PENDANT LOGIC EXAMPLES ............................................................................................................... 102 MATERIAL HANDLING ............................................................................................................................................ 103 DISPENSE............................................................................................................................................................. 105 SPOT W ELDING .................................................................................................................................................... 106 STUD W ELDING .................................................................................................................................................... 107 TIP CHANGE (STYLE #3) ....................................................................................................................................... 108 PURGE (STYLE #4) ............................................................................................................................................... 108 TIP BURN IN (STYLE #5)........................................................................................................................................ 109 SERVICE PROGRAM (STYLE #6)............................................................................................................................. 109 TIP DRESS GUN 1 (STYLE #7) ............................................................................................................................... 109 TIP DRESS GUN 2 (STYLE #8) ............................................................................................................................... 110 TOOL CHANGE (STYLE #9) .................................................................................................................................... 110 CHECK ATI ERRORS (MACRO) .............................................................................................................................. 111 CHECK TOOL (MACRO) ......................................................................................................................................... 112 DROP TOOL NEST 1 (MACRO) ............................................................................................................................... 113 PICK TOOL NEST 1 (MACRO) ................................................................................................................................. 114 ENTER ZONE 1 (MACRO)....................................................................................................................................... 116 HOME IO (MACRO) ............................................................................................................................................... 116 PROCESS APPLICATION PED SPOT (MACRO) ....................................................................................................... 117 PROCESS APPLICATION PED DISPENSE (MACRO) ................................................................................................ 118 PROCESS APPLICATION PED STUD (MACRO) ....................................................................................................... 119 PURGE PED GUN (MACRO) ................................................................................................................................... 119 RESET STEPPER (MACRO) .................................................................................................................................... 119 TIP BURN IN (MACRO) ........................................................................................................................................... 119 AS OF 1/12/2012 Printed copies are not source controlled 3 CUSW REL1.3
TIP CHANGE PED GUN (MACRO) ........................................................................................................................... 119 TIP DRESS GUN 1 (MACRO) .................................................................................................................................. 120 TIP DRESS GUN 2 (MACRO) .................................................................................................................................. 120 TIP DRESS PED GUN (MACRO) .............................................................................................................................. 121 TOOL DROP PREPERATION (MACRO) ..................................................................................................................... 122 TOOL PICK PREPERATION (MACRO)....................................................................................................................... 123
The flow charts and sample programs supplied in this document are intended as a basic example and may not include all information required to properly control a robot in all applications. It is the build vendor's responsibility to provide robot programming required for proper system operation. The examples set forth in this document shall be followed. Any deviations will require approval by Chrysler Robot Specialist.
CUSW REL1.3
RELEASE REVISION AND COMMENTS PAGE

Release #
Rel. 1.0 Rel. 1.1
Release Date
12/14/10 2/4/11 Initial Release
Comments
REL. 1.2
Adjusted Rbt/PLC bitmap to eliminate water saver control. DO[99], DI[7], DI[97], DI[98]. Update the Node Allocation Eliminated the Water Savers, moved to PLC control. Updated Rbt/PLC Node descriptors per the bitmap. Spared out 4 Water Saver Nodes-I/O. Updated Safety I/O Added WaterOff to the bitmap DO[100] Removed reference to WK and WD in robot program naming Spared out DO91, 92, 95, 96 and 100 Use Group Output [MaintReqBits1-8]. (TipChangeReq, ServiceReq, RbtTPPurgeGun1, RbtTPPurgeGun2, TipDressReq) Added air pressure master node and outputs to PLC DO[91] and [92] Added StepMode output DO[103] Added SignatureChgInd output DO[111] Updated Watersaver App Errors Updated Nordson App Errors to match new configuration Updated Nordson BitMap to match new configuration Added sealer style comment. Added sealer calibration requirement Added sealer schedule programming requirement Swapped air pressure inputs to match tooling Removed repo input bit 4 DI[84] Added General Communication Fault DeviceNet Master App Error [2] Added Low Battery Indicator App Error [4] Removed App Error [127] Dispense 1 Minor Alarm Removed App Error [128] Dispense 1 Communication Fault to Robot Removed App Error [137] Dispense 2 Minor Alarm Removed App Error [138] Dispense 2 Communication Fault to Robot Nordson app errors modifications Added Interference Zone 3 reference Added DO[107] TipBurnInComp Added AtPurgePos to position register Added Tip Wear Update to Spotweld program Added PartPresent 7-10 on bit map sheet. Updated DI[121] Added RbtClrZone7 & 8 to DO[39], DO[40], Zone(7 & 8)ClrToEnter to DI[39], DI[40] and DO[908] PulseBatteryLow Updated Interconnects list Added IPG_Laser and HighYag Head I/O to nodes 17 and 18 Added LaserEnbld DO[87] and HYagEnbld DO[88] Added LaserEnable1 DI[6] and LaserGuideOn DI[7] Added LaserCut Head and Grinder to nodes 19 23 Changed the TipChange burn-in schedule from 58 to 62 per Welding CoC team P. 104. Updated the Nordson bitmaps per the requirements of the tech sealer document. Added DI[98:StartUpPurge] to PLC bitmap per tech requirements. Added DO[95:TipDressReq] to PLC bitmap Updated Interconnect Table Added track lube faults to the application error list Added note indicating responsibility to set IP addresses and Node addresses. Added I/O map for the Precitec unit. Added DI127 Tip Dress Bypass Added DI768-775 and DO768-775 for Mig Weld Reamer Added DI776-783 and DO776-783 for Laser cutting field I/O Update Tip Dress Macro add DI127 TipDressInBypass Added RTU Auto Lube I/O
REL1.3
CUSW REL1.3
CUSW REL1.3
PROCESS REQUIREMENTS TO ALLOW FOR ALIGNMENT OF ROBOT

It is an AAME requirement that all Body shop and Assembly robots be capable of running an alignment program. This program will bring the robot into a position which will allow positioning of all axes to check robot alignment. The robot alignment position and path to reach this position must be considered when locating and processing the robot in the cell. Consideration must also be given when dressing out robot cables, hoses, end effectors and junction boxes on the robot arm so these items do not impede the robots ability to move to the alignment position. Where possible, all axes should be aligned at the same time. In cases where cell layout would be affected or additional dress-out or safeties would be required to align all axes simultaneously, multiple alignment positions will be allowed. In addition to alignment program, all OEMS must verify that the robot is set to FANUC ROBOTICS factory values for alignment position prior to programming robot.
PROCESS CYCLE TIME REQUIREMENTS It is an AAME requirement that all Body shop and Assembly robots be capable of meeting process cycle time without the presence of robot errors or warnings of any kind. ROBOTIC BY-PASS CONCEPT
The Robot By-pass Mode is selected through the HMI screen associated with the specific robot. When in By-pass Mode, the PLC logic should allow the following: In processes which allow a specific robot to be by-passed, (line capable of running without this specific robot with manual or automatic backup capabilities). A. B. C. Allow the current part or job to transfer out of that station (if the robot is clear). Allow the line to continue to run while the robot is in by-pass and clear of all tooling. Send required back-up information to down stream robot(s) and/or FIS/AVI for downstream manual backup.
In processes which do not allow for the line to run with a specific robot in by-pass. A. B. C. Allow the current part or job to transfer out of that station (if the robot is clear). Stop further machine cycles if left in by-pass mode. Allow for easy changes to the PLC logic to override item B in the event that the plant provides temporary manual back -up for continued production.
Note: Process Engineering, during the Design Phase of a project, will identify robots that can be by-passed while tooling continues to operate.
TEACH PENDANT USER KEY ASSIGNMENT

The user definable keys on the robot teach pendants are to remain at FANUC ROBOTICS default settings unless a deviation is submitted by the Requestor and approved by a Chrysler Robotic Group representative.
USE OF PULSED OUTPUTS

The use of pulsed outputs requires approval by a Chrysler Robot Specialist.
USE OF ROBOT PROGRAM SPACE CHECK

The use of robot program space check requires approval by a Chrysler Robot Specialist.
COORDINATED MOTION OF HORIZONTAL AXIS

All robots utilizing a horizontal slide axis shall be setup and programmed using coordinated motion with the other six axes of the robot arm.
ROBOT DRESS REQUIREMENTS

FANUC robot dress packages for all spot welding and material handling robots will be supplied for installation. It is the responsibility of the build supplier (robot programmer) to adjust and validate all robot dress packages to meet the dress manufacturers warranty. Robot programs must be considered when configuring the supplied dress package.
SEALER STYLE NUMBERS

Sealer styles shall match the value of the robot program number. (i.e. If the sealer robot is executing program #30, the sealer style program shall utilize style #30).
CUSW REL1.3
SEALER SYSTEM CALIBRATION TO ROBOT ANALOG OUTPUT

It is the robot programmers responsibility to calibrate the Sealer System to the Robot System. Minimum and maximum speeds related to the robot analog output signal to produce required bead sizes must be established and verified at time of programming.
SEALER SCHEDULES
It is the robot programmers responsibility to populate all sealer schedules with values appropriate for the working programs. All sealer schedules not utilized in a program shall be set to the maximum flow rate available from the sealer system.
NETWORK ADDRESSES
It is the robot programmers responsibility to set all IP addresses and Node addresses associated with the robot system.
FANUC ROBOTICS ROBOT SIGNALS AND MACHINE AUTOMATIC

The PLC logic should monitor the following robot DeviceNet outputs. The Robot Ready signal should be true to achieve machine a utomatic but is not required to maintain machine automatic. Proper fault messages should be generated for each associated condition. Robot Ready DeviceNet - This signal is true when the following conditions are met: CMDENBL SI[2]=ON CMDENBL SFSPD=ON CMDENBL ENBL=ON CMDENBL $RMT_MASTER=0 CMDENBL No active alarms CMDENBL Not in single step SYSRDY ENBL=ON SYSRDY GRP1 Servo ready SYSRDY GRP2 Servo ready GRP1 Motion enabled GRP2 Motion enabled Spot weld enabled Gun stroke enabled (OK) (standard operator panel input 2, remote) (OK) (safety speed input signal) (OK) (OK) (no remote device in control of motion) (OK) (OK) (OK) (OK) (OK) (Spotweld only) (OK) (Robot motion group) (OK) (Servo motion group, spotweld only) (OK) (Weld status, welding applications only) (OK) (Gun stroke status, welding applications only)
The following signals are available through DeviceNet and should be displayed as faults or messages when their appropriate state hinders achievement of the tooling system automatic: Robot System Ready for AUTO RobotInAuto RbtReady IOSimulated 20HourRunModeAct Collision Guard Enabled TP Enabled Waiting for TP Input Robot E-Stop Enabled Weld Enabled (Spotweld only) STEP Mode
CUSW REL1.3
ROBOT D-NET OUTPUT BIT MAP (ROBOT TO PLC)

SIGNAL NAME RobotInAuto RobotFaulted WaitForTPInput InCycle ROBOT OUTPUT 1 2 3 4 DESCRIPTION This robot output signal is used to inform the PLC that the robot Auto/Teach key switch is the auto position. This robot output signal is used to inform the PLC that the robot is in a faulted state. This robot output signal is used to inform the PLC that a user response is required at the robot teach pendant. This robot output signal is used to inform the PLC that a robot program is executing. This includes Home I/O execution. InCycle remains high when the program is paused. This robot output signal is used to inform the PLC that a collision was detected on the robot. This robot output signal is used to inform the PLC that a robot input is simulated. This robot output signal is used to inform the PLC that the weld mode is enabled at the weld controller. This robot output signal is used to inform the PLC that all conditions for robot ready are satisfied. This robot output along with the next six bits, grouped as Group Outputs, are used to inform the PLC of the current style active. The group outputs are viewed as the binary bit weight viewed as a decimal value. Reference description: ActiveStyleBit1 Reference description: ActiveStyleBit1 Reference description: ActiveStyleBit1 Reference description: ActiveStyleBit1 Reference description: ActiveStyleBit1 Reference description: ActiveStyleBit1 This robot system output signal UO[4: Paused] is used to inform the PLC that the robot program is in a paused condition. Signal is active in Auto and Teach modes. This robot system output signal UO[3: Program Running] is used to inform the PLC that the robot program is running. Signal is active in Auto and Teach modes. This robot output signal is used to inform the PLC that the robot has left the pounce position and is in the work portion of the robot program. This robot output signal is used to inform the PLC that the robot has completed the work program. Resets after WorkCompleteAck received from the PLC. This robot output signal is used to inform the PLC that the robot is in 20 hour run mode. This robot output signal along with the next 3 bits, grouped as Group Outputs are used to inform the PLC to execute the desired maintenance program 1-9. The group outputs are viewed as the binary bit weight viewed as a decimal value. Reference description: MaintReqBit1 Reference description: MaintReqBit1 Reference description: MaintReqBit1 This robot output signal is used to inform the PLC that the robot is at the pounce position. (Output set by user program) This robot output signal is used to inform the PLC that the robot is at the service position. This robot output signal is used to inform the PLC that the robot is at the home position. This robot output signal is used to inform the PLC that the robot is at the tip dress position. This robot output signal is used to inform the PLC that the tip dress procedure has completed. This robot output signal is used to inform the PLC that the robot is in tip change position. This robot output signal is used to inform the PLC that the robot is clear of the transfer. This robot output signal is used to inform the PLC that the weld controller 1 is executing a weld sequence. 9 CUSW REL1.3
CollisionDetd IOSimulated WldEnabled RobotReady ActiveStyleBit1
5 6 7 8 9
ActiveStyleBit2 ActiveStyleBit4 ActiveStyleBit8 ActiveStyleBit16 ActiveStyleBit32 ActiveStyleBit64 PrgPaused PrgRunning RobotAtWork WorkComplete 20HourRunModeAct MaintReqBit1
10 11 12 13 14 15 16 17 18 19 20 21
MaintReqBit2 MaintReqBit4 MaintReqBit8 RobotAtPounce RobotAtService RobotAtHome RobotInTipDress TipDressComplt RdyForTipChg ClearToTransfer WldInPrgrsActiv1
22 23 24 25 26 27 28 29 30 31 32
RobotClrZone1 RobotClrZone2 RobotClrZone3 RobotClrZone4 RobotClrZone5 RobotClrZone6 RobotClrZone7 RobotClrZone8 UserOutput1 UserOutput2 UserOutput3 UserOutput4 UserOutput5 UserOutput6 UserOutput7 UserOutput8 ClrOfPickup1 AtPickup1 ClrOfDropoff1 AtDropoff1 ClrOfPickup2 AtPickup2 ClrOfDropoff2 AtDropoff2 ClrOfPickup3 AtPickup3 ClrOfDropoff3 AtDropoff3 ClrOfPickup4 AtPickup4 ClrOfDropoff4 AtDropoff4 Clr2UnclampEarly RbtAtUserPos1 RbtAtUserPos2
33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67
This robot output signal is used to inform the PLC that the robot is clear of interference zone 1. This robot output signal is used to inform the PLC that the robot is clear of interference zone 2 This robot output signal is used to inform the PLC that the robot is clear of interference zone 3. This robot output signal is used to inform the PLC that the robot is clear of interference zone 4. This robot output signal is used to inform the PLC that the robot is clear of interference zone 5. This robot output signal is used to inform the PLC that the robot is clear of interference zone 6. This robot output signal is used to inform the PLC that the robot is clear of interference zone 7. This robot output signal is used to inform the PLC that the robot is clear of interference zone 8. This robot output signal is designated as user defined output 1. This robot output signal is designated as user defined output 2. This robot output signal is designated as user defined output 3. This robot output signal is designated as user defined output 4. This robot output signal is designated as user defined output 5. This robot output signal is designated as user defined output 6. This robot output signal is designated as user defined output 7. This robot output signal is designated as user defined output 8. This robot output signal is used to inform the PLC that the robot is clear of pickup 1 position. This robot output signal is used to inform the PLC that the robot is at the pickup 1 position. This robot output signal is used to inform the PLC that the robot is clear of dropoff 1 position. This robot output signal is used to inform the PLC that the robot is at the dropoff 1 position. This robot output signal is used to inform the PLC that the robot is clear of pickup 2 position. This robot output signal is used to inform the PLC that the robot is at the pickup 2 position. This robot output signal is used to inform the PLC that the robot is clear of dropoff 2 position. This robot output signal is used to inform the PLC that the robot is at the dropoff 2 position. This robot output signal is used to inform the PLC that the robot is clear of pickup 3 position. This robot output signal is used to inform the PLC that the robot is at the pickup 3 position. This robot output signal is used to inform the PLC that the robot is clear of dropoff 3 position. This robot output signal is used to inform the PLC that the robot is at the dropoff 3 position. This robot output signal is used to inform the PLC that the robot is clear of pickup 4 position. This robot output signal is used to inform the PLC that the robot is at the pickup 4 position. This robot output signal is used to inform the PLC that the robot is clear of dropoff 4 position. This robot output signal is used to inform the PLC that the robot is at the dropoff 4 position. This robot output signal is used to inform the PLC that the robot is clear to unclamp the tooling. This robot output signal is used to inform the PLC that the robot is at user position 1 This robot output signal is used to inform the PLC that the robot is at user position 2 10 CUSW REL1.3
RbtAtUserPos3 RbtAtUserPos4 Spare Req2EntrToolNest ClearOfToolNest ServiceComp MajorMinorFlt WaitingForPlcCmd RemoveFault RobotPartPres1 RobotPartPres2 RobotPartPres3 RobotPartPres4 RobotPartPres5 RobotPartPres6 RobotPartPres7 RobotPartPres8 RobotPartPres9 RobotPartPres10 LaserEnbld HYagEnbld PickOverride CollisGuardEnbld AIr OK AirPressAcptRng WetDryMode AbortPickReq TipDressReq Spare ExtPurg1InProgrs ExtPurg2InProgrs WaterOn WaterOff TurnOnTipDresser StepperResetAck StepMode RobotAtPurgePos RobotClrFixt1 RobotClrFixt2 TipBurnInComp Spare ReposTooling1
68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109
This robot output signal is used to inform the PLC that the robot is at user position 3 This robot output signal is used to inform the PLC that the robot is at user position 4 Spare This robot output signal is used as a request from the robot, entry to the tool nests to the PLC. This robot output signal is used to inform the PLC that the robot is clear of the tool nest. This robot output signal is used to signal the PLC that service is complete. This robot output signal is used to signal the PLC that the posted application error is a major fault This robot output signal is used to inform the PLC that the robot is waiting for a PLC command. (Active while in a user program WaitDI or WaitGI) This robot output signal is used to inform the PLC to remove the application error. This robot output signal is used to inform the PLC that part present 1 is activated. This robot output signal is used to inform the PLC that part present 2 is activated. This robot output signal is used to inform the PLC that part present 3 is activated. This robot output signal is used to inform the PLC that part present 4 is activated. This robot output signal is used to inform the PLC that part present 5 is activated. This robot output signal is used to inform the PLC that part present 6 is activated. This robot output signal is used to inform the PLC that part present 7 is activated. This robot output signal is used to inform the PLC that part present 8 is activated. This robot output signal is used to inform the PLC that part present 9 is activated. This robot output signal is used to inform the PLC that part present 10 is activated. This robot output signal is used to inform the PLC that the Laser is enabled. This robot output signal is used to inform the PLC that the HighYag head is enabled. This robot output signal is used to inform the PLC that the robot is in a pick over ride process. This robot output signal is used to inform the PLC if collision guard is enabled. This robot output indicates the air pressure is OK This robot output indicates the air pressure is within acceptable range. This robot output signal is used to inform the PLC if the robot is in Wet mode. This robot output signal is used to inform the PLC that the robot is requesting the abort pick sequence. This robot output informs the PLC that the weld timer has issued a tip dress request. Spare This robot output signal is used to inform the PLC that dispenser 1 purge sequence is in progress. This robot output signal is used to inform the PLC that dispenser 2 purge sequence is in progress. This robot output signal is used to inform the PLC to turn the water saver on. This robot output signal is used to inform the PLC to turn the water saver off. This robot output signal is used to inform the PLC to turn on the tip dresser motor(s). This robot output signal is used to inform the PLC that the weld controller has reset stepper . This robot output signal is used to inform the PLC that the robot is in StepMode. This robot output indicates the robot is in position to purge. This robot output signal is used to inform the PLC that the robot is clear of fixture 1 (based on automatic zone/window definition in the robot). This robot output signal is used to inform the PLC that the robot is clear of fixture 2 (based on automatic zone/window definition in the robot). This robot output informs the PLC that the tip burn in is complete. Spare This robot output along with the next two bits, (ReposTooling2 ReposTooling4) grouped as Group Outputs, are used to inform the PLC to reposition the tooling. The group outputs are viewed as the binary bit weight viewed as a decimal value. Reference description: ReposTooling1 This robot output indicates to the PLC that the DCS signature current and previous match and have been verified. 11 CUSW REL1.3
ReposTooling2 SignatureChgInd
110 111
RbtAtInspectPos TeachPendantEnbd StartExtApp1Proc StartExtApp2Proc ToolIDOnWrist1
112 113 114 115 116
ToolIDOnWrist2 ToolIDOnWrist4 ProcessFault AppErrorActive AppErrorBit1
117 118 119 120 121
AppErrorBit2 AppErrorBit4 AppErrorBit8 AppErrorBit16 AppErrorBit32 AppErrorBit64 AppErrorBit128
122 123 124 125 126 127 128
This robot output signal is used to inform the PLC that the robot is at the inspection position. This robot output signal is used to inform the PLC that the teach pendant switch is enabled. This robot output informs the PLC to start external application 1 process. This robot output informs the PLC to start external application 2 process. This robot output signal along with the next two bits, (ToolIDOnWrist2 ToolIDOnWrist4) grouped as Group Outputs, are used to inform the PLC which tool is on the robot wrist. The group outputs are viewed as the binary bit weight viewed as a decimal value. Reference description: ToolIDOnWrist2 Reference description: ToolIDOnWrist4 This robot output signal is used to inform the PLC that a process fault is present. This robot output signal is used to inform the PLC that an application error is active. Reference: Robot input 8 as acknowledge to this bit. This robot output signal along with the next seven bits, (AppErrorBit2 AppErrorBit128) grouped as Group Outputs, are used to inform the PLC of the current value of the application error that is posted. The group outputs are viewed as the binary bit weight viewed as a decimal value. Reference description: AppErrorBit1 Reference description: AppErrorBit1 Reference description: AppErrorBit1 Reference description: AppErrorBit1 Reference description: AppErrorBit1 Reference description: AppErrorBit1 Reference description: AppErrorBit1
Reference DCX Book of Implementation Guidelines for proper Tag and UDT Naming Design standards for Control Logix AMS 0220 Section 9.3.2, 7.0 Tag DeviceNet Tag Naming Guidelines, Starting on page 28.
12
CUSW REL1.3
ROBOT D-NET INPUT BIT MAP (PLC TO ROBOT)

SIGNAL NAME NoHold Resume FaultReset 20HourRunMode ReqToEnter LaserEnable1 LaserGuideOn AppErrorAck STYLEBit1 ROBOT INPUT # 1 2 3 4 5 6 7 8 9 DESCRIPTION This robot system input UI[2:Hold] is used to decelerate and stop the robot. This signal is held high for normal operation of the robot. This robot system input UI[6:Start] is used to resume a paused style program. This robot system input UI[5:Fault Reset] is used to reset robot and robot controlled peripheral device faults. This robot input is used to put the robot into 20 hour run mode. This robot input is used to pause the robot program after it has completed the current task and/or motion. This robot input is used to signal the robot to activate the Laser system This robot input is used to signal the robot to activate the Laser Guide This robot input is used as an acknowledgment from the PLC that the application error has been read. This robot system input UI[9:RSR1/PNS1/STYLE1] along with the next six bits, grouped as Group Inputs, are used for style selection inputs from the PLC. The group inputs are viewed as the binary bit weight in a decimal fashion. System input UI[10:RSR2/PNS2/STYLE2] Reference description: Style1 System input UI[11:RSR3/PNS3/STYLE3] Reference description: Style1 System input UI[12:RSR4/PNS4/STYLE4] Reference description: Style1 System input UI[13:RSR5/PNS5/STYLE5] Reference description: Style1 System input UI[14:RSR6/PNS6/STYLE6] Reference description: Style1 System input UI[15:RSR7/PNS7/STYLE7] Reference description: Style1 This robot input is used to initiate the weld gun force check from a style program at the wait for dropoff position. This robot input is used to signal the robot that interference is clear at area 1. This robot input is used to signal the robot that interference is clear at area 2. This robot input is used to externally accept the sealer bead from the PLC if a volume fault was issued. This robot input is used to externally tell the robot from the PLC to reset a volume fault on the dispense unit. This robot input is used to signal the robot to grip the part. (Used for Clr to Grip part) This robot input is used to signal the robot to exit the position. (Used for Clmp&Hold) This robot input is used to signal the robot to Abort Exit Pick. This robot input is used to signal the robot to Abort Exit Drop. This robot input is used to signal the robot to return from the pounce position back to the home position. When executed, the robot program will return to the home position and mainline program without issuing a WorkComplete. This robot input is used to signal the robot to complete the service program and return to home position and mainline program from the service position. This robot input is used to signal the robot to execute a maintenance routine when the robot is at the Waiting for Dropoff# position. (M/H robots only) This robot input is used to signal the robot to initiate the tip dress procedure from a style program. This robot system input UI[18:Prod Start] is used to initiate a new style program. When this bit is high and a style number has been set, the robot will start executing the selected style program. [Go to pounce position of selected program] This robot input is not used. This robot input is used to signal the robot to leave Pounce Position and execute the work portion of the robot program. This robot input is used to signal that WorkComplete was received by the PLC. This robot input is used to inform the robot that interference zone 1 is clear to enter. Reference the AME zone logic standard for further information. This robot input is used to inform the robot that interference zone 2 is clear to enter. Reference the AME zone logic standard for further information. This robot input is used to inform the robot that interference zone 3 is clear to enter. Reference the AME zone logic standard for further information. This robot input is used to inform the robot that interference zone 4 is clear to enter. 13 CUSW REL1.3
STYLEBit2 STYLEBit4 STYLEBit8 STYLEBit16 STYLEBit32 STYLEBit64 WeldGunForceChk InterferenceClr1 InterferenceClr2 AcceptVolume VolumeFltReset PPOK_ClrToGrip GripOK_ClrToExit AbortExitPick AbortExitDrop RetFromPounce
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
ServiceCompltReq ServiceRequest TipDressGunReq ProdStart
26 27 28 29
Spare GoToWork WorkCompleteAck Zone1ClrToEnter Zone2ClrToEnter Zone3ClrToEnter Zone4ClrToEnter
30 31 32 33 34 35 36
Zone5ClrToEnter Zone6ClrToEnter Zone7ClrToEnter Zone8ClrToEnter UserInput1 UserInput2 UserInput3 UserInput4 UserInput5 UserInput6 UserInput7 UserInput8 GoToPickup1 ExitPickup1 GoToDropoff1 ExitDropoff1 GoToPickup2 ExitPickup2 GoToDropoff2 ExitDropoff2 GoToPickup3 ExitPickup3 GoToDropoff3 ExitDropoff3 GoToPickup4 ExitPickup4 GoToDropoff4 ExitDropoff4 Part1InFixture Part2InFixture Part3InFixture
37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67
Reference the AME zone logic standard for further information. This robot input is used to inform the robot that interference zone 5 is clear to enter. Reference the AME zone logic standard for further information. This robot input is used to inform the robot that interference zone 6 is clear to enter. Reference the AME zone logic standard for further information. This robot input is used to inform the robot that interference zone 7 is clear to enter. Reference the AME zone logic standard for further information. This robot input is used to inform the robot that interference zone 8 is clear to enter. Reference the AME zone logic standard for further information. This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input. This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input. This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input. This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input. This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input. This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input. This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input. This robot input is designated as a user defined input. If used, the robot program must be annotated to identify the use of this user input. This robot input is used to signal the robot to continue its program to the pickup 1 position. This robot input is used to signal the robot to continue its program from the pickup 1 position. This robot input is used to signal the robot to continue its program to the dropoff 1 position. This robot input is used to signal the robot to continue its program from the dropoff 1 position. This robot input is used to signal the robot to continue its program to the pickup 2 position. This robot input is used to signal the robot to continue its program from the pickup 2 position. This robot input is used to signal the robot to continue its program to the dropoff 2 position. This robot input is used to signal the robot to continue its program from the dropoff 2 position. This robot input is used to signal the robot to continue its program to the pickup 3 position. This robot input is used to signal the robot to continue its program from the pickup 3 position. This robot input is used to signal the robot to continue its program to the dropoff 3 position. This robot input is used to signal the robot to continue its program from the dropoff 3 position. This robot input is used to signal the robot to continue its program to the pickup 4 position. This robot input is used to signal the robot to continue its program from the pickup 4 position. This robot input is used to signal the robot to continue its program to the dropoff 4 position. This robot input is used to signal the robot to continue its program from the dropoff 4 position. This robot input is used to signal the robot that part 1 is present in the tooling fixture. This robot input is used to signal the robot that part 2 is present in the tooling fixture. This robot input is used to signal the robot that part 3 is present in the tooling fixture. 14 CUSW REL1.3
Part4InFixture Part5InFixture Part6InFixture App1ClrToEnter App2ClrToEnter ToolInNest1 ToolInNest2 ToolInNest3 ToolInNest4 PickTool1
68 69 70 71 72 73 74 75 76 77
PickTool2 PickTool4 PickTool8 Clr2EntToolNest ToolingRepod1
78 79 80 81 82
ToolingRepod2 Spare PalletPosBit1
83 84 85
PalletPosBit2 PalletPosBit4 PalletPosBit8 PalletPosBit16 PalletPosBit32 PalletPosBit64 PalletPosBit128 WetDryMode AbortReq PurgeGun1Req PurgeGun2Req WaterFlowOK StartUpPurge
86 87 88 89 90 91 92 93 94 95 96 97 98
TipDressDumpExtd TipDrsDumpRetrct TipDrsMotorOn ExtStepperReset1 ExtStepperReset2 TipBurnInReq
99 100 101 102 103 104
TipChgReq
105
InspectRequired InspectComplete ClrToExitUsrPos1 ClrToExitUsrPos2
106 107 108 109
This robot input is used to signal the robot that part 4 is present in the tooling fixture. This robot input is used to signal the robot that part 5 is present in the tooling fixture. This robot input is used to signal the robot that part 6 is present in the tooling fixture. This robot input is used to signal the robot that the process application 1 fixture/area is clear for the robot to enter. This robot input is used to signal the robot that the process application 2 fixture/area is clear for the robot to enter. This robot input is used to inform the robot there is a tool present in nest 1. This robot input is used to inform the robot there is a tool present in nest 2. This robot input is used to inform the robot there is a tool present in nest 3. This robot input is used to inform the robot there is a tool present in nest 4. This robot input along with the next three bits, (PickTool2 PickTool8) grouped as Group Inputs, are used to signal the robot to pick up a specific tool. The group inputs are viewed as the binary bit weight in a decimal fashion. Reference description: PickTool1 Reference description: PickTool1 Reference description: PickTool1 This robot input is used to signal the robot that the tool nest(s) is clear to enter. This robot input along with the next two bits, (ToolingRepod2 ToolingRepod4) grouped as Group Inputs, are used to signal the robot that the tooling/fixture/dumps are repositioned. The group inputs are viewed as the binary bit weight in a decimal fashion. Reference description: ToolingRepod1 This robot input is not currently used. This robot input along with the next seven bits, (PalletPosBit2 PalletPosBit128) grouped as Group Inputs, are used to signal the robot to move to a specific pallet position. Reference description: PalletPosBit1 Reference description: PalletPosBit1 Reference description: PalletPosBit1 Reference description: PalletPosBit1 Reference description: PalletPosBit1 Reference description: PalletPosBit1 Reference description: PalletPosBit1 This robot input is used to signal the robot to go into Wet mode. This robot input is used to signal the robot to run an Abort routine. This robot input is used to signal the robot to execute a purge sequence for dispenser 1. This robot input is used to signal the robot to execute a purge sequence for dispenser 2. This robot input is used to signal the robot that water flow is OK. This robot input is used during the sealer purge process to instruct the robot to execute a longer purge time due to the enabling of the sealer unit from conservation mode. This robot input is used to signal the robot that the tip dresser dump is extended. This robot input is used to signal the robot that the tip dresser dump is retracted. This robot input is used to signal the robot that the tip dresser motor is running. This robot input is used to signal the robot to reset weld controller stepper 1. This robot input is used to signal the robot to reset weld controller stepper 2. This robot input is used to call the tip burn in program from the work program while the robot is at home position and from the wait for dropoff position. (Requires input looping) This robot input is used to call the tip change program from the work program while the robot is at home position and from the wait for dropoff position. (Requires input looping) This robot input is used to signal the robot to execute the inspection process. This robot input is used to signal the robot to return from inspection position. This robot input is used to signal the robot that it is clear to exit user position 1. This robot input is used to signal the robot that it is clear to exit user position 2. 15 CUSW REL1.3
ClrToExitUsrPos3 ClrToExitUsrPos4 ClrToExitUsrPos5 ExtApp1StartReq ExtApp1Complete ExtApp2StartReq ExtApp2Complete Reseal RejectPart NoSafeSpeed1 ReweldStud AcceptStud/Part RejectStud ChangedHead StudSlide1InPos StudSlide2InPos PickOverrideReq TipDressBypass NoSafeSpeed2
110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128
This robot input is used to signal the robot that it is clear to exit user position 3. This robot input is used to signal the robot that it is clear to exit user position 4. This robot input is used to signal the robot that it is clear to exit user position 5. This robot input is used to signal the robot to tell dispense controller 1 to initiate a remote start. This robot input is used to signal the robot that external application 1 is complete. This robot input is used to signal the robot to tell dispense controller 2 to initiate a remote start. This robot input is used to signal the robot that external application 2 is complete. This robot input is used to execute a Reseal process. This robot input is used to execute a Reject Part process This robot input is used to drop the robot into a slow speed during part inspection. This robot input is used to command the robot to issue a Reweld Stud command. (Fault Ack and Start1 or Start2 to ST/W. This robot input is used to command the robot to issue a Accept Stud command. (Fault Ack to ST/W and Weld Complete to robot) Accept Part (MH application) This robot input is used to command the robot to issue a Reject Stud command. (Fault Ack to ST/W and Weld Complete and JumpLbl to Dropoff to the robot. This robot input is used to instruct the robot that the ST/W head has been changed. This robot input indicates to the robot, that studwelder 1 is in the weld position. This robot input indicates to the robot, that studwelder 2 is in the weld position. This robot input indicates to the robot to execute the pick override section of the program This robot input indicates to the robot that the tip dresser is in bypass. This robot input is used to drop the robot into a slow speed during part inspection.
Reference DCX Book of Implementation Guidelines for proper Tag and UDT Naming Design standards for Control Logix AMS 0220 Section 9.3.2, 7.0 Tag DeviceNet Tag Naming Guidelines, Starting on page 28.
16
CUSW REL1.3
ROBOT OUTPUTS
SAFETY PLC COMMUNICATIONS
NODE ADDRESS 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 ROBOT ADDRESS CSO 1 CSO 2 CSO 3 CSO 4 CSO 5 CSO 6 CSO 7 CSO 8 CSO 9 CSO 10 CSO 11 CSO 12 CSO 13 CSO 14 CSO 15 CSO 16 ESPB RB MTR OFF AUTO AXP1 MON TC24V MON spare DM MON CSBP spare Joint 1 Zone Disabled Joint 2 Zone Disabled spare spare spare spare spare SIGNAL NAME NODE ADDRESS 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
ROBOT INPUTS
SAFETY PLC COMMUNICATIONS
ROBOT ADDRESS CSI 1 CSI 2 CSI 3 CSI 4 CSI 5 CSI 6 CSI 7 CSI 8 CSI 9 CSI 10 CSI 11 CSI 12 CSI 13 CSI 14 CSI 15 CSI 16 EES EGS SW24V TC24V spare spare spare spare spare Joint 1 Zone Disable Joint 2 Zone Disable spare spare spare spare spare SIGNAL NAME
RTU Auto Lube I/O

Robot Input # 1 2 3 4 5 6 7 8 Name PinionCRMon BearingCRMon Pinion24VOkMon Bearing24VOkMon Pinion24VOk Bearing24VOk
RTU Auto Lube I/O

Robot Output # 1 2 3 4 5 6 7 8 Name PinionLubeOn BearingLubeOn
17
CUSW REL1.3
ROBOT IO MAP ASSIGNMENTS

ROBOT COMMUNICATION
PLC COMMUNICATIONS SPARES PRECITEC SPOT WELD SCR#1 SPOT WELD SCR#2 SPOT WELD SCR#3 SPOT WELD SCR#4 NELSON STUD WELDER DISPENSE #1 DISPENSE #2 MH EOAT MODULE #1 INPUT MH EOAT MODULE #2 INPUT MH EOAT MODULE #3 INPUT MH EOAT MODULE #4 INPUT MH EOAT MODULE #5 INPUT MH EOAT MODULE #1 OUTPUT MH EOAT MODULE MISC OUTPUT SPARE MH EOAT VAC MODULE #1 MH EOAT VAC MODULE #2 USER DEFINABLE IO #1 USER DEFINABLE IO #2 SPARE ATI TOOLCHANGER ATI TOOLCHANGER (Robot Internal) SPARES FORM & PIERCE MOOG FORM & PIERCE CLINCH NUT-FEEDER FORM & PIERCE CLINCH NUT-TOOL FORM & PIERCE PUMP Mig Weld Reamer SPARES TOOLCHANGER COVER / NEST #1 TOOLCHANGER COVER / NEST #2 TOOLCHANGER COVER / NEST #3 TOOLCHANGER COVER / NEST #4 IPG_LASERWELD_GENERATOR (ASME) HIGHYAG_HEAD (ASME) DO [513 - 544] DO [545 - 576] DO [577 - 585] DO [593 - 600] DO [601 - 608] DO [609 - 616] DO [617 - 624] DO [625 - 631] DO [632 - 639] DO [640 - 654] DO [640 - 695] DO [696 - 727] DO [728 - 743] DO [744 - 759] DO [760 - 767] DO (768- 775) DO [776 - 784] DI [696 - 727] DI [728 - 743] DI [744 - 759] DI [760 - 767] DI (768 - 775) DI [776 - 784] 48 49 50 51 46 55 56 57 58 DO [785 - 800] DO [817 - 848] DI [785 - 800] DI [817 - 848] 17 18 DI [593 - 600] DI [601 - 608] DI [609 - 616] DI [617 - 624] DI [625 - 631] DI [632 - 695] 54 37 38 43 44
OUTPUT ASSIGNMENTS
DO [1 - 128] DO [129 - 192] DO [193 - 352] DO [193 - 224] DO [225 - 256] DO [257 - 288] DO [289 - 320] DO [321 - 384] DO [385 - 448] DO [449 - 512]
INPUT ASSIGNMENTS
DI [1 - 128] DI [129 - 192] DI [193 - 352] DI [193 - 224] DI [225 - 256] DI [257 - 288] DI [289 - 320] DI [321 - 384] DI [385 - 448] DI [449 - 512] DI [513 - 528] DI [529 - 544] DI [545 - 560] DI [561 - 576] DI [577 - 592]
NODE NUMBER
1
10 11 12 13 14 16 25 26 31 32 33 34 35 39 36
LaserCut Head GrinderMod1 GrinderMod2 GrinderAnalogMod1 GrinderAnalogMod2 Laser Cut Field I/O ISRA OR OTHER VISION APP ERROR SPARES
DO [849 - 856] DO [857 - 864] DO [865 - 872] AL 1-1 AL 2-2 AL 1-1 AL 2-2 DO (776- 783) DO [913 - 944] DO [945 - 1024]
DO [849 - 856] DO [857 - 864] DO [865 - 872] AL 1-1 AL 2-2 AL 1-1 AL 2-2 DI (776 - 783) DI [913 - 1024]
19 20 21 22 23 24 60
18
CUSW REL1.3
ROBOT BIT MAP

ROBOT OUTPUTS
PLC COMMUNICATIONS
NODE ROBOT ADDRESS ADDRESS 1 DO 1 1 DO 2 1 DO 3 1 DO 4 1 DO 5 1 DO 6 1 DO 7 1 DO 8 1 DO 9 1 DO 10 1 DO 11 1 DO 12 1 DO 13 1 DO 14 1 DO 15 1 DO 16 1 DO 17 1 DO 18 1 DO 19 1 DO 20 1 DO 21 1 DO 22 1 DO 23 1 DO 24 1 DO 25 1 DO 26 1 DO 27 1 DO 28 1 DO 29 1 DO 30 1 DO 31 1 DO 32 1 DO 33 1 DO 34 1 DO 35 1 DO 36 1 DO 37 1 DO 38 1 DO 39 1 DO 40 1 DO 41 1 DO 42 1 DO 43 1 DO 44 1 DO 45 1 DO 46 1 DO 47 1 DO 48 1 DO 49 1 DO 50 1 DO 51 1 DO 52 1 DO 53 1 DO 54 1 DO 55 1 DO 56 1 DO 57 1 DO 58 1 DO 59 1 DO 60 1 DO 61 1 DO 62 1 DO 63 1 DO 64 1 DO 65 1 DO 66 1 DO 67 1 DO 68 1 DO 69 1 DO 70 1 DO 71 PMC ADDRESS Y 0.0 Y 0.1 Y 0.2 Y 0.3 Y 0.4 Y 0.5 Y 0.6 Y 0.7 Y 1.0 Y 1.1 Y 1.2 Y 1.3 Y 1.4 Y 1.5 Y 1.6 Y 1.7 Y 2.0 Y 2.1 Y 2.2 Y 2.3 Y 2.4 Y 2.5 Y 2.6 Y 2.7 Y 3.0 Y 3.1 Y 3.2 Y 3.3 Y 3.4 Y 3.5 Y 3.6 Y 3.7 Y 4.0 Y 4.1 Y 4.2 Y 4.3 Y 4.4 Y 4.5 Y 4.6 Y 4.7 Y 5.0 Y 5.1 Y 5.2 Y 5.3 Y 5.4 Y 5.5 Y 5.6 Y 5.7 Y 6.0 Y 6.1 Y 6.2 Y 6.3 Y 6.4 Y 6.5 Y 6.6 Y 6.7 Y 7.0 Y 7.1 Y 7.2 Y 7.3 Y 7.4 Y 7.5 Y 7.6 Y 7.7 Y 8.0 Y 8.1 Y 8.2 Y 8.3 Y 8.4 Y 8.5 Y 8.6 GROUP ASSIGNMENT
ROBOT INPUTS
PLC COMMUNICATIONS
NODE ROBOT PMC ADDRESS ADDRESS ADDRESS 1 DI 1 X 0.0 1 DI 2 X 0.1 1 DI 3 X 0.2 1 DI 4 X 0.3 1 DI 5 X 0.4 1 DI 6 X 0.5 1 DI 7 X 0.6 1 DI 8 X 0.7 1 DI 9 X 1.0 1 DI 10 X 1.1 1 DI 11 X 1.2 1 DI 12 X 1.3 1 DI 13 X 1.4 1 DI 14 X 1.5 1 DI 15 X 1.6 1 DI 16 X 1.7 1 DI 17 X 2.0 1 DI 18 X 2.1 1 DI 19 X 2.2 1 DI 20 X 2.3 1 DI 21 X 2.4 1 DI 22 X 2.5 1 DI 23 X 2.6 1 DI 24 X 2.7 1 DI 25 X 3.0 1 DI 26 X 3.1 1 DI 27 X 3.2 1 DI 28 X 3.3 1 DI 29 X 3.4 1 DI 30 X 3.5 1 DI 31 X 3.6 1 DI 32 X 3.7 1 DI 33 X 4.0 1 DI 34 X 4.1 1 DI 35 X 4.2 1 DI 36 X 4.3 1 DI 37 X 4.4 1 DI 38 X 4.5 1 DI 39 X 4.6 1 DI 40 X 4.7 1 DI 41 X 5.0 1 DI 42 X 5.1 1 DI 43 X 5.2 1 DI 44 X 5.3 1 DI 45 X 5.4 1 DI 46 X 5.5 1 DI 47 X 5.6 1 DI 48 X 5.7 1 DI 49 X 6.0 1 DI 50 X 6.1 1 DI 51 X 6.2 1 DI 52 X 6.3 1 DI 53 X 6.4 1 DI 54 X 6.5 1 DI 55 X 6.6 1 DI 56 X 6.7 1 DI 57 X 7.0 1 DI 58 X 7.1 1 DI 59 X 7.2 1 DI 60 X 7.3 1 DI 61 X 7.4 1 DI 62 X 7.5 1 DI 63 X 7.6 1 DI 64 X 7.7 1 DI 65 X 8.0 1 DI 66 X 8.1 1 DI 67 X 8.2 1 DI 68 X 8.3 1 DI 69 X 8.4 1 DI 70 X 8.5 1 DI 71 X 8.6 GROUP ASSIGNMENT
GO[1] GO[1] GO[1] GO[1] GO[1] GO[1] GO[1]
GO[5] GO[5] GO[5] GO[5]
SIGNAL NAME RobotInAuto RobotFaulted WaitForTPInput InCycle CollisionDetd IOSimulated WldEnabled RobotReady ActiveStyBit1 ActiveStyBit2 ActiveStyBit4 ActiveStyBit8 ActiveStyBit16 ActiveStyBit32 ActiveStyBit64 PrgPaused PrgRunning RobotAtWork WorkComplete 20HourRunModeAct MaintReqBit1 MaintReqBit2 MaintReqBit4 MaintReqBit8 RobotAtPounce RobotAtService RobotAtHome RobotInTipDress TipDressComplt RdyForTipChg CleartoTransfer WldInPrgrsActiv1 RbtClrZone1 RbtClrZone2 RbtClrZone3 RbtClrZone4 RbtClrZone5 RbtClrZone6 RbtClrZone7 RbtClrZone8 UserOutput1 UserOutput2 UserOutput3 UserOutput4 UserOutput5 UserOutput6 UserOutput7 UserOutput8 ClrOfPickup1 AtPickup1 ClrOfDropoff1 AtDropoff1 ClrOfPickup2 AtPickup2 ClrOfDropoff2 AtDropoff2 ClrOfPickup3 AtPickup3 ClrOfDropoff3 AtDropoff3 ClrOfPickup4 AtPickup4 ClrOfDropoff4 AtDropoff4 Clr2UnclampEarly RbtAtUserPos1 RbtAtUserPos2 RbtAtUserPos3 RbtAtUserPos4 Spare Req2EntrToolNest
GI[1] GI[1] GI[1] GI[1] GI[1] GI[1] GI[1]
SIGNAL NAME NOHold Resume FaultReset 20HourRunMode ReqToEnter LaserEnable1 LaserGuideOn AppErrorAck STYLEBit1 STYLEBit2 STYLEBit4 STYLEBit8 STYLEBit16 STYLEBit32 STYLEBit64 WeldGunForceChk InterferenceClr1 InterferenceClr2 AcceptVolume VolumeFltReset PPOK_ClrToGrip GripOK_ClrToExit AbortExitPick AbortExitDrop RetFromPounce ServiceCompltReq ServiceRequest TipDressGunReq ProdStart Spare GoToWork WorkCompleteAck Zone1ClrToEnter Zone2ClrToEnter Zone3ClrToEnter Zone4ClrToEnter Zone5ClrToEnter Zone6ClrToEnter Zone7ClrToEnter Zone8ClrToEnter UserInput1 UserInput2 UserInput3 UserInput4 UserInput5 UserInput6 UserInput7 UserInput8 GoToPickup1 ExitPickup1 GoToDropoff1 ExitDropoff1 GoToPickup2 ExitPickup2 GoToDropoff2 ExitDropoff2 GoToPickup3 ExitPickup3 GoToDropoff3 ExitDropoff3 GoToPickup4 ExitPickup4 GoToDropoff4 ExitDropoff4 Part1InFixture Part2InFixture Part3InFixture Part4InFixture Part5InFixture Part6InFixture App1ClrToEnter
19
CUSW REL1.3
ROBOT OUTPUTS
PLC COMMUNICATIONS
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 DO 72 DO 73 DO 74 DO 75 DO 76 DO 77 DO 78 DO 79 DO 80 DO 81 DO 82 DO 83 DO 84 DO 85 DO 86 DO 87 DO 88 DO 89 DO 90 DO 91 DO 92 DO 93 DO 94 DO 95 DO 96 DO 97 DO 98 DO 99 DO 100 DO 101 DO 102 DO 103 DO 104 DO 105 DO 106 DO 107 DO 108 DO 109 DO 110 DO 111 DO 112 DO 113 DO 114 DO 115 DO 116 DO 117 DO 118 DO 119 DO 120 DO 121 DO 122 DO 123 DO 124 DO 125 DO 126 DO 127 DO 128 Y 8.7 Y 9.0 Y 9.1 Y 9.2 Y 9.3 Y 9.4 Y 9.5 Y 9.6 Y 9.7 Y 10.0 Y 10.1 Y 10.2 Y 10.3 Y 10.4 Y 10.5 Y 10.6 Y 10.7 Y 11.0 Y 11.1 Y 11.2 Y 11.3 Y 11.4 Y 11.5 Y 11.6 Y 11.7 Y 12.0 Y 12.1 Y 12.2 Y 12.3 Y 12.4 Y 12.5 Y 12.6 Y 12.7 Y 13.0 Y 13.1 Y 13.2 Y 13.3 Y 13.4 Y 13.5 Y 13.6 Y 13.7 Y 14.0 Y 14.1 Y 14.2 Y 14.3 Y 14.4 Y 14.5 Y 14.6 Y 14.7 Y 15.0 Y 15.1 Y 15.2 Y 15.3 Y 15.4 Y 15.5 Y 15.6 Y 15.7 ClearOfToolNest ServiceComp MajorMinorFlt WaitingForPlcCmd RemoveFault RobotPartPres1 RobotPartPres2 RobotPartPres3 RobotPartPres4 RobotPartPres5 RobotPartPres6 RobotPartPres7 RobotPartPres8 RobotPartPres9 RobotPartPres10 LaserEnbld HYagEnbld PickOverride CollisGuardEnbld AirOK AirPressAcptRng WetDryMode AbortPickReq TipDressReq Spare ExtPurg1InProgrs ExtPurg2InProgrs WaterOn WaterOff TurnOnTipDresser StepperRstAck StepMode RobotAtPurgePos RobotClrFixt1 RobotClrFixt2 TipBurnInComp Spare ReposTooling1 ReposTooling2 SignatureChgInd RbtAtInspectPos TeachPendantEnbd StartExtApp1Proc StartExtApp1Proc ToolIDOnWrist1 ToolIDOnWrist2 ToolIDOnWrist4 ProcessFault AppErrorActive AppErorrBit1 AppErrorBit2 AppErrorBit4 AppErrorBit8 AppErrorBit16 AppErrorBit32 AppErrorBit64 AppErrorBit128 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 DI 72 DI 73 DI 74 DI 75 DI 76 DI 77 DI 78 DI 79 DI 80 DI 81 DI 82 DI 83 DI 84 DI 85 DI 86 DI 87 DI 88 DI 89 DI 90 DI 91 DI 92 DI 93 DI 94 DI 95 DI 96 DI 97 DI 98 DI 99 DI 100 DI 101 DI 102 DI 103 DI 104 DI 105 DI 106 DI 107 DI 108 DI 109 DI 110 DI 111 DI 112 DI 113 DI 114 DI 115 DI 116 DI 117 DI 118 DI 119 DI 120 DI 121 DI 122 DI 123 DI 124 DI 125 DI 126 DI 127 DI 128
ROBOT INPUTS
PLC COMMUNICATIONS
X 8.7 X 9.0 X 9.1 X 9.2 X 9.3 X 9.4 X 9.5 X 9.6 X 9.7 X 10.0 X 10.1 X 10.2 X 10.3 X 10.4 X 10.5 X 10.6 X 10.7 X 11.0 X 11.1 X 11.2 X 11.3 X 11.4 X 11.5 X 11.6 X 11.7 X 12.0 X 12.1 X 12.2 X 12.3 X 12.4 X 12.5 X 12.6 X 12.7 X 13.0 X 13.1 X 13.2 X 13.3 X 13.4 X 13.5 X 13.6 X 13.7 X 14.0 X 14.1 X 14.2 X 14.3 X 14.4 X 14.5 X 14.6 X 14.7 X 15.0 X 15.1 X 15.2 X 15.3 X 15.4 X 15.5 X 15.6 X 15.7 App2ClrToEnter ToolInNest1 ToolInNest2 ToolInNest3 ToolInNest4 PickTool1 PickTool2 PickTool4 PickTool8 Clr2EntToolNest ToolingRepod1 ToolingRepod2 Spare PalletPosBit1 PalletPosBit2 PalletPosBit4 PalletPosBit8 PalletPosBit16 PalletPosBit32 PalletPosBit64 PalletPosBit128 WetDryMode AbortReq PurgeGun1Req PurgeGun2Req WaterFlowOK StartUpPurge TipDressDumpExtd TipDrsDumpRetrct TipDrsMotorOn ExtStepperReset1 ExtStepperReset2 TipBurnInReq TipChgReq InspectRequired InspectComplete ClrToExitUsrPos1 ClrToExitUsrPos2 ClrToExitUsrPos3 ClrToExitUsrPos4 ClrToExitUsrPos5 ExtApp1StartReq ExtApp1Complete ExtApp2StartReq ExtApp2Complete Reseal RejectPart NoSafeSpeed1 ReweldStud AcceptStud/Part RejectStud ChangedHead StudSlide1InPos StudSlide2InPos PickOverrideReq TipDressBypass NoSafeSpeed2
GI[4] GI[4] GI[4] GI[4] GI[5] GI[5] GI[6] GI[6] GI[6] GI[6] GI[6] GI[6] GI[6] GI[6]
GO[2] GO[2]
GO[3] GO[3] GO[3]
GO[4] GO[4] GO[4] GO[4] GO[4] GO[4] GO[4] GO[4]
20
CUSW REL1.3
ROBOT OUTPUTS
PLC COMMUNICATIONS Precitec
NODE ADDRESS 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 ROBOT ADDRESS DO 129 DO 130 DO 131 DO 132 DO 133 DO 134 DO 135 DO 136 DO 137 DO 138 DO 139 DO 140 DO 141 DO 142 DO 143 DO 144 DO 145 DO 146 DO 147 DO 148 DO 149 DO 150 DO 151 DO 152 DO 153 DO 154 DO 155 DO 156 DO 157 DO 158 DO 159 DO 160 DO 161 DO 162 DO 163 DO 164 DO 165 DO 166 DO 167 DO 168 DO 169 DO 170 DO 171 DO 172 DO 173 DO 174 DO 175 DO 176 DO 177 DO 178 DO 179 DO 180 DO 181 DO 182 DO 183 DO 184 DO 185 DO 186 DO 187 DO 188 DO 189 DO 190 DO 191 DO 192 PMC ADDRESS GROUP ASSIGNMENT
ROBOT INPUTS
PLC COMMUNICATIONS Precitec
NODE ADDRESS 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 ROBOT PMC ADDRESS ADDRESS DI 129 DI 130 DI 131 DI 132 DI 133 DI 134 DI 135 DI 136 DI 137 DI 138 DI 139 DI 140 DI 141 DI 142 DI 143 DI 144 DI 145 DI 146 DI 147 DI 148 DI 149 DI 150 DI 151 DI 152 DI 153 DI 154 DI 155 DI 156 DI 157 DI 158 DI 159 DI 160 DI 161 DI 162 DI 163 DI 164 DI 165 DI 166 DI 167 DI 168 DI 169 DI 170 DI 171 DI 172 DI 173 DI 174 DI 175 DI 176 DI 177 DI 178 DI 179 DI 180 DI 181 DI 182 DI 183 DI 184 DI 185 DI 186 DI 187 DI 188 DI 189 DI 190 DI 191 DI 192 GROUP ASSIGNMENT
SIGNAL NAME Part OK Part Not OK Inspection Incomplete Line Stop Not OK Left Side Not OK Right Side Reserved Reserved Seam Fault Generic Term A Seam Fault Generic Term B Seam Fault Generic Term C Reserved Reserved Reserved Reserved Reserved System Ready Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
SIGNAL NAME Part No Bit 0 Part No Bit 1 Part No Bit 2 Part No Bit 3 Part No Bit 4 Part No Bit 5 Part No Bit 6 Part No Bit 7 Part No Bit 8 Part No Bit 9 Part No Bit 10 Part No Bit 11 Part No Bit 12 Part No Bit 13 Part No Bit 14 Part No Bit 15 Part No Bit 16 Part No Bit 16 Part No Bit 18 Part No Bit 19 Part No Bit 20 Part No Bit 21 Part No Bit 22 Part No Bit 23 Part No Bit 24 Part No Bit 25 Part No Bit 26 Part No Bit 27 Part No Bit 28 Part No Bit 29 Part No Bit 30 Part No Bit 31 Part Type Bit 0 Part Type Bit 1 Part Type Bit 2 Part Type Bit 3 Part Type Bit 4 Part Type Bit 5 Part Type Bit 6 Part Type Bit 7 Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
21
CUSW REL1.3
ROBOT OUTPUTS
PRECITEC COMMUNICATIONS
NODE ADDRESS 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 ROBOT ADDRESS DO 193 DO 194 DO 195 DO 196 DO 197 DO 198 DO 199 DO 200 DO 201 DO 202 DO 203 DO 204 DO 205 DO 206 DO 207 DO 208 DO 209 DO 210 DO 211 DO 212 DO 213 DO 214 DO 215 DO 216 DO 217 DO 218 DO 219 DO 220 DO 221 DO 222 DO 223 DO 224 DO 225 DO 226 DO 227 DO 228 DO 229 DO 230 DO 231 DO 232 DO 233 DO 234 DO 235 DO 236 DO 237 DO 238 DO 239 DO 240 DO 241 DO 242 DO 243 DO 244 DO 245 DO 246 DO 247 DO 248 DO 249 DO 250 DO 251 DO 252 DO 253 DO 254 DO 255 DO 256 DO 257 DO 258 DO 259 DO 260 DO 261 DO 262 DO 263 PMC ADDRESS Y 0.0 GROUP ASSIGNMENT
ROBOT INPUTS
PRECITEC COMMUNICATIONS
NODE ADDRESS 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 ROBOT PMC GROUP ADDRESSADDRESS ASSIGNMENT SIGNAL NAME DI 193 X 0.0 System fault: no laserlines DI 194 System fault: no flasht DI 195 System fault: camera problem DI 196 System fault: reserved DI 197 System fault: internal software problem DI 198 System fault: autofocus-axis DI 199 System fault: reserved DI 200 System fault: reserved System fault: wrong position of sensor DI 201 head System fault: seam start/seam end not DI 202 detected DI 203 System fault: reserved DI 204 System fault: reserved System fault: Air conditioner / cabinet DI 205 temperature DI 206 System fault: inkjet has fault DI 207 System fault: inkjet has warning DI 208 System fault: reserved DI 209 Part OK (OK=1) DI 210 Part NOK (NOK = 1) DI 211 Inspection incomplete DI 212 Linestop (Stop = 1) DI 213 NOK left side DI 214 NOK right side DI 215 reserved DI 216 reserved DI 217 Seam fault generic term A DI 218 Seam fault generic term B DI 219 Seam fault generic term C DI 220 reserved DI 221 reserved DI 222 reserved DI 223 reserved DI 224 reserved DI 225 System ready (collective signal) DI 226 Sensor ready DI 227 Inkjet ready DI 228 reserved DI 229 reserved DI 230 reserved DI 231 reserved DI 232 reserved DI 233 reserved DI 234 reserved DI 235 reserved DI 236 reserved DI 237 reserved DI 238 reserved DI 239 reserved DI 240 reserved DI 241 Calibration request DI 242 Calibration finished DI 243 Calibration OK DI 244 Calibration NOK DI 245 reserved DI 246 reserved DI 247 reserved DI 248 reserved DI 249 reserved DI 250 reserved DI 251 reserved DI 252 reserved DI 253 reserved DI 254 reserved DI 255 reserved DI 256 reserved DI 257 reserved DI 258 reserved DI 259 reserved DI 260 reserved DI 261 reserved DI 262 reserved DI 263 reserved
SIGNAL NAME Seam Sequence number Bit 0 Seam Sequence number Bit 1 Seam Sequence number Bit 2 Seam Sequence number Bit 3 Seam Sequence number Bit 4 Seam Sequence number Bit 5 Seam Sequence number Bit 6 Seam Sequence number Bit 7 Seam number Bit 0 Seam number Bit 1 Seam number Bit 2 Seam number Bit 3 Seam number Bit 4 Seam number Bit 5 Seam number Bit 6 Seam number Bit 7 Inspection part active Take-over Seam Seq. No Inspection seam active Linelaser on No images Air nozzle on Select inkjet reserved Error code left Error code right reserved reserved reserved reserved reserved reserved Quit system fault reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved Calibration active reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved
22
CUSW REL1.3
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
DO 264 DO 265 DO 266 DO 267 DO 268 DO 269 DO 270 DO 271 DO 272 DO 273 DO 274 DO 275 DO 276 DO 277 DO 278 DO 279 DO 280 DO 281 DO 282 DO 283 DO 284 DO 285 DO 286 DO 287 DO 288 DO 289 DO 290 DO 291 DO 292 DO 293 DO 294 DO 295 DO 296 DO 297 DO 298 DO 299 DO 300 DO 301 DO 302 DO 303 DO 304 DO 305 DO 306 DO 307 DO 308 DO 309 DO 310 DO 311 DO 312 DO 313 DO 314 DO 315 DO 316 DO 317 DO 318 DO 319 DO 320 DO 321 DO 322 DO 323 DO 324 DO 325 DO 326 DO 327 DO 328 DO 329 DO 330 DO 331 DO 332 DO 333 DO 334 DO 335 DO 336 DO 337 DO 338 DO 339
reserved reserved reserved reserved reserved reserved reserved reserved reserved Part-No Bit 0 (Year Bit 0) Part-No Bit 1 (Year Bit 1) Part-No Bit 2 (Year Bit 2) Part-No Bit 3 (Year Bit 3) Part-No Bit 4 (Day Bit 0) Part-No Bit 5 (Day Bit 1) Part-No Bit 6 (Day Bit 2) Part-No Bit 7 (Day Bit 3) Part-No Bit 8 (Day Bit 4) Part-No Bit 9 (Day Bit 5) Part-No Bit 10 (Day Bit 6) Part-No Bit 11 (Day Bit 7) Part-No Bit 12 (Day Bit 8) Part-No Bit 13 (Day Bit 9) Part-No Bit 14 (Day Bit 10) Part-No Bit 15 (Day Bit 11) Part-No Bit 16 (Current no Bit 0) Part-No Bit 17 (Current no Bit 1) Part-No Bit 18 (Current no Bit 2) Part-No Bit 19 (Current no Bit 3) Part-No Bit 20 (Current no Bit 4) Part-No Bit 21 (Current no Bit 5) Part-No Bit 22 (Current no Bit 6) Part-No Bit 23 (Current no Bit 7) Part-No Bit 24 (Current no Bit 8) Part-No Bit 25 (Current no Bit 9) Part-No Bit 26 (Current no Bit 10) Part-No Bit 27 (Current no Bit 11) Part-No Bit 28 (Current no Bit 12) Part-No Bit 29 (Current no Bit 13) Part-No Bit 30 (Current no Bit 14) Part-No Bit 31 (Current no Bit 15) Part-No Bit 32 Part-No Bit 33 Part-No Bit 34 Part-No Bit 35 Part-No Bit 36 Part-No Bit 37 Part-No Bit 38 Part-No Bit 39 Part-No Bit 40 Part-No Bit 41 Part-No Bit 42 Part-No Bit 43 Part-No Bit 44 Part-No Bit 45 Part-No Bit 46 Part-No Bit 47 Part-Type Bit 0 Part-Type Bit 1 Part-Type Bit 2 Part-Type Bit 3 Part-Type Bit 4 Part-Type Bit 5 Part-Type Bit 6 Part-Type Bit 7 reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
DI 264 DI 265 DI 266 DI 267 DI 268 DI 269 DI 270 DI 271 DI 272 DI 273 DI 274 DI 275 DI 276 DI 277 DI 278 DI 279 DI 280 DI 281 DI 282 DI 283 DI 284 DI 285 DI 286 DI 287 DI 288 DI 289 DI 290 DI 291 DI 292 DI 293 DI 294 DI 295 DI 296 DI 297 DI 298 DI 299 DI 300 DI 301 DI 302 DI 303 DI 304 DI 305 DI 306 DI 307 DI 308 DI 309 DI 310 DI 311 DI 312 DI 313 DI 314 DI 315 DI 316 DI 317 DI 318 DI 319 DI 320
reserved reserved reserved reserved reserved reserved reserved reserved reserved Part-No Bit 0 (Year Bit 0) Part-No Bit 1 (Year Bit 1) Part-No Bit 2 (Year Bit 2) Part-No Bit 3 (Year Bit 3) Part-No Bit 4 (Day Bit 0) Part-No Bit 5 (Day Bit 1) Part-No Bit 6 (Day Bit 2) Part-No Bit 7 (Day Bit 3) Part-No Bit 8 (Day Bit 4) Part-No Bit 9 (Day Bit 5) Part-No Bit 10 (Day Bit 6) Part-No Bit 11 (Day Bit 7) Part-No Bit 12 (Day Bit 8) Part-No Bit 13 (Day Bit 9) Part-No Bit 14 (Day Bit 10) Part-No Bit 15 (Day Bit 11) Part-No Bit 16 (Current no Bit 0) Part-No Bit 17 (Current no Bit 1) Part-No Bit 18 (Current no Bit 2) Part-No Bit 19 (Current no Bit 3) Part-No Bit 20 (Current no Bit 4) Part-No Bit 21 (Current no Bit 5) Part-No Bit 22 (Current no Bit 6) Part-No Bit 23 (Current no Bit 7) Part-No Bit 24 (Current no Bit 8) Part-No Bit 25 (Current no Bit 9) Part-No Bit 26 (Current no Bit 10) Part-No Bit 27 (Current no Bit 11) Part-No Bit 28 (Current no Bit 12) Part-No Bit 29 (Current no Bit 13) Part-No Bit 30 (Current no Bit 14) Part-No Bit 31 (Current no Bit 15) Part-No Bit 32 Part-No Bit 33 Part-No Bit 34 Part-No Bit 35 Part-No Bit 36 Part-No Bit 37 Part-No Bit 38 Part-No Bit 39 Part-No Bit 40 Part-No Bit 41 Part-No Bit 42 Part-No Bit 43 Part-No Bit 44 Part-No Bit 45 Part-No Bit 46 Part-No Bit 47 Part-Type Bit 0 Part-Type Bit 1 Part-Type Bit 2 Part-Type Bit 3 Part-Type Bit 4 Part-Type Bit 5 Part-Type Bit 6 Part-Type Bit 7 reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved
23
CUSW REL1.3
10 10 10 10 10 10 10 10 10 10 10 10 10
DO 340 DO 341 DO 342 DO 343 DO 344 DO 345 DO 346 DO 347 DO 348 DO 349 DO 350 DO 351 DO 352
reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved
10 10 10 10 10 10 10 10 10 10 10 10 10
reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved
Note: Configuration of the Precitec must done manually by the robot programmer. The robot must be set up with the custo as a material handling robot and spotwelding and studwelding cannot be configured.
24
CUSW REL1.3
ROBOT OUTPUTS
SPOT WELD SCR#1 COMMUNICATIONS
NODE ADDRESS 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 ROBOT ADDRESS DO 193 DO 194 DO 195 DO 196 DO 197 DO 198 DO 199 DO 200 DO 201 DO 202 DO 203 DO 204 DO 205 DO 206 DO 207 DO 208 DO 209 DO 210 DO 211 DO 212 DO 213 DO 214 DO 215 DO 216 DO 217 DO 218 DO 219 DO 220 DO 221 DO 222 DO 223 DO 224 PMC ADDRESS Y 0.0 GROUP ASSIGNMENT
ROBOT INPUTS
NODE ROBOT PMC ADDRESS ADDRESS ADDRESS 11 DI 193 X 0.0 11 DI 194 11 DI 195 11 DI 196 11 DI 197 11 DI 198 11 DI 199 11 DI 200 11 DI 201 11 DI 202 11 DI 203 11 DI 204 11 DI 205 11 DI 206 11 DI 207 11 DI 208 11 DI 209 11 DI 210 11 DI 211 11 DI 212 11 DI 213 11 DI 214 11 DI 215 11 DI 216 11 DI 217 11 DI 218 11 DI 219 11 DI 220 11 DI 221 11 DI 222 11 DI 223 11 DI 224 GROUP ASSIGNMENT
GO[11] GO[11] GO[11] GO[11] GO[11] GO[11]
GO[12] GO[12] GO[12] GO[12] GO[12] GO[12] GO[12] GO[12] GO[12] GO[12] GO[12] GO[12] GO[12] GO[12]
SIGNAL NAME W1EnableWld W1FaultRst W1WldFltAck W1PrgBit1 W1PrgBit2 W1PrgBit4 W1PrgBit8 W1PrgBit16 W1PrgBit32 W1InitiateWld W1PressTest W1InitRet W1RstStepper W1IsoContSvrEnb W1ControlStop W1Tipsdressed W1WldIDBit1 W1WldIDBit2 W1WldIDBit4 W1WldIDBit8 W1WldIDBit16 W1WldIDBit32 W1WldIDBit64 W1WldIDBit128 W1WldIDBit256 W1WldIDBit512 W1WldIDBit1024 W1WldIDBit2048 W1WldIDBit4096 W1WldIDBit8192 Spare Spare
GI[11] GI[11] GI[11] GI[11] GI[11]
SIGNAL NAME W1WeldEnabled W1NoFault W1NoAlert W1WeldFltAvail W1WeldFltBit1 W1WeldFltBit2 W1WeldFltBit4 W1WeldFltBit8 W1WeldFltBit16 W1WeldComplete W1WeldInProgres W1SteppersReset W1NearEndOfStep W1EndOfStepper W1ReadyToWeld W1DressTipsReq W1RetractOut#1 W1RetractOut#2 W1FltMSGCode W1AlrtMSGCode Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
ROBOT OUTPUTS
ROBOT INPUTS
GO[13] GO[13] GO[13] GO[13] GO[13] GO[13]
GI[13] GI[13] GI[13] GI[13] GI[13]
25
CUSW REL1.3
ROBOT OUTPUTS
ROBOT INPUTS
GO[15] GO[15] GO[15] GO[15] GO[15] GO[15]
GI[15] GI[15] GI[15] GI[15] GI[15]
ROBOT OUTPUTS
ROBOT INPUTS
GO[17] GO[17] GO[17] GO[17] GO[17] GO[17]
GI[17] GI[17] GI[17] GI[17] GI[17]
26
CUSW REL1.3
ROBOT OUTPUTS
NELSON STUD WELDER COMMUNICATIONS
NODE ADDRESS 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 ROBOT ADDRESS DO 321 DO 322 DO 323 DO 324 DO 325 DO 326 DO 327 DO 328 DO 329 DO 330 DO 331 DO 332 DO 333 DO 334 DO 335 DO 336 DO 337 DO 338 DO 339 DO 340 DO 341 DO 342 DO 343 DO 344 DO 345 DO 346 DO 347 DO 348 DO 349 DO 350 DO 351 DO 352 DO 353 DO 354 DO 355 DO 356 DO 357 DO 358 DO 359 DO 360 DO 361 DO 362 DO 363 DO 364 DO 365 DO 366 DO 367 DO 368 DO 369 DO 370 DO 371 DO 372 DO 373 DO 374 DO 375 DO 376 DO 377 DO 378 DO 379 DO 380 DO 381 DO 382 DO 383 DO 384 PMC ADDRESS Y 0.0 GROUP ASSIGNMENT
ROBOT INPUTS
NELSON STUD WELDER COMMUNICATIONS
NODE ROBOT PMC ADDRESS ADDRESS ADDRESS 16 DI 321 X 0.0 16 DI 322 16 DI 323 16 DI 324 16 DI 325 16 DI 326 16 DI 327 16 DI 328 16 DI 329 16 DI 330 16 DI 331 16 DI 332 16 DI 333 16 DI 334 16 DI 335 16 DI 336 16 DI 337 16 DI 338 16 DI 339 16 DI 340 16 DI 341 16 DI 342 16 DI 343 16 DI 344 16 DI 345 16 DI 346 16 DI 347 16 DI 348 16 DI 349 16 DI 350 16 DI 351 16 DI 352 16 DI 353 16 DI 354 16 DI 355 16 DI 356 16 DI 357 16 DI 358 16 DI 359 16 DI 360 16 DI 361 16 DI 362 16 DI 363 16 DI 364 16 DI 365 16 DI 366 16 DI 367 16 DI 368 16 DI 369 16 DI 370 16 DI 371 16 DI 372 16 DI 373 16 DI 374 16 DI 375 16 DI 376 16 DI 377 16 DI 378 16 DI 379 16 DI 380 16 DI 381 16 DI 382 16 DI 383 16 DI 384 GROUP ASSIGNMENT
GO[21] GO[21] GO[21] GO[21] GO[21] GO[21] GO[21] GO[21]
GO[22] GO[22]
SIGNAL NAME StartWeld1 StartWeld2 StartWeld3 StartWeld4 StartWeld5 FeedStud1 FeedStud2 FeedStud3 FeedStud4 FeedStud5 SelectProgBit1 SelectProgBit2 SelectProgBit4 SelectProgBit8 SelectProgBit16 SelectProgBit32 SelectProgBit64 SelectProgBit128 Restart SetWeldComp SelectOperMode0 SelectOperMode1 ResetFault Std1Output24 Std1Output25 Std1Output26 Std1Output27 Std1Output28 Std1Output29 Std1Output30 Std1Output31 Std1Output32 Std1Output33 Std1Output34 Std1Output35 Std1Output36 Std1Output37 Std1Output38 Std1Output39 Std1Output40 Std1Output41 Std1Output42 Std1Output43 Std1Output44 Std1Output45 Std1Output46 Std1Output47 Std1Output48 AdvWeldGun1 AdvWeldGun2 AdvWeldGun3 AdvWeldGun4 AdvWeldGun5 Std1Output54 Std1Output55 Std1Output56 Std1Output57 Std1Output58 Std1Output59 Std1Output60 Std1Output61 Std1Output62 Std1Output63 Std1Output64
GI[22] GI[22] GI[22] GI[22] GI[22] GI[22] GI[22] GI[22]
SIGNAL NAME NOError1 WeldComp1 WeldGunRetrctd1 StudTouchingWrk1 SuspectWeld1 NOError2 WeldComp2 WeldGunRetrctd2 StudTouchingWrk2 SuspectWeld2 NOError3 WeldComp3 WeldGunRetrctd3 StudTouchingWrk3 SuspectWeld3 NOError4 WeldComp4 WeldGunRetrctd4 StudTouchingWrk4 SuspectWeld4 NOError5 WeldComp5 WeldGunRetrctd5 StudTouchingWrk5 SuspectWeld5 MaintCountReachd FeederLow UnitOnline AllGunsReady SimModeActive Std1Input31 Std1Input32 ErrorCodeBit1 ErrorCodeBit2 ErrorCodeBit4 ErrorCodeBit8 ErrorCodeBit16 ErrorCodeBit32 ErrorCodeBit64 ErrorCodeBit128 Std1Input41 Std1Input42 Std1Input43 Std1Input44 Std1Input45 Std1Input46 Std1Input47 Std1Input48 Std1Input49 Std1Input50 Std1Input51 Std1Input52 Std1Input53 Std1Input54 Std1Input55 Std1Input56 Std1Input57 Std1Input58 Std1Input59 Std1Input60 Std1Input61 Std1Input62 Std1Input63 Std1Input64
27
CUSW REL1.3
ROBOT OUTPUTS
NORDSON DISPENSE (PS2) #1 COMMUNICATIONS
NODE ADDRESS 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 ROBOT ADDRESS DO 385 DO 386 DO 387 DO 388 DO 389 DO 390 DO 391 DO 392 DO 393 DO 394 DO 395 DO 396 DO 397 DO 398 DO 399 DO 400 DO 401 DO 402 DO 403 DO 404 DO 405 DO 406 DO 407 DO 408 DO 409 DO 410 DO 411 DO 412 DO 413 DO 414 DO 415 DO 416 DO 417 DO 418 DO 419 DO 420 DO 421 DO 422 DO 423 DO 424 DO 425 DO 426 DO 427 DO 428 DO 429 DO 430 DO 431 DO 432 DO 433 DO 434 DO 435 DO 436 DO 437 DO 438 DO 439 DO 440 DO 441 DO 442 DO 443 DO 444 DO 445 DO 446 DO 447 DO 448 PMC ADDRESS Y 0.0 GROUP ASSIGNMENT GO[31] GO[31] GO[31] GO[31] GO[31] GO[31] GO[31] GO[31]
ROBOT INPUTS
GO[32] GO[32] GO[32] GO[32] GO[32] GO[32] GO[32] GO[32] GO[32] GO[32] GO[32] GO[32]
SIGNAL NAME Disp1StyBit1 Disp1StyBit2 Disp1StyBit3 Disp1StyBit4 Disp1StyBit5 Disp1StyBit6 Disp1StyBit7 Disp1StyBit8 Disp1RbtinPrc Disp1StyStrobe Disp1GunON Reserved Disp1ManPurgeEnbl Reserved Reserved Reserved Disp1Complete Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Dsp1MatFlwCmdB1 Dsp1MatFlwCmdB2 Dsp1MatFlwCmdB3 Dsp1MatFlwCmdB4 Dsp1MatFlwCmdB5 Dsp1MatFlwCmdB6 Dsp1MatFlwCmdB7 Dsp1MatFlwCmdB8 Dsp1MatFlwCmdB9 Dsp1MatFlwCmdB10 Dsp1MatFlwCmdB11 Dsp1MatFlwCmdB12 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Disp1FaultRst
SIGNAL NAME Dsp1DispenRdy Dsp1DispenInPrc Dsp1VolumeOK Reserved Reserved Reserved Reserved Reserved Dsp1LowVolFlt Dsp1HighVolFlt Dsp1LowPressFlt Dsp1HighPressFlt Dsp1ColDetd Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved
28
CUSW REL1.3
ROBOT OUTPUTS
NODE ADDRESS 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 ROBOT ADDRESS DO 449 DO 450 DO 451 DO 452 DO 453 DO 454 DO 455 DO 456 DO 457 DO 458 DO 459 DO 460 DO 461 DO 462 DO 463 DO 464 DO 465 DO 466 DO 467 DO 468 DO 469 DO 470 DO 471 DO 472 DO 473 DO 474 DO 475 DO 476 DO 477 DO 478 DO 479 DO 480 DO 481 DO 482 DO 483 DO 484 DO 485 DO 486 DO 487 DO 488 DO 489 DO 490 DO 491 DO 492 DO 493 DO 494 DO 495 DO 496 DO 497 DO 498 DO 499 DO 500 DO 501 DO 502 DO 503 DO 504 DO 505 DO 506 DO 507 DO 508 DO 509 DO 510 DO 511 DO 512 PMC ADDRESS Y 0.0 GROUP ASSIGNMENT GO[36] GO[36] GO[36] GO[36] GO[36] GO[36] GO[36] GO[36]
ROBOT INPUTS
GO[37] GO[37] GO[37] GO[37] GO[37] GO[37] GO[37] GO[37] GO[37] GO[37] GO[37] GO[37]
SIGNAL NAME Disp2StyBit1 Disp2StyBit2 Disp2StyBit3 Disp2StyBit4 Disp2StyBit5 Disp2StyBit6 Disp2StyBit7 Disp2StyBit8 Disp2RbtinPrc Disp2StyStrobe Disp2GunON Reserved Disp2ManPurgeEnbl Reserved Reserved Reserved Disp2Complete Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Dsp2MatFlwCmdB1 Dsp2MatFlwCmdB2 Dsp2MatFlwCmdB3 Dsp2MatFlwCmdB4 Dsp2MatFlwCmdB5 Dsp2MatFlwCmdB6 Dsp2MatFlwCmdB7 Dsp2MatFlwCmdB8 Dsp2MatFlwCmdB9 Dsp2MatFlwCmdB10 Dsp2MatFlwCmdB11 Dsp2MatFlwCmdB12 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Disp2FaultRst
SIGNAL NAME Dsp2DispenRdy Dsp2DispenInPrc Dsp2VolumeOK Reserved Reserved Reserved Reserved Reserved Dsp2LowVolFlt Dsp2HighVolFlt Dsp2LowPressFlt Dsp2HighPressFlt Dsp2ColDetd Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved
29
CUSW REL1.3
ROBOT OUTPUTS
MH EOAT MODULE #1 OUTPUT COMMUNICATIONS (SMC)
ROBOT INTERNAL ASSIGNMENT DO 10001 DO 10002 DO 10003 DO 10004 DO 10005 DO 10006 DO 10007 DO 10008 DO 10009 DO 10010 DO 10011 DO 10012 DO 10013 DO 10014 DO 10015 DO 10016 DO 10017 DO 10018 DO 10019 DO 10020 DO 10021 DO 10022 DO 10023 DO 10024 DO 10025 DO 10026 DO 10027 DO 10028 DO 10029 DO 10030 DO 10031 DO 10032
ROBOT INPUTS
MH EOAT MODULE #1 INPUT COMMUNICATIONS
NODE ADDRESS 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39 39
ROBOT ADDRESS DO 513 DO 514 DO 515 DO 516 DO 517 DO 518 DO 519 DO 520 DO 521 DO 522 DO 523 DO 524 DO 525 DO 526 DO 527 DO 528 DO 529 DO 530 DO 531 DO 532 DO 533 DO 534 DO 535 DO 536 DO 537 DO 538 DO 539 DO 540 DO 541 DO 542 DO 543 DO 544
PMC ADDRESS K0.0 K0.1 K0.2 K0.3 K0.4 K0.5 K0.6 K0.7 K1.0 K1.1 K1.2 K1.3 K1.4 K1.5 K1.6 K1.7 K2.0 K2.1 K2.2 K2.3 K2.4 K2.5 K2.6 K2.7 K3.0 K3.1 K3.2 K3.3 K3.4 K3.5 K3.6 K3.7
SIGNAL NAME VLV1Extend VLV1Retract VLV2Extend VLV2Retract VLV3Extend VLV3Retract VLV4Extend VLV4Retract VLV5Extend VLV5Retract VLV6Extend VLV6Retract VLV7Extend VLV7Retract VLV8Extend VLV8Retract VLV9Extend VLV9Retract VLV10Extend VLV10Retract VLV11Extend VLV11Retract VLV12Extend VLV12Retract VLV13Extend VLV13Retract VLV14Extend VLV14Retract VLV15Extend VLV15Retract VLV16Extend VLV16Retract
NODE ROBOT PMC ADDRESS ADDRESS ADDRESS 31 DI 513 X 0.0 31 DI 514 31 DI 515 31 DI 516 31 DI 517 31 DI 518 31 DI 519 31 DI 520 31 DI 521 31 DI 522 31 DI 523 31 DI 524 31 DI 525 31 DI 526 31 DI 527 31 DI 528
GROUP ASSIGNMENT
SIGNAL NAME Part1Present Part2Present Part3Present Part4Present MHDev1Retracted MHDev1Extended MHDev2Retracted MHDev2Extended MHDev3Retracted MHDev3Extended MHDev4Retracted MHDev4Extended MHDev5Retracted MHDev5Extended MHDev6Retracted MHDev6Extended
ROBOT INPUTS
NODE ROBOT PMC ADDRESS ADDRESS ADDRESS 32 DI 529 X 0.0 32 DI 530 32 DI 531 32 DI 532 32 DI 533 32 DI 534 32 DI 535 32 DI 536 32 DI 537 32 DI 538 32 DI 539 32 DI 540 32 DI 541 32 DI 542 32 DI 543 32 DI 544 GROUP ASSIGNMENT
30
CUSW REL1.3
ROBOT OUTPUTS
MH EOAT MODULE MISC OUTPUT COMMUNICATIONS (AB) COMBO EOAT VAC/CLAMPS/MISC
ROBOT INPUTS
NODE ROBOT ADDRESS ADDRESS 33 DI 545 33 DI 546 33 DI 547 33 DI 548 33 DI 549 33 DI 550 33 DI 551 33 DI 552 33 DI 553 33 DI 554 33 DI 555 33 DI 556 33 DI 557 33 DI 558 33 DI 559 33 DI 560 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME User Define Output1 User Define Output2 User Define Output3 User Define Output4 User Define Output5 User Define Output6 User Define Output7 User Define Output8 User Define Output9 User Define Output10 User Define Output11 User Define Output12 User Define Output13 User Define Output14 User Define Output15 User Define Output16 User Define Output17 User Define Output18 User Define Output19 User Define Output20 User Define Output21 User Define Output22 User Define Output23 User Define Output24 User Define Output25 User Define Output26 User Define Output27 User Define Output28 User Define Output29 User Define Output30 User Define Output31 User Define Output32
ROBOT INPUTS
NODE ROBOT ADDRESS ADDRESS 34 DI 561 34 DI 562 34 DI 563 34 DI 564 34 DI 565 34 DI 566 34 DI 567 34 DI 568 34 DI 569 34 DI 570 34 DI 571 34 DI 572 34 DI 573 34 34 DI 574 DI 575 DI 576 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME MHDev19Retracted MHDev19Extended MHDev20Retracted MHDev20Extended MHDev21Retracted MHDev21Extended MHDev22Retracted MHDev22Extended MHDev23Retracted MHDev23Extended MHDev24Retracted MHDev24Extended MHDev25Retracted MHDev25Extended MHDev26Retracted MHDev26Extended
ROBOT OUTPUTS
OUTPUT COMMUNICATIONS
NODE ADDRESS ROBOT ADDRESS DO 577 DO 578 DO 579 DO 580 DO 581 DO 582 DO 583 DO 584 DO 585 PMC ADDRESS GROUP ASSIGNMENT Spare Spare Spare Spare Spare Spare Spare Spare Spare
34 SIGNAL NAME
ROBOT INPUTS
NODE ROBOT ADDRESS ADDRESS 35 DI 577 35 DI 578 35 DI 579 35 DI 580 35 DI 581 35 DI 582 35 35 35 DI 583 DI 584 DI 585 DI 586 DI 587 DI 588 DI 589 DI 590 DI 591 DI 592 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME MHDev27Retracted MHDev27Extended MHDev28Retracted MHDev28Extended MHDev29Retracted MHDev29Extended MHDev30Retracted MHDev30Extended MHDev31Retracted MHDev31Extended MHDev32Retracted MHDev32Extended MHDev33Retracted MHDev33Extended MHDev34Retracted MHDev34Extended
ROBOT OUTPUTS
SPOT TP LOGIC COMMUNICATIONS
NODE ROBOT ADDRESS ADDRESS RbtInternal DO 586 RbtInternal DO 587 RbtInternal DO 588 RbtInternal DO 589 RbtInternal DO 590 RbtInternal DO 591 PMC ADDRESS Y0073.1 Y0073.2 Y0073.3 Y0073.4 Y0073.5 Y0073.6 GROUP ASSIGNMENT
SIGNAL NAME W1RstWtrSvr W1WtrOff W2RstWtrSvr W2WtrOff W1RstStepper W2RstStepper
35 35 35 35 35 35 35
31
CUSW REL1.3
ROBOT OUTPUTS
MH EOAT COMMUNICATIONS
NODE ROBOT ADDRESS ADDRESS RbtInternal DO 592 PMC ADDRESS GROUP ASSIGNMENT
SIGNAL NAME MH_MAJORFLT
ROBOT OUTPUTS
MH EOAT VAC MODULE #1 OUTPUT COMMUNICATIONS
NODE ADDRESS 37 37 37 37 37 37 37 37 ROBOT ADDRESS DO 593 DO 594 DO 595 DO 596 DO 597 DO 598 DO 599 DO 600 PMC ADDRESS Y 0.0 GROUP ASSIGNMENT
ROBOT INPUTS
MH EOAT VAC MODULE #1 INPUT COMMUNICATIONS
NODE ROBOT ADDRESS ADDRESS 37 DI 593 37 DI 594 37 DI 595 37 DI 596 37 DI 597 37 DI 598 37 DI 599 37 DI 600 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME doVacCH1On doBlwOffCh1On doVacCH2On doBlwOffCh2On doVacCH3On doBlwOffCh3On doVacCH4On doBlwOffCh4On
SIGNAL NAME VacuumCH1PP VacuumCH2PP VacuumCH3PP VacuumCH4PP
ROBOT OUTPUTS
MH EOAT VAC MODULE #2 OUTPUT COMMUNICATIONS
ROBOT INPUTS
MH EOAT VAC MODULE #2 INPUT COMMUNICATIONS
NODE ROBOT ADDRESS ADDRESS 38 DI 601 38 DI 602 38 DI 603 38 DI 604 38 DI 605 38 DI 606 38 DI 607 38 DI 608 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME doVacCH5On doBlwOffCh5On doVacCH6On doBlwOffCh6On doVacCH7On doBlwOffCh7On doVacCH8On doBlwOffCh8On
SIGNAL NAME VacuumCH5PP VacuumCH6PP VacuumCH7PP VacuumCH8PP
ROBOT OUTPUTS
USER DEFINABLE IO #1 COMMUNICATIONS (AB)
ROBOT INPUTS
NODE ADDRESS 43 43 43 43 43 43 43 43 ROBOT ADDRESS DI 609 DI 610 DI 611 DI 612 DI 613 DI 614 DI 615 DI 616 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME UserDefineddo609 UserDefineddo610 UserDefineddo611 UserDefineddo612 UserDefineddo613 UserDefineddo614 UserDefineddo615 UserDefineddo616
SIGNAL NAME UserDefineddi609 UserDefineddi610 UserDefineddi611 UserDefineddi612 UserDefineddi613 UserDefineddi614 UserDefineddi615 UserDefineddi616
ROBOT OUTPUTS
ROBOT INPUTS
NODE ADDRESS 44 44 44 44 44 44 44 44 ROBOT ADDRESS DI 617 DI 618 DI 619 DI 620 DI 621 DI 622 DI 623 DI 624 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME UserDefineddo617 UserDefineddo618 UserDefineddo619 UserDefineddo620 UserDefineddo621 UserDefineddo622 UserDefineddo623 UserDefineddo624
SIGNAL NAME UserDefineddi617 UserDefineddi618 UserDefineddi619 UserDefineddi620 UserDefineddi621 UserDefineddi622 UserDefineddi623 UserDefineddi624
32
CUSW REL1.3
ROBOT OUTPUTS
COMMUNICATIONS
NODE ADDRESS ROBOT ADDRESS DO 625 DO 626 DO 627 DO 628 DO 629 DO 630 DO 631 PMC ADDRESS Y 0.0 GROUP ASSIGNMENT
ROBOT INPUTS
SMC PRESURE SWITCH COMMUNICATIONS
NODE ADDRESS 39 39 39 39 39 ROBOT ADDRESS DI 625 DI 626 DI 627 DI 628 DI 629 DI 630 DI 631 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME Spare Spare Spare Spare Spare Spare Spare
SIGNAL NAME Air OK Air Acceptable range Spare Spare Spare Spare Spare
ROBOT OUTPUTS
ATI TOOLCHANGER COMMUNICATIONS
ROBOT INPUTS
ATI TOOLCHANGER COMMUNICATIONS
NODE ADDRESS 54 54 54 54 54 54 54 54 54 54 54 54 SIGNAL NAME ToolNotPresent InvalidToolRqst UnexpctdTlPrsnt NestNotEmpty NestIsEmpty GeneralFaults UnCoupleToolPos1 UnCoupleToolPos2 UnCoupleToolPos3 UnCoupleToolPos4 UnCoupleToolPos5 UnCoupleToolPos6 UnCoupleToolPos7 UnCoupleToolPos8 RbtOKtoUnCouple 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 SIGNAL NAME Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 54 ROBOT ADDRESS DI 632 DI 633 DI 634 DI 635 DI 636 DI 637 DI 638 DI 639 DI 640 DI 641 DI 642 DI 643 DI 644 DI 645 DI 646 DI 647 DI 648 DI 649 DI 650 DI 651 DI 652 DI 653 DI 654 DI 655 DI 656 DI 657 DI 658 DI 659 DI 660 DI 661 DI 662 DI 663 DI 664 DI 665 DI 666 DI 667 DI 668 DI 669 DI 670 DI 671 DI 672 DI 673 DI 674 DI 675 DI 676 DI 677 DI 678 DI 679 DI 680 DI 681 DI 682 DI 683 DI 684 GI[41] GI[41] GI[41] GI[41] GI[42] GI[42] GI[42] GI[42] GI[43] GI[43] GI[43] GI[43] GI[44] GI[44] GI[44] GI[44] GI[45] GI[45] GI[45] GI[45] PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME LatchOrLock UnlatchOrUnlock Spare ClearErrs ManualModeActd OutOfNest Spare Spare
SIGNAL NAME ToolLocked ToolUnLocked DNetPowerOK AuxPowerOK ReadyToLock1 ReadyToLock2 ReadyToLockV1 ReadyToLockV2 ToolStndIntlkV1 ToolStndIntlkV2 ToolStndRelayV1 ToolStndRelayV2 ToolPresent ReservedTooldi13 ReservedTooldi14 ReservedTooldi15 RTLMismatch TSIVMismatch LatchOverLoad UnlatchOverLoad SpareOverload RTLrtlvMismatch TSIVtsrvMismatch UnsafeUnlatch LckUnlckSensFlt LatchNotComplt UnlatchNotComplt TSIVFault RTLFault CommError ReservedTooldi30 ReservedTooldi31 ToolIDswtch1bit1 ToolIDswtch1bit2 ToolIDswtch1bit4 ToolIDswtch1bit8 ToolIDswtch2bit1 ToolIDswtch2bit2 ToolIDswtch2bit4 ToolIDswtch2bit8 ToolIDswtch3bit1 ToolIDswtch3bit2 ToolIDswtch3bit4 ToolIDswtch3bit8 ToolIDSwtch4bit1 ToolIDSwtch4bit2 ToolIDSwtch4bit4 ToolIDSwtch4bit8 ToolIDSwtch5bit1 ToolIDSwtch5bit2 ToolIDSwtch5bit4 ToolIDSwtch5bit8 UnlatchEnabled
ROBOT OUTPUTS
ATI TOOLCHANGER (ROBOT USER DEFINED) COMM.
NODE ADDRESS N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A ROBOT ADDRESS DO 640 DO 641 DO 642 DO 643 DO 644 DO 645 DO 646 DO 647 DO 648 DO 649 DO 650 DO 651 DO 652 DO 653 DO 654 PMC ADDRESS GROUP ASSIGNMENT
Reference Position 11 Reference Position 12 Reference Position 13 Reference Position 14 Reference Position 15 Reference Position 16 Reference Position 17 Reference Position 18
ROBOT OUTPUTS
ROBOT INTERNAL COMMUNICATIONS
NODE ADDRESS ROBOT ADDRESS DO 655 DO 656 DO 657 DO 658 DO 659 DO 660 DO 661 DO 662 DO 663 DO 664 DO 665 DO 666 DO 667 DO 668 DO 669 DO 670 DO 671 DO 672 DO 673 DO 674 DO 675 PMC ADDRESS GROUP ASSIGNMENT
33
CUSW REL1.3
DO 676 DO 677 DO 678 DO 679 DO 680 DO 681 DO 682 DO 683 DO 684 DO 685 DO 686 DO 687 DO 688 DO 689 DO 690 DO 691 DO 692 DO 693 DO 694 DO 695
Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
54 54 54 54 54 54 54 54 54 54 54
DI 685 DI 686 DI 687 DI 688 DI 689 DI 690 DI 691 DI 692 DI 693 DI 694 DI 695
ReservedTooldi53 ReservedTooldi54 ReservedTooldi55 ReservedTooldi56 ReservedTooldi57 ReservedTooldi58 ReservedTooldi59 ReservedTooldi60 ReservedTooldi61 ReservedTooldi62 ReservedTooldi63
ROBOT OUTPUTS
FORM & PIERCE MOOG COMMUNICATIONS
ROBOT INPUTS
FORM & PIERCE MOOG COMMUNICATIONS
NODE ADDRESS 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 ROBOT ADDRESS DI 696 DI 697 DI 698 DI 699 DI 700 DI 701 DI 702 DI 703 DI 704 DI 705 DI 706 DI 707 DI 708 DI 709 DI 710 DI 711 DI 712 DI 713 DI 714 DI 715 DI 716 DI 717 DI 718 DI 719 DI 720 DI 721 DI 722 DI 723 DI 724 DI 725 DI 726 DI 727 PMC ADDRESS X 0.0 GROUP ASSIGNMENT diDrvA_Ok diDrvA_On diDrvAHomeComp diDrvAForce_Lub diDrvAReturned diDrvAAtPos diDrvAMode1Ackn diDrvAMode2Ackn diSr400On diSrFuseOk
SIGNAL NAME doDrvAReset doDrvAMode1Sel doDrvAMode2Sel doStyleDrvALub doDrvAAutomode doDrvBReset doDrvBMode1Sel doDrvBMode2Sel doStyleDrvBLub doDrvBAutomode
SIGNAL NAME
doDrvATorqEnble doDrvAExtPos1 doDrvARetPos2 doDrvAPosSel
diDrvB_Ok diDrvB_On diDrvBHomeComp diDrvBForce_Lub diDrvBReturned diDrvBAtPos diDrvBMode1Ackn diDrvBMode2Ackn
doDrvBTorqEnble doDrvBExtPos1 doDrvBRetPos2 doDrvBPosSel
ROBOT OUTPUTS
FORM & PIERCE CLINCH NUT-FEEDER COMMUNICATIONS
NODE ADDRESS 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 ROBOT ADDRESS DO 728 DO 729 DO 730 DO 731 DO 732 DO 733 DO 734 DO 735 DO 736 DO 737 DO 738 DO 739 DO 740 DO 741 DO 742 DO 743 PMC ADDRESS GROUP ASSIGNMENT
ROBOT INPUTS
FORM & PIERCE CLINCH NUT-FEEDER COMMUNICATIONS
NODE ADDRESS 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 ROBOT ADDRESS DI 728 DI 729 DI 730 DI 731 DI 732 DI 733 DI 734 DI 735 DI 736 DI 737 DI 738 DI 739 DI 740 DI 741 DI 742 DI 743 PMC ADDRESS GROUP ASSIGNMENT
SIGNAL NAME doExtendPusher doReturnPusher doExtendPlunger doReturnPlunger
SIGNAL NAME diPusherExtended diPusherReturned diPlungerRetrned diPlungerExtnded diClinchAirOk diFdNutPresent
34
CUSW REL1.3
ROBOT OUTPUTS
FORM & PIERCE CLINCH NUT-TOOL COMMUNICATIONS
NODE ADDRESS 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 ROBOT ADDRESS DO 744 DO 745 DO 746 DO 747 DO 748 DO 749 DO 750 DO 751 DO 752 DO 753 DO 754 DO 755 DO 756 DO 757 DO 758 DO 759 PMC ADDRESS GROUP ASSIGNMENT
ROBOT INPUTS
FORM & PIERCE CLINCH NUT-TOOL COMMUNICATIONS
NODE ADDRESS 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 ROBOT ADDRESS DI 744 DI 745 DI 746 DI 747 DI 748 DI 749 DI 750 DI 751 DI 752 DI 753 DI 754 DI 755 DI 756 DI 757 DI 758 DI 759 PMC ADDRESS GROUP ASSIGNMENT
SIGNAL NAME doWkSupRetract
SIGNAL NAME diRbtNutPresent diWorkSptRet
ROBOT OUTPUTS
FORM & PIERCE PUMP COMMUNICATIONS
NODE ADDRESS 51 51 51 51 51 51 51 51 ROBOT ADDRESS DO 760 DO 761 DO 762 DO 763 DO 764 DO 765 DO 766 DO 767 PMC ADDRESS GROUP ASSIGNMENT
ROBOT INPUTS
FORM & PIERCE PUMP COMMUNICATIONS
NODE ADDRESS 51 51 51 51 51 51 51 51 ROBOT ADDRESS DI 760 DI 761 DI 762 DI 763 DI 764 DI 765 DI 766 DI 767 PMC ADDRESS GROUP ASSIGNMENT
SIGNAL NAME doChrgAccumultor doExtIntensCyl doRetIntensCyl
SIGNAL NAME diRobotAirOk diWkAtPressure diIntensCylRetd
ROBOT OUTPUTS Mig weld Reamers

46 46 46 46 46 46 46 46 DO 768 DO 769 DO 770 DO 771 DO 772 DO 773 DO 774 DO 775 Start Spray Spare Spare Spare Spare Spare Spare 46 46 46 46 46 46 46 46 DI 768 DI 769 DI 770 DI 771 DI 772 DI 773 DI 774 DI 775
ROBOT INPUTS Mig weld Reamers

Complete Error Spare Spare Spare Spare Spare Spare
ROBOT OUTPUTS Laser Cut Field I/O

24 24 24 24 24 24 24 24 DO 776 DO 777 DO 778 DO 779 DO 780 DO 781 DO 782 DO 783 DO 784 Release Assist Gas Spare Spare Spare Spare Spare Spare Spare Spare 24 24 24 24 24 24 24 24
ROBOT INPUTS Laser Cut Field I/O

DI 776 DI 777 DI 778 DI 779 DI 780 DI 781 DI 782 DI 783 DI 784 Collision Sens OK Collision Sens OK Purge Air On Purge Air Acpt Range Pre Pounce Assist Gas Pre-Pounce Assist gas Acpt Pre-Cut Assist Gas on Pre-Cut Assist Gas Acpt Spare
35
CUSW REL1.3
NOT USED ROBOT OUTPUTS

TOOLCHANGER COVER / NEST #1 COMMUNICATIONS
NODE ADDRESS 55 55 55 55 55 55 55 55 ROBOT ADDRESS DO DO DO DO DO DO DO DO PMC ADDRESS Y 0.0 GROUP ASSIGNMENT SIGNAL NAME Close Cover #1 Open Cover #1 NODE ADDRESS 55 55 55 55 55 55 55 55 ROBOT ADDRESS DI DI DI DI DI DI DI DI
ROBOT INPUTS
PMC ADDRESS X 0.0 GROUP ASSIGNMENT SIGNAL NAME Cover #1 Closed Cover #1 Open Tool in nest #1 switch 1 Tool in nest #1 switch 2
ROBOT OUTPUTS
ROBOT INPUTS
ROBOT OUTPUTS
ROBOT INPUTS
ROBOT OUTPUTS
ROBOT INPUTS
36
CUSW REL1.3
ROBOT OUTPUTS
IPG_Laserweld_Generator
NODE ADDRESS 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 ROBOT ADDRESS DO 785 DO 786 DO 787 DO 788 DO 789 DO 790 DO 791 DO 792 DO 793 DO 794 DO 795 DO 796 DO 797 DO 798 DO 799 DO 800 DO 801 DO 802 DO 803 DO 804 DO 805 DO 806 DO 807 DO 808 DO 809 DO 810 DO 811 DO 812 DO 813 DO 814 DO 815 DO 816 PMC ADDRESS GROUP ASSIGNMENT
ROBOT INPUTS
IPG_Laserweld_Generator
NODE ROBOT ADDRESS ADDRESS 17 DI 785 17 DI 786 17 DI 787 17 DI 788 17 DI 789 17 DI 790 17 DI 791 17 DI 792 17 DI 793 17 DI 794 17 DI 795 17 DI 796 17 DI 797 17 DI 798 17 DI 799 17 DI 800 DI 801 DI 802 DI 803 DI 804 DI 805 DI 806 DI 807 DI 808 DI 809 DI 810 DI 811 DI 812 DI 813 DI 814 DI 815 DI 816 PMC ADDRESS X 0.0 GROUP ASSIGNMENT
SIGNAL NAME doLasrRequest doLasrProgStart doLasrEnbPCCtrl doLasrReset doGuideLaserCtrl doLasrAnalogCtrl doLasrProgStop doLasrProgLSB doLasrProg1 doLasrProg2 doLasrProg3 doLasrProg4 doLasrProg5 doLasrProgMSB doLasrSyncInput doLasrReserve Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
SIGNAL NAME diLasrReady diLasrEmissionOn diLasrIntrCtrlOn diLasrError diGuideLaserOn diLasrAnalogCtrl diLasrAssigned diLasrOn diLasrProgActive diLasrProgEnd diLasrProgIntrpt diLasrSyncOutput diLasrWarning diLasrChillWarn diLasrChillError diLasrChillReady Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
ROBOT OUTPUTS
HighYag
NODE ADDRESS 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 ROBOT ADDRESS DO 817 DO 818 DO 819 DO 820 DO 821 DO 822 DO 823 DO 824 DO 825 DO 826 DO 827 DO 828 DO 829 DO 830 DO 831 DO 832 DO 833 DO 834 DO 835 DO 836 DO 837 DO 838 DO 839 DO 840 DO 841 DO 842 DO 843 DO 844 DO 845 DO 846 DO 847 DO 848 PMC ADDRESS GROUP ASSIGNMENT
ROBOT INPUTS
HighYag
NODE ROBOT ADDRESS ADDRESS 18 DI 817 18 DI 818 18 DI 819 18 DI 820 18 DI 821 18 DI 822 18 DI 823 18 DI 824 18 DI 825 18 DI 826 18 DI 827 18 DI 828 18 DI 829 18 DI 830 18 DI 831 18 DI 832 18 DI 833 18 DI 834 18 DI 835 18 DI 836 18 DI 837 18 DI 838 18 DI 839 18 DI 840 18 DI 841 18 DI 842 18 DI 843 18 DI 844 18 DI 845 18 DI 846 18 DI 847 18 DI 848 PMC ADDRESS GROUP ASSIGNMENT
SIGNAL NAME doHYagTriggerA doHYagProcError doHYagLaserError doHYagRestScannr doHYagPSelPart doHYagPSelRbtTrx doHYagPSelTrxPt doHYagPSelSeam doHYagPSelRbtVel doHYagModeBit0 doHYagModeBit1 doHYagModeBit2 doHYagC-JetOnOff doHYagReserve doHYagNumBit0 doHYagNumBit1 doHYagNumBit2 doHYagNumBit3 doHYagNumBit4 doHYagNumBit5 doHYagNumBit6 doHYagNumBit7 Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
SIGNAL NAME diHYagScanAvail diHYagScanRdy diHYagScanMonitr diHYagGenError diHYagStructErr diHYagScanAtWork diHYagSlideHoldr diHYagSlideWarn diHYagSlideError diHYagPosError diHYagTempError diHYagC-JetError diHYagEnetActive Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
37
CUSW REL1.3
ROBOT OUTPUTS
LaserCut Head
NODE ADDRESS 19 19 19 19 19 19 19 19 ROBOT ADDRESS DO 849 DO 850 DO 851 DO 852 DO 853 DO 854 DO 855 DO 856 PMC ADDRESS GROUP ASSIGNMENT GO(46] GO[46] GO[46]
ROBOT INPUTS
LaserCut Head
NODE ADDRESS 19 19 19 19 19 19 19 19 ROBOT ADDRESS DI 849 DI 850 DI 851 DI 852 DI 853 DI 854 DI 855 DI 856 PMC ADDRESS GROUP ASSIGNMENT
SIGNAL NAME HeightSelBit1 HeightSelBit2 HeightSelBit3 Tch/CtrOfTrvl MotInhbt/Hold TipSelBit AnalogInEnbl Reset
GI[46] GI[46] GI[46] GI[46]
SIGNAL NAME InPosition RetdPos TipTouch Crsh/FltActive StatCode1 StatCode2 StatCode3 StatCode4
ROBOT OUTPUTS
GrinderMod1
NODE ADDRESS 20 20 20 20 20 20 20 20 ROBOT ADDRESS DO 857 DO 858 DO 859 DO 860 DO 861 DO 862 DO 863 DO 864 PMC ADDRESS GROUP ASSIGNMENT GO[47] GO[47] GO[47] GO[47] GO[48] GO[48] GO(48] SIGNAL NAME ACT/RET SetActiveRetract ComdFourceLevBit0 ComdFourceLevBit1 ComdFourceLevBit2 ComdFourceLevBit3 ToolNumBit0 ToolNumBit1 ToolNumBit2
ROBOT INPUTS
GrinderMod1
NODE ADDRESS 20 20 20 20 20 20 20 20 ROBOT ADDRESS DI 857 DI 858 DI 859 DI 860 DI 861 DI 862 DI 863 DI 864 PMC ADDRESS GROUP ASSIGNMENT GI[47] GI[47] GI[47] GI[47] SIGNAL NAME ForceFedbackBit0 ForceFedbackBit1 ForceFedbackBit2 ForceFedbackBit3 PlusLimit MinusLimit Spare Spare
ROBOT OUTPUTS
GrinderMod2
NODE ADDRESS 21 21 21 21 21 21 21 21 ROBOT ADDRESS DO 865 DO 866 DO 867 DO 868 DO 869 DO 870 DO 871 DO 872 PMC ADDRESS GROUP ASSIGNMENT GO[49] GO[49] GO[49] GO[49] SIGNAL NAME Spare UserInputBit0 UserInputBit1 UserInputBit2 UserInputBit3 Spare SpindleEnable Spare
ROBOT INPUTS
GrinderMod2
NODE ADDRESS 21 21 21 21 21 21 21 21 ROBOT ADDRESS DI 865 DI 866 DI 867 DI 868 DI 869 DI 870 DI 871 DI 872 PMC ADDRESS GROUP ASSIGNMENT Spare Spare Spare Spare Spare Spare CRF Fault Spare SIGNAL NAME
ROBOT OUTPUTS
GRINDING ANALOG MODULE #1
NODE ADDRESS 22 22 22 22 ROBOT ADDRESS AO 1, 1-16 AO 2, 1-16 AO 3, 1-16 AO 4, 1-16 PMC ADDRESS GROUP ASSIGNMENT SIGNAL NAME CommandForce Spare Spare AMPThermister Spare Spare Spare Spare NODE ADDRESS 22 22 22 22 ROBOT ADDRESS AI 1, 1-16 AI 2, 1-16 AI 3, 1-16 AI 4, 1-16
ROBOT INPUTS
PMC ADDRESS GROUP ASSIGNMENT SIGNAL NAME ActualForce CarriagePos Spare Spare Spare Spare Spare Spare
ROBOT OUTPUTS
NODE ADDRESS 23 23 23 23 ROBOT ADDRESS AO 5, 1-16 AO 6, 1-16 AO 7, 1-16 AO 8, 1-16 PMC ADDRESS GROUP ASSIGNMENT
ROBOT INPUTS
NODE ADDRESS 23 23 23 23 ROBOT ADDRESS AI 5, 1-16 AI 6, 1-16 AI 7, 1-16 AI 8, 1-16 PMC ADDRESS GROUP ASSIGNMENT
SIGNAL NAME VelCommand Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
SIGNAL NAME VelMon CurrentRef Spare CurrentMon Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
DO 889 DO 890 DO 891 DO 892 DO 893 DO 894 DO 895 DO 896 DO 897
DI 889 DI 890 DI 891 DI 892 DI 893 DI 894 DI 895 DI 896 DI 897
38
CUSW REL1.3
DO 898 DO 899 DO 900 DO 901 DO 902 DO 903 DO 904 DO 905 DO 906 DO 907 DO 908 DO 909 DO 910 DO 911 DO 912
Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
DI 898 DI 899 DI 900 DI 901 DI 902 DI 903 DI 904 DI 905 DI 906 DI 907 DI 908 DI 909 DI 910 DI 911 DI 912
Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
ROBOT OUTPUTS
ISRA VISION COMMUNICATIONS
NODE ADDRESS 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 ROBOT ADDRESS DO 913 DO 914 DO 915 DO 916 DO 917 DO 918 DO 919 DO 920 DO 921 DO 922 DO 923 DO 924 DO 925 DO 926 DO 927 DO 928 DO 929 DO 930 DO 931 DO 932 DO 933 DO 934 DO 935 DO 936 DO 937 DO 938 DO 939 DO 940 DO 941 DO 942 DO 943 DO 944 PMC ADDRESS Y 0.0 GROUP ASSIGNMENT GO[38] GO[38] GO[38] GO[38]
ROBOT INPUTS
ISRA VISION COMMUNICATIONS
NODE ADDRESS 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 SIGNAL NAME AppErrSpare01 AppErrSpare02 AppErrSpare03 AppErrSpare04 AppErrSpare05 AppErrSpare06 AppErrSpare07 AppErrSpare08 AppErrSpare09 AppErrSpare10 AppErrSpare11 AppErrSpare12 AppErrSpare13 AppErrSpare14 AppErrSpare15 AppErrSpare16 AppErrSpare17 AppErrSpare18 AppErrSpare19 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 ROBOT ADDRESS DI 913 DI 914 DI 915 DI 916 DI 917 DI 918 DI 919 DI 920 DI 921 DI 922 DI 923 DI 924 DI 925 DI 926 DI 927 DI 928 DI 929 DI 930 DI 931 DI 932 DI 933 DI 934 DI 935 DI 936 DI 937 DI 938 DI 939 DI 940 DI 941 DI 942 DI 943 DI 944 DI 945 DI 946 DI 947 DI 948 DI 949 DI 950 DI 951 DI 952 DI 953 DI 954 DI 955 DI 956 DI 957 DI 958 DI 959 DI 960 DI 961 DI 962 DI 963 DI 964 DI 965 DI 966 DI 967 PMC ADDRESS X 0.0 GROUP ASSIGNMENT GI[31] GI[31] GI[31] GI[31]
GO[40] GO[39] GO[39] GO[39] GO[39] GO[39] GO[39] GO[39] GO[39] GO[41] GO[41] GO[41] GO[41] GO[41] GO[41] GO[41] GO[41] GO[42] GO[42] GO[42] GO[42] GO[42] GO[42] GO[42] GO[42]
SIGNAL NAME doISRA_CmdB1 doISRA_CmdB2 doISRA_CmdB4 doISRA_CmdB8 doISRA_Strt_M doISRA_reservd doISRA_Rst_E doISRA_ID_Valid doISRA_TpIDB1 doISRA_TpIDB2 doISRA_TpIDB4 doISRA_TpIDB8 doISRA_TpIDB16 doISRA_TpIDB32 doISRA_TpIDB64 doISRA_TpIDB128 doISRA_SubStyle doISRA_SubStyle doISRA_SubStyle doISRA_SubStyle doISRA_SubStyle doISRA_SubStyle doISRA_SubStyle doISRA_SubStyle doISRA_Color doISRA_Color doISRA_Color doISRA_Color doISRA_Color doISRA_Color doISRA_Color doISRA_Color
GI[38] GI[38] GI[38] GI[38] GI[38] GI[38] GI[38] GI[38] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[32] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[33] GI[34] GI[34] GI[34] GI[34] GI[34] GI[34] GI[34]
SIGNAL NAME diISRA_StatBit1 diISRA_StatBit2 diISRA_StatBit4 diISRA_StatBit8 diISRA_Ready diISRA_Snap_ip diISRA_Data_ip diISRA_ID_OK diISRA_reservd diISRA_ErrPLC diISRA_ErrRbt diISRA_OutTol diISRA_Disabl diISRA_ErrImage diISRA_reservd1 diISRA_ErrDet diISRA_XB1 diISRA_XB2 diISRA_XB4 diISRA_XB8 diISRA_XB16 diISRA_XB32 diISRA_XB64 diISRA_XB128 diISRA_XB256 diISRA_XB512 diISRA_XB1024 diISRA_XB2048 diISRA_XB4096 diISRA_XB8192 diISRA_XB16384 diISRA_XB32768 diISRA_YB1 diISRA_YB2 diISRA_YB4 diISRA_YB8 diISRA_YB16 diISRA_YB32 diISRA_YB64 diISRA_YB128 diISRA_YB256 diISRA_YB512 diISRA_YB1024 diISRA_YB2048 diISRA_YB4096 diISRA_YB8192 diISRA_YB16384 diISRA_YB32768 diISRA_ZB1 diISRA_ZB2 diISRA_ZB4 diISRA_ZB8 diISRA_ZB16 diISRA_ZB32 diISRA_ZB64
ROBOT OUTPUTS
APP. ERROR CODE (ROBOT USER DEFINED) COMM.
NODE ADDRESS N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A ROBOT ADDRESS DO 945 DO 946 DO 947 DO 948 DO 949 DO 950 DO 951 DO 952 DO 953 DO 954 DO 955 DO 956 DO 957 DO 958 DO 959 DO 960 DO 961 DO 962 DO 963 PMC ADDRESS GROUP ASSIGNMENT N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A
39
CUSW REL1.3
N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A
DO 964 DO 965 DO 966 DO 967 DO 968 DO 969 DO 970 DO 971 DO 972 DO 973 DO 974 DO 975 DO 976 DO 977 DO 978 DO 979 DO 980 DO 981 DO 982 DO 983 DO 984 DO 985 DO 986 DO 987 DO 988 DO 989 DO 990 DO 991 DO 992 DO 993 DO 994 DO 995 DO 996 DO 997 DO 998 DO 999 DO 1000 DO 1001 DO 1002 DO 1003 DO 1004 DO 1005 DO 1006 DO 1007 DO 1008 DO 1009 DO 1010 DO 1011 DO 1012 DO 1013 DO 1014 DO 1015 DO 1016 DO 1017 DO 1018 DO 1019 DO 1020 DO 1021 DO 1022 DO 1023 DO 1024
N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A
AppErrSpare20 AppErrSpare21 AppErrSpare22 AppErrSpare23 AppErrSpare24 AppErrSpare25 AppErrSpare26 AppErrSpare27 AppErrSpare28 AppErrSpare29 AppErrSpare30 AppErrSpare31 AppErrSpare32 AppErrSpare33 AppErrSpare34 AppErrSpare35 AppErrSpare36 AppErrSpare37 AppErrSpare38 AppErrSpare39 AppErrSpare40 AppErrSpare41 AppErrSpare42 AppErrSpare43 AppErrSpare44 AppErrSpare45 AppErrSpare46 AppErrSpare47 AppErrSpare48 AppErrSpare49 AppErrSpare50 AppErrSpare51 AppErrSpare52 AppErrSpare53 AppErrSpare54 AppErrSpare55 AppErrSpare56 AppErrSpare57 AppErrSpare58 AppErrSpare59 AppErrSpare60 AppErrSpare61 AppErrSpare62 AppErrSpare63 AppErrSpare64 AppErrSpare65 AppErrSpare66 AppErrSpare67 AppErrSpare68 AppErrSpare69 AppErrSpare70 AppErrSpare71 AppErrSpare72 AppErrSpare73 AppErrSpare74 AppErrSpare75 AppErrSpare76 AppErrSpare77 AppErrSpare78 AppErrSpare79 AppErrSpare80
60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60
DI 968 DI 969 DI 970 DI 971 DI 972 DI 973 DI 974 DI 975 DI 976 DI 977 DI 978 DI 979 DI 980 DI 981 DI 982 DI 983 DI 984 DI 985 DI 986 DI 987 DI 988 DI 989 DI 990 DI 991 DI 992 DI 993 DI 994 DI 995 DI 996 DI 997 DI 998 DI 999 DI 1000 DI 1001 DI 1002 DI 1003 DI 1004 DI 1005 DI 1006 DI 1007 DI 1008 DI 1009 DI 1010 DI 1011 DI 1012 DI 1013 DI 1014 DI 1015 DI 1016 DI 1017 DI 1018 DI 1019 DI 1020 DI 1021 DI 1022 DI 1023 DI 1024
GI[34] GI[34] GI[34] GI[34] GI[34] GI[34] GI[34] GI[34] GI[34] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[35] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[36] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37] GI[37]
diISRA_ZB128 diISRA_ZB256 diISRA_ZB512 diISRA_ZB1024 diISRA_ZB2048 diISRA_ZB4096 diISRA_ZB8192 diISRA_ZB16384 diISRA_ZB32768 diISRA_RXB1 diISRA_RXB2 diISRA_RXB4 diISRA_RXB8 diISRA_RXB16 diISRA_RXB32 diISRA_RXB64 diISRA_RXB128 diISRA_RXB256 diISRA_RXB512 diISRA_RXB1024 diISRA_RXB2048 diISRA_RXB4096 diISRA_RXB8192 diISRA_RXB16384 diISRA_RXB32768 diISRA_RYB1 diISRA_RYB2 diISRA_RYB4 diISRA_RYB8 diISRA_RYB16 diISRA_RYB32 diISRA_RYB64 diISRA_RYB128 diISRA_RYB256 diISRA_RYB512 diISRA_RYB1024 diISRA_RYB2048 diISRA_RYB4096 diISRA_RYB8192 diISRA_RYB16384 diISRA_RYB32768 diISRA_RZB1 diISRA_RZB2 diISRA_RZB4 diISRA_RZB8 diISRA_RZB16 diISRA_RZB32 diISRA_RZB64 diISRA_RZB128 diISRA_RZB256 diISRA_RZB512 diISRA_RZB1024 diISRA_RZB2048 diISRA_RZB4096 diISRA_RZB8192 diISRA_RZB16384 diISRA_RZB32768
ROBOT OUTPUTS
NODE ADDRESS RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal ROBOT ADDRESS DO 901 DO 902 DO 903 DO 904 DO 905 DO 906 DO 907 DO 908 DO 909 DO 910 DO 911 DO 912 PMC ADDRESS GROUP ASSIGNMENT
ROBOT INPUTS
NODE ADDRESS RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal RbtInternal ROBOT ADDRESS DI 901 DI 902 DI 903 DI 904 DI 905 DI 906 DI 907 DI 908 DI 909 DI 910 DI 911 DI 912 PMC ADDRESS GROUP ASSIGNMENT
SIGNAL NAME WaterValve1ON WaterValve1OFF WaterValve2ON WaterValve2OFF VacuumCH_ON PulseBatteryLow XFORMTEMPOk1 XFORMTEMPOk2 XFORMTEMPOk3 XFORMTEMPOk4
SIGNAL NAME WaterFlowOK1 WaterFlowOK2
VacuumCH_ON XFORMTEMPOk1 XFORMTEMPOk2 XFORMTEMPOk3 XFORMTEMPOk4
40
CUSW REL1.3
ROBOT APPLICATION ERROR TIMING
SYNCHRONIZE PLC / IDENTIFY TOP OF PMC LOGIC

Application Error Bits (Group Output) Application Error Active Application Error Acknowledge (PLC Signal) LOOP Until ALL Application Errors (if applicable) is monitored LOW State Error Active goes LOW when Error Ack goes HIGH DO[120] GO[4] = FIS ID DO[121 128]
Error Ack goes LOW when Error Active goes LOW
DI[8]
ADDING APPLICATION ERROR BITS TO PLC

Application Error Bits (Group Output) a Application Error Active Application Error Acknowledge (PLC Signal) Error Active goes LOW when Error Ack goes HIGH GO[4] = FIS ID DO[121 128]
DO[120]
DI[8]
LOOP Until ALL Application Errors (if applicable) is monitored
REMOVING APPLICATION ERROR BITS FROM PLC

Application Error Bits (Group Output) GO[4] = FIS ID DO[121 128]
Application Error Remove a Application Error Active Application Error Acknowledge (PLC Signal) b
Error Active goes LOW when Error Ack goes HIGH DO[76]
Error Active goes LOW when Error Ack goes HIGH b
DO[120]
DI[8]
a = 500 msec
ROBOT INPUTS FROM PLC
ROBOT OUTPUTS TO PLC
Not Robot I/O
41
CUSW REL1.3
ROBOT APPLICATION ERRORS

INPUT/S GROUP INPUT DESCRIPTION ERROR PLC SEVERITY CODE IO STATE
INTERNAL ROBOT HANDSHAKE TO PLC

N/A N/A Clear all faults command ID N/A 0 N/A
SPARE
General Communication DeviceNet Master Low Battery Indicator Major Minor 1 2 3 4
CLINCH NUT
No Nut In Anvil Feeder Air Not On Clinch Nut Still in Anvil Clinch Nut Not Present at Feeder Nut Feeder Plunger Not In Position Clinch Nut Part Present Fault Nut Feeder Pusher Not In Position 5 6 7 8 9 10 11
NET-FORM-PIERCE
Work Support Pressure Fault Moog Mode Fault Moog Drive A OK Fault Moog Drive B OK Fault Moog Drive A ON Fault Moog Drive B ON Fault Moog Drive A Position Fault Moog Drive B Position Fault Moog Drive A Force Fault Moog Drive B Force Fault 12 13 14 15 16 17 18 19 20 21
QMC/FMS
AAC Error AAC Required ATC Error ATC Required ATC Expired Vision Comm Heartbeat Lost Vision System App Fault Major Major Major Major Major Major Major 22 23 24 25 26 27 28 29 30 31 32
42
CUSW REL1.3
INPUT/S
GROUP INPUT
DESCRIPTION SPOTWELDING
ERROR PLC SEVERITY CODE
IO STATE
DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233
GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13] GI[11] GI[13]
I/O Error I/O Alarm Incomplete Weld Stepper Approaching Max End Of Stepper Sure Weld Trend Limit High/Low Current Limit Firing Error Cylinder Fault Cylinder Alarm Power Factor Error Compensation Error Insufficient Line Voltage Extend Weld Isolation Contactor Error Welding Buss Voltage Weld Data Not Programmed Analog Pressure Error C-Factor Limit Secondary Current Welding Transformer Over Temperature Shorted SCR Internal Timer Error Inverter Fault Timer Not Ready Reserved Reserved Reserved
Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor
33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61
N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A
43
CUSW REL1.3
INPUT/S
DI 197 -201 DI 229 -233 DI 197 -201 DI 229 -233
GROUP INPUT
GI[11] GI[13] GI[11] GI[13] Reserved Reserved
DESCRIPTION
ERROR PLC SEVERITY CODE

Major/Minor Major/Minor
IO STATE
62 63 N/A N/A
WATER SAVER
DI 785 DI 787 DI 817 DI 819 N/A N/A N/A N/A W1OKtoWeld Major 64 65 66 67 N/C N/O N/C N/O
WELD SERVOGUN / ARC

SPOT-068 ARC-006 ARC-008 ARC-010 ARC-013 ARC-017 ARC-018 ARC-030 ARC-033 N/A N/A N/A N/A N/A N/A N/A N/A N/A ServoGun Faulted Wire Fault Power Supply Fault Wire stick detected Arc Start failed Arc Start was Disabled Lost arc detect Wire stick is still detected Override must be 100% to weld 68 69 70 71 72 73 74 75 76
INTERNAL ROBOT
N/A Transformer over temperature Major 77
TOOL CHANGER
DO 640 DO 641 DI 648 DI 649 DI 650 DI 651 DI 652 DI 653 DI 654 DI 655 DI 656 DI 657 DI 658 DI 659 DI 660 DI 661 DI 684 DI 634 DI 635 DO 642 DO 643 DO 644 N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A ToolNotPresent Invalid Tool Requested RTLMismatch TSIVMismatch LatchOverLoad UnlatchOverLoad SpareOverload RTLrtlvMismatch TSIVtsrvMismatch UnsafeUnlatch LckUnlckSensFlt LatchNotComplt UnlatchNotComplt TSIVFault RTLFault Comm Error Unlatch Enabled DNetPowerNotPresent AuxPowerNotPresent Unexpected Tool Present Nest not empty Nest is empty 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 N/O N/O N/O N/O N/O N/O N/O N/O N/O N/O N/O N/O N/O N/O N/O N/O N/C N/O N/O N/O N/O N/O
STUD WELDING
DI 321 DI 326 DI 331 DI 336 DI 341 DI 347 DI 348 DI 349 N/A N/A N/A N/A N/A N/A N/A N/A NOError1 NOError2 NOError3 NOError4 NOError5 Std1StudsLow Std1ReadyForAuto Std1ReadyToWeld Major Major Major Major Major Minor Major Major 100 101 102 103 104 105 106 107 N/C N/C N/C N/C N/C N/O N/O N/C
44
CUSW REL1.3
SPARE
108 109 110 111 112 113 114 115 116 117 118 119
NORDSON DISPENSING #1
120 121 122 123 124 125 126 127 128 129
DI 393 DI 394 DI397 Di395 DI396
N/A N/A N/A N/A N/A
Nozzle 1 Low Volume Fault Nozzle 1 High Volume Fault Nozzle 1 Collision Detected Dispense 1 Low Pressure Fault Dispense 1 High Pressure Fault
Major Major Major Major Major
N/O N/O N/O N/O N/O
NORDSON DISPENSING #2
130 131 132 133 134 135 136 137 138 139 140
DI 457 DI 458 DI461 DI459 DI460
N/A N/A N/A N/A N/A
Nozzle 2 Low Volume Fault Nozzle 2 High Volume Fault Nozzle 2 Collision Detected Dispense 2 Low Pressure Fault Dispense 2 High Pressure Fault
Major Major Major Major Major
N/O N/O N/O N/O N/O
PERCEPTRON VISION
Perceptron Communication Fault Perceptron Status Fault Perceptron Bad Measurement General Search Error Major Major Major Major 141 142 143 144 145 N/O N/O N/O N/O
DYNALOG MEASUREMENT
Dynalog Major Fault Dynalog Minor Fault Major Major 146 147 N/O N/O
SPARE
148 149 150
45
CUSW REL1.3
ISRA VISION
DI 917 DI 918 DI 919 DI 920 DI 922 DI 923 DI 924 DI 925 DI 926 DI 928 N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A diISRA_Ready diISRA_Meas_ip diISRA_Data_ip diISRA_ID_OK diISRA_ErrPLC diISRA_ErrRbt diISRA_OutTol diISRA_Disabl diISRA_ErrImage diISRA_ErrDet Major Major Major Major Major Major Major Major Major Major 150 151 152 153 154 155 156 157 158 159
MATERIAL HANDLING/VISION
Rack not open fault Part search fault Major Major 160 161 N/O N/O
TRACK LUBE
Track Bearing Lube Fault Track Pinion Lube Fault Minor Minor 162 163
MATERIAL HANDLING
N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A VacuumCH1PP Fault VacuumCH2PP Fault VacuumCH3PP Fault VacuumCH4PP Fault VacuumCH5PP Fault VacuumCH6PP Fault VacuumCH7PP Fault VacuumCH8PP Fault VacuumCH9PP Fault VacuumCH10PP Fault VacuumCH11PP Fault VacuumCH12PP Fault Part Present 1 Fault Part Present 2 Fault Part Present 3 Fault Part Present 4 Fault Part Present 5 Fault Part Present 6 Fault Part Present 7 Fault Part Present 8 Fault Part Present 9 Fault Part Present 10 Fault Part Present 11 Fault Part Present 12 Fault MH Device 1 Retract Fault MH Device 2 Retract Fault MH Device 3 Retract Fault MH Device 4 Retract Fault MH Device 5 Retract Fault MH Device 6 Retract Fault MH Device 7 Retract Fault MH Device 8 Retract Fault MH Device 9 Retract Fault MH Device 10 Retract Fault MH Device 11 Retract Fault MH Device 12 Retract Fault MH Device 13 Retract Fault MH Device 14 Retract Fault MH Device 15 Retract Fault Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN
46
CUSW REL1.3
N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A
N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A
MH Device 16 Retract Fault MH Device 17 Retract Fault MH Device 18 Retract Fault MH Device 19 Retract Fault MH Device 20 Retract Fault MH Device 21 Retract Fault MH Device 22 Retract Fault MH Device 23 Retract Fault MH Device 24 Retract Fault MH Device 25 Retract Fault MH Device 26 Retract Fault MH Device 27 Retract Fault MH Device 28 Retract Fault MH Device 29 Retract Fault MH Device 30 Retract Fault MH Device 31 Retract Fault MH Device 32 Retract Fault MH Device 33 Retract Fault MH Device 34 Retract Fault MH Device 1 Extend Fault MH Device 2 Extend Fault MH Device 3 Extend Fault MH Device 4 Extend Fault MH Device 5 Extend Fault MH Device 6 Extend Fault MH Device 7 Extend Fault MH Device 8 Extend Fault MH Device 9 Extend Fault MH Device 10 Extend Fault MH Device 11 Extend Fault MH Device 12 Extend Fault MH Device 13 Extend Fault MH Device 14 Extend Fault MH Device 15 Extend Fault MH Device 16 Extend Fault MH Device 17 Extend Fault MH Device 18 Extend Fault MH Device 19 Extend Fault MH Device 20 Extend Fault MH Device 21 Extend Fault MH Device 22 Extend Fault MH Device 23 Extend Fault MH Device 24 Extend Fault MH Device 25 Extend Fault MH Device 26 Extend Fault MH Device 27 Extend Fault MH Device 28 Extend Fault MH Device 29 Extend Fault MH Device 30 Extend Fault MH Device 31 Extend Fault MH Device 32 Extend Fault MH Device 33 Extend Fault MH Device 34 Extend Fault
Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor Major/Minor
203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255
EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN EVENT DRIVEN
Note: If a Material Handling Fault is disabled using the DF&C function, the appropriate application error bit will be posted as a MINOR fault indicating that the MAJOR fault is disabled. The Process Fault bit will remain low.
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PLC LOGIC REFERENCE

The 12PF program will utilize Allen-Bradley GuardLogix Processors with DeviceNet for PLC to Robot and Robot to PLC communications. Please reference the latest 12PF Library, distributed by DCX Controls Coordinators, for the robot related modules.
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ROBOT PROGRAM NAMING

Robot program names shall follow the convention described by the table below:
Table 1. Program Names

Style # Programs 1 2 3 4 5 6 7 8 9 10 - 19 20 - 29 30 - 39 40 - 49 50 - 63 Program Name (8 char. max) STYLE001 STYLE002 STYLE003 STYLE004 STYLE005 STYLE006 STYLE007 STYLE008 STYLE009 STYLE010 STYLE019 STYLE020 STYLE029 STYLE030 STYLE039 STYLE040 STYLE049 STYLE050 STYLE063 Comment (16 char. max) Maint Style 1 WeldGunForceChck Tip Change Purge Tip Burn In Service Program TipDress 1st Gun / Tip1BurnIN TipDress 2nd Gun / Tip2BurnIN Tool Change User Specified User Specified User Specified User Specified User Specified Program Description (Maintenance Program) - User Specified User Specified - Weld Gun Force Check (Maintenance Program) - Executes motion and/or macro calls required to change the tips on the weld gun (Maintenance Program) - Executes motion and/or macro calls required to purge the dispense gun (Maintenance Program) - Executes motion and/or macro calls required to burn in the tips on the weld gun (Maintenance Program) - Executes motion and/or macro calls required to move the robot to the service position (Maintenance Program) - Executes motion and/or macro calls required to dress the tips on the 1st gun (Maintenance Program) - Executes motion and/or macro calls required to dress the tips on the 2nd gun (Maintenance Program) - Executes motion and/or macro calls required to change the tool on the robot User Specified User Specified User Specified User Specified User Specified - Future expansion
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CUSW REL1.3
ROBOT INTERFERENCE ZONES

Zone Identification Summary/Definitions:
Station / Work Area based zones. Zones 1, 2& 3:
Station Zones are defined as the area where two or more robots are executing work on or exchanging (transferring) a work piece at a physical station. Examples of stations are turntables, work fixtures, holding bucks and transfers or shuttles. Work Area Zones are defined as the area where two or more robots are executing work on or exchanging (transferring) a work piece without the use of a physical station. Examples of this would be robot to robot hand off by the use of Geo-fector EOAT (End Of Arm Tooling). Station and Work Area Zones are applied using an non-alternating pattern. For example a robot would pick-up a part in Zone 1 then transfer it to Zone 2. The next robot would pick-up the part from Zone 1 then transfers it to Zone 2. This non-alternating pattern would continue with Zone 3 only being required for a robot that needs three Station or Work Area zones.
Transition Zones/Hand-off zones Zones 4 & 5:

Transition Zones are when two or more robots, working side by side, are needed to move (transition) from one process area to another process area when a physical interference between the robots is present during the transition. For example welding robots moving from a geo weld position to a re-spot weld position would require some Transition zone protection. Hand-off Zones are used for robot to robot hand-off. Hand-off is when one robot loads the work piece from it EOAT directly onto the other robots EOAT without the use of a station. Hand-off Zones are applied using an non-alternating pattern. For example a robot would pick-up a part in Zone 4 then transfers it to Zone 5. The next robot would pick-up the part from Zone 4 then transfers it to Zone 5 etc.
Process Interference Zones / Duty Zones Zones 6 thru 8:

Process Interference Zones are defined as the zones around the work piece that the robots application is working around. For example two or more robots might need to cross each others path in order to complete its process on the work piece. In this case these Process Zones would be used to allow the robots to safely chase each other around the work piece. Duty Zones are defined as other Duties that the process or application requires but are in excess of the previous zone definitions. For example, gantry robots having a part transfer at a higher elevation then Zones 1-3 could use these zones like a Work Area Zone. Examples: Interference Zone Example 1: This example shows Zone 1 and 2 as Station Zones. Zones 4 & 5 are Transition Zones and Zones 6 8 as Process Interference Zones. Interference Zone Example 2: This example shows Zone 1 and 2 as Work Area Zones. Zone 4 is a hand-off Zone and Zones 6 & 7 are Process Interference Zones
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CUSW REL1.3
Interference Zone Example 1
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The definitions described and show above, are to be followed as described and are not subject to interpretation. If the above definitions can not be applied to a specific application then approval from a Chrysler Robotics Engineer or Launch Technician will be required to redefine how Interference Zones are to be used. Reference Pictures Only See Standard Robot Logic Reference for Details.
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CUSW REL1.3
PLC / ROBOT TIMING DIAGRAMS

New Cycle Start
Robot Inputs *Hold Resume Fault Reset Style1-Style64 Option1-Option4 Prod Start (3) (3) (2) Production Cycle
Robot Outputs RobotInAuto RobotFaulted-ProcessFault Robot Ready ActiveStyle1-ActiveStyle64 Prg Paused Prg Running In Cycle Option1Active-Option4Active RobotAtHome Production Cycle
1) Robot is in a starting mode of faulted inbetween cycle 2) Fault Reset can be dropped after seeing Robot Ready go high 3) Style and option bits need to be set before Prod Start is set, Prod Start can be dropped when Prg Running goes high
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CUSW REL1.3
Stop and Resume from Fault

Robot Inputs *Hold Resume Fault Reset Style1-Style64 Option1-Option4 Prod Start (5)
Production Cycle
Production Cycle
Robot Outputs RobotInAuto RobotFaulted-ProcessFault (4) Robot Ready
Production Cycle
Production Cycle
ActiveStyle1-ActiveStyle64 Prg Paused Prg Running In Cycle Option1Active-Option4Active RobotAtHome
4) Fault occurs and robot sets RobotFaulted and/or Process Fault 5) Resume signal does not require Style Number or Option Bits
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CUSW REL1.3
Stop and Resume from Hold

Robot Inputs *Hold Resume Fault Reset Style1-Style64 Option1-Option4 Prod Start
Production Cycle
(6)
Production Cycle
Robot Outputs RobotInAuto RobotFaulted-ProcessFault Robot Ready

Production Cycle Production Cycle
ActiveStyle1-ActiveStyle64 Prg Paused Prg Running In Cycle Option1Active-Option4Active RobotAtHome
6) When *Hold signal is lost, robot pauses program without faults
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REGISTER USAGE
Register names shall be a maximum of 16 characters in length and the name shall reflect the purpose of the register or counter.
NUMERICAL REGISTER USAGE

Numerical Registers are used for storage of Real or Integer values. The table below shows the registers that are reserved.
Table 2. Numerical Registers
Register Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27-39 40 41 42 43-100 101 102 103 104-129 130 131 132 133 134 135 136
Register Comment Current Tool ID Desired Tool ID Devnet Status DevnetConnRetry Current Home Pos CurrentFixtureID DesiredFixtureID Line Number SrvGunReserved SrvGunReserved SrvGunReserved SrvGunReserved CompletedBurnIns RequiredBurnIns ATISequenceStep ATIRecovery Gun1BurnInSched Gun2BurnInSched Gun1 Spot Count Gun1 Tip Dress Gun2 Spot Count Gun2 Tip Dress TipWR Cycle CNT TipWR Cycle MAX NumWeldRetries ColGuardDefault ColGuardSensitiv ToolModelNum 1sRobot/StatNum 10sRobot/StatNum
Register Description Current Tool ID Desired Tool ID DeviceNet Device Status Check Result DeviceNet Connection Retries Home Position to Return to During Service Macro Current Fixture ID Desired Fixture ID Line Number Spare
Preset Value
Reserved for ServoGun Tip Wear and Autotuning
Completed Number Burn Ins Required Number Burn Ins - set by user Current Step of ATI Sequence ATI Recovery Method Spare Gun 1 Weld Schedule for Burn In Gun 2 Weld Schedule for Burn In Gun 1 Spot Weld Count Gun 1 Tip Dress Gun 2 Spot Weld Count Gun 2 Tip Dress Tip Wear Cycle Count Tip Wear Max Cycles Spare Number of Weld Retries Sensitivity Default Register for Collision Guard Increased Sensitivity Register for Collision Guard Spare Temporary Storage of Tool Model Number Temporary Storage of 1's Digit of Robot/Station Number Temporary Storage of 10's Digit of Robot/Station Number Spare 1 100 150 3
ISRA Mode ISRA Type ISRA Subtype ISRA Color ISRA PR ISRA Error ISRA Temp
Vision Mode Vision Vehicle Type Vision Vehicle Sub Vision Vehicle Color Vision Ofset Index Vision Error Vision Temp
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CUSW REL1.3
Register Number 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165
Register Comment ISRA Set Nominal ISRA Vis Pos X ISRA Vis Pos Ext Rack Position ISRA Menu ANS ISRA Vis Pos X
Register Description ISRA Set Nominal ISRA Vis Pos Ext Rack Position ISRA Menu ANS
Preset Value
Scratch1 Scratch2 Scratch3 Part Rapid X Part Delta X(mm) 0th Part X Calc'd Part X Calc'd Part No Search 1 Part X POS Search 2 Part X POS Search X POS DIF Found Part X Found Part No Part No DIF ForcChkBadMeas ForcChkFailed ForcChk1ShakFail ForcChk2ShakFail ForcChkFShakFail ForcChkPartsRack
Scratch1 Scratch2 Scratch3 Part Rapid X Part Delta X(mm) 0th Part X Calc'd Part X Calc'd Part No Search 1 Part X POS Search 2 Part X POS Search X POS DIF Found Part X Found Part No Part No DIF
There are a total of 200 numerical registers. The user is free to use any other numerical register. The following is an example of using a numerical register in a teach pendant program. 10: R[1] = 34 ; 11: GO[3] = R[1] ; => Meaning Robot Group Output GO[3] = 34 value
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POSITION REGISTER USAGE

The table below shows the position register list to be used on the WD project. Moving to these positions is handled using the appropriate macro listed in the macro section of this document.
Table 3. Position Registers

Position Register Number Position Register Comment 1 Home1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 Base Frame PF Low Lt Frame PF Low Rt Frame PF Up Lt Frame PF Up Rt Frame ?? Low Lt Frame ?? Low Rt Frame ?? Up Lt Frame ?? Up Rt Frame Pick 1 Position Drop 1 Position Pick 2 Position Drop 2 Position Pick 3 Position Drop 3 Position Pick 4 Position Drop 4 Position ReservedSpotTeach Reserved for Servo Gun Spare Spare Spare PickUp Position #1 DropOff Position #1 PickUp Position #2 DropOff Position #2 PickUp Position #3 DropOff Position #3 PickUp Position #4 DropOff Position #4 Spare Base Frame PF Low Lt Frame PF Low Rt Frame PF Up Lt Frame PF Up Rt Frame ?? Low Lt Frame ?? Low Rt Frame ?? Up Lt Frame ?? Up Rt Frame ReservedServoGun Reserved for Servo Gun Autotuning and Tip Wear Operations Home2 PouncePosition M/HWaitPosition ServicePosition PurgePositionG1 PurgePositionG2 Position Register Description Home1 Home2 Pounce Position M/H Wait for Dropoff Position Service Position Purge PositionG1 Purge PositionG2 Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare Spare
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CUSW REL1.3
Position Register Number Position Register Comment 49 Current Position 50 Offs Base Frame 51 52 53 54 55 56 57 58 59 60 - 89 90 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119-200 Tool Offset 1 Tool Offset 2 Tool Offset 3 Tool Offset 4 Tool Offset 5 Tool Offset 6 Tool Offset 7 Tool Offset 8 Nest 1 Pick Nest 2 Pick Nest 3 Pick Nest 4 Pick Nest 1 Drop Nest 2 Drop Nest 3 Drop Nest 4 Drop TCP Target Position Payload ID Position ZERO Position ISRA Vis Pos PF Nom Vis Pos ?? Nom Vis Pos Rack Nom Vis Pos ISRA CAM1 CALPOS ISRA CAM2 CALPOS Above Pick
Position Register Description Current Position Offs Base Frame Above Pick Spare Spare ISRA Vis Pos PF Nom Vis Pos ?? Nom Vis Pos Rack Nom Vis Pos ISRA CAM1 CALPOS ISRA CAM2 CALPOS Spares Starting Position to Start Payload ID Robot Zero Mastering Position Spare Position where the tool changer decouples tool 1. Position where the tool changer decouples tool 2. Position where the tool changer decouples tool 3. Position where the tool changer decouples tool 4. Spare Position where the tool changer couples tool 1. Position where the tool changer couples tool 2. Position where the tool changer couples tool 3. Position where the tool changer couples tool 4. Spare Offset used for approach and retreat positions of the robot during the drop sequence. Offset used for approach and retreat positions of the robot during the drop sequence. Offset used for approach and retreat positions of the robot during the drop sequence. Offset used for approach and retreat positions of the robot during the drop sequence. Offset used for approach and retreat positions of the robot during the drop sequence. Offset used for approach and retreat positions of the robot during the drop sequence. Offset used for approach and retreat positions of the robot during the drop sequence. Offset used for approach and retreat positions of the robot during the drop sequence. Spares
Note 1: The robot must be able to move between the different Home positions in a single move without causing damage to the robot, dressout, or tooling. Note 2: Only use multiple home positions when performing a Change-out robot program (tool changer application). If no tool change application, the preferred method is only one home position, unless if a cycle time issue comes up.
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CUSW REL1.3
USER ALARMS
User Alarms are used to post an alarm and fault the robot from within a teach pendant program or macro. The table below shows the user alarms that are used for the PF project.
Table 4. User Alarms

User Alarm Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 - 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 ISRA: Rack NOT OK ISRA: Rack NOT OK There are a total of 50 user alarms. The user is free to use any other user alarm. The following is an example of using a user alarm in a teach pendant program. 10: UALM[1] ; 11: UALM[4] ; ISRA: Err Setting Meas Data ISRA: Err Starting Meas ISRA: Features/Tol Error ISRA: Measurement Error ISRA: Err Setting Meas Data ISRA: Err Starting Meas ISRA: Features/Tol Error ISRA: Measurement Error ISRA: Reset Errors Timeout ISRA: Change Auto/Ready Prep ISRA: Change Auto Handshake ISRA: Ready Prep Timeout ISRA: Meas Data OK Timeout ISRA: Result Transfer ON ISRA: Result Transfer OFF ISRA: Meas Still Running ISRA: Wrong Op Mode Entered User Alarm Comment ToolNotPresent Invalid Tool Requested Unexpected Tool Present Tool Nest not Empty Tool Nest is Empty DNetPower Not On Aux Power Not On ReadyToLock1 Not On ReadyToLock2 Not On ToolStndIntlk1 Not On ToolStndIntlk2 Not On RTL Sensor State Mismatch TSIV Sensor State Mismatch Latch Overload/Short Circuit Unlatch Overload/ShortCircuit Spare Overload/Short Circuit RTLV / RTL Mismatch TSRV / TSIV Mismatch UnsafeUnlatch LckUnlckSensFlt-Both High LatchNotComplt-Latch Timeout UnltchNtComplt-UnlatchTimeout TSIVFault-Switch Failed High RTLFault-Switch Failed High CommError-Master to Tool LckOrUnlckSensIncorrectState User Alarm Description No tool present Invalid tool requested for pick Unexpected tool present for drop Tool nest is not empty, can not drop tool No tool in nest, can not pick tool Apply DNet power Apply aux power Tool not positioned properly Tool not positioned properly TSI limit switch fault TSI limit switch fault RTL sensor states don't match TSIV sensor states don't match Short circuit or overload on latch solenoid output Short circuit or overload on unlatch solenoid output Short circuit or overload on spare solenoid output Mismatch condition between RTLV and RTL inputs Mismatch condition between TSIV and TSRV inputs Unlatch command received resulting in an unsafe tool release and therefore was not processed. Locked and Unlock inputs high at same time Timeout on locked input after latch command Timeout on unlocked input after unlatch command Failure of TSIV limit switch(es) in high position Failure of RTL sensor(s) in high position Communication error between master and tool modules Lock or Unlock Sensor in Incorrect State - Possible Failed Sensor Spare ISRA: Reset Errors Timeout ISRA: Change Auto/Ready Prep ISRA: Change Auto Handshake ISRA: Ready Prep Timeout ISRA: Meas Data OK Timeout ISRA: Result Transfer ON ISRA: Result Transfer OFF ISRA: Meas Still Running ISRA: Wrong Op Mode Entered
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CUSW REL1.3
REFERENCE POSITION USAGE

Reference Positions are global positions that can set an output automatically when the robot encoder values indicate that the robot is at the position. This automatic checking is done where the robot is jogged to a position or moved via a macro or program. The table below shows the reference positions to be used on the PF project.
Table 5. Reference Positions

Reference Position Number 1 2 3 - 10 11 12 13 14 15 23 24 25 26 27 28 29 30
Position Name Home1 Home2 Spare RobotAtUserPos1 RobotAtUserPos2 RobotAtUserPos3 RobotAtUserPos4 RobotAtUserPos5 UnCouple Tool Position 1 UnCouple Tool Position 2 UnCouple Tool Position 3 UnCouple Tool Position 4 UnCouple Tool Position 5 UnCouple Tool Position 6 UnCouple Tool Position 7 UnCouple Tool Position 8
At Position Digital Output 27 User Specified User Specified 66 67 68 69 70 646 647 648 649 650 651 652 653
Note 1: The robot must be able to move between the different Home positions in a single move without causing damage to the robot, dressout, or tooling. Note 2: Only use multiple home positions when performing a Change-out robot program (tool changer application). If no tool change application, the preferred method is only one home position, unless if a cycle time issue comes up. Note 3: Housekeeping macros (HOME_IO) are run when the robot is in range of a reference position set as a valid home position. Reference Position #1 must be set as a valid home position to execute HOME_IO after normal program execution. HOME_IO execution follows normal program execution when a robot is moved from a non home position to a valid home position.
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INTERCONNECTS
The I/O Interconnect feature allows the robot to output the states of digital inputs to notify external devices of the state of those inputs. The interconnect tables displays the inputs that are mapped to outputs. For example, per the configuration in the table below if DI[95] was to turn on, the robot would then turn on DO[416]. If DI[95] then turns off, DO[416] also turns off. I/O is interconnected based on the configuration of the robot. For example, a material handling robot would have Input 513 interconnected to Output 77. It would not have Input 204 interconnected to Output 102 because these I/O points are used for spot welding robots. The table below shows the interconnects that are used for the PF project.
Table 6. Interconnects
INTERCONNECTS
Table # Application Type Input
3 7 39 40 41 42 43 44 45 46 47 48 49 50 55 56 57 Reserved Reserved MH MH MH MH MH MH MH MH MH MH MH MH Tool Changing Tool Changing Tool Changing DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI-DO DI DI DI625 DI626 DI513 DI514 DI515 DI516 DI529 DI530 DI531 DI532 DI545 DI546 DI664 DI665 DI666
Description
Output
DO DO DO91 DO92 DO77 DO78 DO79 DO80 DO81 DO82 DO83 DO84 DO85 DO86 DO116 DO117 DO118
Description
Air OK Air Aceptable Range Part1Present Part2Present Part3Present Part4Present Part5Present Part6Present Part7Present Part8Present Part9Present Part10Present ToolIDSwtch1Bit1 ToolIDSwtch1Bit2 ToolIDSwtch1Bit4
AirOK AirPressAcptRng RobotPartPres1 RobotPartPres2 RobotPartPres3 RobotPartPres4 RobotPartPres5 RobotPartPres6 RobotPartPres7 RobotPartPres8 RobotPartPres9 RobotPartPres10 ToolIDOnWrist1 ToolIDOnWrist2 ToolIDOnWrist4
INTERCONNECTS
Table #
13 14 Spot Welding Spot Welding
Type Input
SI-DO SI-DO SI12 SI13
Description
OVERTEMP_SWG1 OVERTEMP_SWG2
Output
DO909 DO910
Description
XFORMTEMPOk1 XFORMTEMPOk2
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MACROS
Macro programs can be run standalone, but are intended to be used as subroutines which are called from the main style program. Defining a program as a macro program is done by setting the program type to Macro in the program header. When these programs are called from a main style program, the program pointer jumps to the subroutine. Similarly, when the subroutine is complete, the program pointer jumps back to the next line in the main style program. Macro programs can be set to either prohibit or allow robot motion statements. When motion statements are prohibited, the macro program can be manually executed while a robot fault is active. Therefore, it is recommended that macro programs that only execute I/O signals be set to prohibit motion statements (i.e. open/close gripper macro programs). Prohibiting motion statements in a macro program is done by setting all available motion groups to * in the program header. Allowing motion statements in a macro program is done by setting the appropriate motion groups to 1. The user is free to place additional macros into the macro table provided they do not take up a position reserved by the macro table listed below. FANUC Spottool+ standard macros such as tip wear compensation are not called out in the macro table. These macros are automatically loaded on the robot at time of software load.
Table 7. Macros
Macro Table Position Macros 1 MF 1 APP_IO ATI_CHCK CHK_TOOL ENTRZON1 ENTRZON2 ENTRZON3 ENTRZON4 ENTRZON5 ENTRZON6 ENTRZON7 ENTRZON8 ENTRZON9 MOV_HOME MVHMPNCE NST1DROP NST2DROP NST3DROP NST4DROP SetApplicationIO Check ATI Errors Check Tool Enter Zone 1 Enter Zone 2 Enter Zone 3 Enter Zone 4 Enter Zone 5 Enter Zone 6 Enter Zone 7 Enter Zone 8 Enter Zone 9 Move to Home MoveHomeFromPnce Drop Tool Nest 1 Drop Tool Nest 2 Drop Tool Nest 3 Drop Tool Nest 4 Setup all application specific inputs and outputs Handles ATI errors experienced during the tool pick and tool drop processes Checks for the correct tool on the wrist Handles IO for zone entering Handles IO for zone entering Handles IO for zone entering Handles IO for zone entering Handles IO for zone entering Handles IO for zone entering Handles IO for zone entering Handles IO for zone entering Handles IO for zone entering Executes motion to move the robot home from the current position Executes motion to move the robot home from the pounce position Executes motion and/or macro calls required to drop tool 1 in nest 1 Executes motion and/or macro calls required to drop tool 2 in nest 2 Executes motion and/or macro calls required to drop tool 3 in nest 3 Executes motion and/or macro calls required to drop tool 4 in nest 4 Macro Name (8 Char. Max) HOME_IO Macro Comment (16 Char. Max) Setup Outputs
Macro Description Handles I/O for start of next cycle (housekeeping)
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Macro Table Position
Macro Name (8 Char. Max) NST1PICK NST2PICK NST3PICK NST4PICK PED_DISP PED_SPOT PED_STUD PREPDROP PREPPICK PRGPDGN1 RST_STPR TPBURNIN TPCHNGPD TPDRSPD TPDRSGN1 TPDRSGN2
Macro Comment (16 Char. Max) Pick Tool Nest 1 Pick Tool Nest 2 Pick Tool Nest 3 Pick Tool Nest 4 Ped Dispense Ped Spot Weld Ped Stud Weld Tool Drop Prep Tool Pick Prep Purge Ped Gun 1 Reset Stepper Tip Burn In TipChangePedGun TipDressPedGun DressCarriedGun1 DressCarriedGun2
Macro Description Executes motion and/or macro calls required to pick tool 1 from nest 1 Executes motion and/or macro calls required to pick tool 2 from nest 2 Executes motion and/or macro calls required to pick tool 3 from nest 3 Executes motion and/or macro calls required to pick tool 4 from nest 4 Executes motion and/or macro calls required to perform dispensing with a pedestal mounted gun Executes motion and/or macro calls required to perform spot welding with a pedestal mounted weld gun Executes motion and/or macro calls required to perform stud welding with a pedestal mounted gun Executes motion and/or macro calls required to prepare to drop the tool on the wrist in its nest Executes motion and/or macro calls required to prepare to pick a tool from its nest Executes motion and/or macro calls required to perform a purge on pedestal mounted dispense gun 1 Handles IO for resetting the spot weld stepper motor Executes motion and/or macro calls required to perform a tip burn in on a servo weld gun Executes motion and/or macro calls required to perform a tip change on a pedestal mounted weld gun Executes motion and/or macro calls required to perform a tip dress with a pedestal mount weld gun Executes motion and/or macro calls required to perform a tip dress on carried weld gun 1 Executes motion and/or macro calls required to perform a tip dress on carried weld gun 2 Reserved for SpotTool+ Reserved for SpotTool+ Reserved for SpotTool+ Reserved for SpotTool+
10 - 11 18 109 - 120 130 - 140
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CUSW REL1.3
FLOW CHART EXAMPLES

Contained in the following pages are flow charts of the processes required for the PF program. The information contained in each section is for REFERENCE ONLY.
Flow Chart Legend

Process: Logic statement
Data: Data/Input from an external device is required to process this steps logic
Decision: Logic decision
Move: Servo movement called in logic
Connector: Off Page
Connector: On Page
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CUSW REL1.3
Material Handling
Start
Set Robot Payload, Tool Frame, and User Frame Setup Application Specific I/O (Macro) Acknowledge Style GO[1] Reset Collision Guard Sensitivity to Default R[41]
No Tool Changer
Tool Changer Applications Only
Set Desired Tool ID R[2] Check Tool (Macro)
Set MH Gripper (if necessary) (Macro)
Set additional gripper states (if necessary) (Macro)
Move to Pounce
Wait for go to Pickup 1 DI[49]
Set at Pounce DO[25] Reset Clear of Pickup 1 DO[49] Reset DO[89] Reset DO[94] Reset Clear to Transfer DO[31]
Verify Part not Present (Macro) Open the Gripper and Verify Open (Macro)
Zone Check (if necessary) (Macro)
Move Over Pickup 1
Go to Work or Return Home From Pounce?
Return Home DI[25]
Move Home from Pounce (call Macro)
Verify Tool is Correct (Macro)
Go To Work DI[31]
End Set Robot at Work DO[18] Reset Robot at Pounce DO[25]
Verify Part not Present (Macro)
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CUSW REL1.3
Material Handling (contd)

B
Open the Gripper and Verify Open (Macro) Note: Collision Guard sensitivity increased prior to moving into tooling to help prevent damage if a collision occurs
Set Collision Guard Sensitivity R[42]
Move to Pickup 1
Check for Part Present (Macro)
Note: Set reposition tooling handshake may be required either before or after gripper is closed
Note: Material Handling functions may require process recovery. Refer to the MH process recovery section.
Set Reposition Tooling GO[2]
Note: Receiving robot or fixture will always set the Reposition Tooling bit to the delivering robot or fixture
Wait for Tooling Repositioned GI[5]
Close the gripper and verify closed (Macro) Set At Pickup 1 DO[50] Select Robot Payload with Part
Note: Reposition Tooling bits only required when Robot to Robot/Fixture handshaking is needed
Note: Validate open before moving
Wait for Tooling Repositioned GI[5]
Reset Reposition Tooling GO[2]
Move Clear of Fixture Part Presence
Note: This robot movement must be of FINE type
Wait for Exit Pickup 1 DI[50]
Reset Collision Guard Sensitivity to Default R[41]
Note: Lessons learned, PLC is looking for a part in the robot gripper and has not been dropped
Check for Part Present (if necessary) (Macro)
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CUSW REL1.3
Reset at Pickup 1 DO[50]
Move Clear of Pickup 1
Set Clear of Pickup 1 DO[49] Set Clear to Transfer DO[31] Set Clear of Interference Zone (if necessary) DO[33]
Move
Process Applications
(as required) Dispense Inspection Spot Weld Stud Weld Wait for go to Dropoff 1 DI[51]
Reset Clear of Dropoff 1 DO[51] Reset Clear to Transfer DO[31]
Move Over Dropoff 1
Verify Tool is Correct (Macro)
Set Collision Guard Sensitivity R[42]
Move to Dropoff 1
Set at Dropoff 1 DO[52]
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CUSW REL1.3
Wait for Reposition Tooling GI[5]
Note: Receiving robot or fixture will always set the Reposition Tooling bit to the delivering robot or fixture
Open the Gripper (Macro) Select Payload without Part(s), Tool Frame and User Frame Note: Material Handling functions may require process recovery. Refer to the MH process recovery section. Set Tooling Repositioned GO[2]
Note: Reposition Tooling bits only required when Robot to Robot/Fixture handshaking is needed
Move Clear of Robot Part Present
Note: Assumes robot drops part to fixture Note: This robot movement must be of FINE type.
Verify Parts Not Present (Macro)
Wait for Exit Dropoff 1 DI[52] (if necessary)
Reset Collision Guard Sensitivity to Default R[41] Reset at Dropoff 1 DO[52] Reset Tooling Repositioned GO[2]
Move Clear of Dropoff 1
Set Clear of Dropoff 1 DO[51] Set Clear of Interference Zone (if necessary) DO[33]
Move Clear of Transfer Set Work Complete DO[19] Set Clear to Transfer DO[31] Reset Robot at Work DO[18] Wait for Work Complete Ack. DI[32]
Move Home (Macro)
Reset Work Complete DO[19]
End
70
CUSW REL1.3

Abort Pick/Abort Override Example (if required)
From Standard Material Handling Process
Note: Abort outputs are automatically set when the user selects a designated recovery option during standard material handling fault recovery (DO[89,94]). The user must manually reset these outputs when the recovery process is complete.
MH Function Macro (Ex: Check Part Present)
Abort Pick or Abort Over Ride Requested? DO[89,94]
Yes
No
Continue Standard Material Handling Process
User Specified Macro (Ex: Abort Pick) Jump to Program Label (Ex: End Program)
71
CUSW REL1.3
Dispense
Start A
Set Robot Payload, Tool Frame, and User Frame Setup Application Specific I/O (Macro) Acknowledge Style GO[1] Reset Collision Guard Sensitivity to Default R[41] Reset Clear to Transfer DO[31] Note: Collision Guard sensitivity increased prior to moving into tooling to help prevent damage if a collision occurs
Reset Dispense Style GO[31] Reset Dispense Style Strobe DO[394] Set Collision Guard Sensitivity R[42]
Move To Seal Start and Turn on Gun Note: The Nordson controller requires approx 500ms between the final gun off command and setting dispense complete. Therefore a move clear of part is performed between these commands to allow this time to elapse. Move Home from Pounce (Macro) Reset Collision Guard Sensitivity R[41] End Set Dispense Complete DO[401]
Move to Pounce
Move Along Path
Set at Pounce DO[25]
Move To Seal End and Turn off Gun
Return Home DI[25]
Move Clear of Part
Go To Work DI[31]
Set Robot at Work DO[18] Reset Robot at Pounce DO[25]
Wait for Dispense Vol. OK
Pre-processing for Dispense Equipment
Reset Dispense Complete DO[401] Reset Dispense Robot in Process DO[393] Post-processing for Dispense Equipment
Wait for Dispenser Ready DI[385]
Set Dispense Robot in Process DO[393] Wait 100ms Set Dispense Style GO[31] Wait 100ms Set Dispense Style Strobe DO[394]
Note: The Nordson controller requires 100ms delay time between setting robot in process, dispense style, and dispense style strobe. Wait statements are used here to allow the Nordson to see the delay.
Move Home (Macro)
Set Work Complete DO[19] Set Clear to Transfer DO[31] Set Clear of Zone DO[33]
Wait for Dispense In Process DI[386]
Wait for Work Complete Ack. DI[32]
End
72
CUSW REL1.3
Spot Welding
Start
Set Robot Payload, Tool Frame, and User Frame Setup Application Specific I/O (Macro) Acknowledge Style GO[1] Reset Clear to Transfer DO[31]
Move to Pounce
Set at Pounce DO[25]
Return Home DI[25]
Move Home from Pounce (Macro)
Go To Work DI[31]
End Set Robot at Work DO[18] Reset Robot at Pounce DO[25]
Move To Weld 1
Select Schedule, Weld 1
Move To Weld 2
Move Clear of Clamps
73
CUSW REL1.3
Spot Welding (contd)
74
CUSW REL1.3
Stud Welding
Start A
Set Robot Payload, Tool Frame, and User Frame Setup Application Specific I/O (Macro) Acknowledge Style GO[1] Reset Clear to Transfer DO[31]
Set Clear to Unclamp Early DO[65]
Move Home (Macro)
Set Work Complete DO[19] Move to Pounce Set Clear to Transfer DO[31] Set Clear of Zone DO[33] Set at Pounce DO[25] Wait for Work Complete Ack. DI[32] Move Home from Pounce (Macro)
Return Home DI[25]
Go To Work DI[31]
End Set Robot at Work DO[18] Reset Robot at Pounce DO[25] End
Move To Weld 1
Move To Weld 2
Move Clear of Clamps
75
CUSW REL1.3
Tip Change (Style #3)

Start
Set Robot Payload, Tool Frame, and User Frame Setup Application Specific I/O (Macro) Acknowledge Style GO[1]
Move Dress Approach (if necessary)
Note: A tip dress is performed prior to cap change to allow operator to verify tip dresser is properly dressing caps.
Do Tip Dress Gun 1 Schedule 0 (Macro) DELAY for TipDress Complete (wait 1.0 sec) Reset Tip Dress Complete DO[29]
Note: Tip Dress Macros use an argument call for the burn in schedule. Schedule 0 skips the burn in.
Move to Tip Change Position Note: 4.0 sec puls required to allow the watersaver to turn OFF and Blead down.
Pulse W 1 W ater Off DO[587]
W ait W 1OKToW eld DI[785]=OFF AND W 1ValveClosed DI[786]=ON
Set Robot at Service DO[26] Set Ready for Tip Change DO[30]
Reset Robot at Service DO[26] Reset Ready for Tip Change DO[30] Reset Stepper (Macro)
W ait for Service Complete DI[26]
Seat Caps Gun 1 (Macro) Do Tip W ear Compensation Gun 1 (Macro) Note: Tip wear compensation to be performed without measurement error checking.
Move Dress Approach (if necessary)
Pulse W 1 Reset W ater Saver DO[586] W ait W 1OKtoW eld DI[785]=ON Do Tip Dress Gun 1 (Macro)
Note: Tip dress macros perform burn in and wear compensation after dress. Refer to macros for details.
Move Home (Macro)
End
76
CUSW REL1.3
Purge (Style #4)

Start
Setup Application Specific I/O (Macro) Acknowledge Style GO[1] Set Ext Purge 1 in Progress DO[97] Pre-processing for Dispense Equipment Set Dispense 1 Purge DO[416] Wait X Seconds Reset Dispense 1 Purge DO[416] Post-processing for Dispense Equipment Reset Ext Purge 1 in Progress DO[97] Home IO (if necessary) (Macro)
Note: Home IO may need to be manually initiated if the style program does not have any robot motion.
End
77
CUSW REL1.3
Tip Burn In (Style #5)

Start
Move to Service Position (if necessary)
Tip Burn In (Macro)
Move Home (Macro) (if necessary)
Home IO (Macro) (if necessary)
End
78
CUSW REL1.3
Service (Style #6)

Start
Move to Service Position
Set Robot at Service DO[26]
Wait for Service Complete Req. DI[26]
Reset Robot at Service DO[26]
Move Home (Macro)
End
79
CUSW REL1.3
Tip Dress Gun 1 (Style #7)

Start
Approach Move (if necessary) Note: Tip Dress Macros use an argument call for the burn in schedule. Schedule 0 skips the burn in. Note: Tip dress macros perform burn in and wear compensation after dress. Refer to macros for details.
Tip Dress Gun 1 (Macro)
Move Home (Macro)
End
80
CUSW REL1.3

Start
Approach Move (if necessary) Note: Tip Dress Macros use an argument call for the burn in schedule. Schedule 0 skips the burn in. Note: Tip dress macros perform burn in and wear compensation after dress. Refer to macros for details.
Move Home (Macro)
End
81
CUSW REL1.3
Tool Change (Style #9)

Start
Set Desired Tool ID GI[41]
Check Tool (Macro)
Move Home (Macro)
End
82
CUSW REL1.3
Set Application IO (Macro)

Start
Set Application Specific IO
End
83
CUSW REL1.3
Check ATI Errors (Macro)

Start A
Select Current Sequence AR[1] Set ATI Recovery Method R[17]
Sequence List AR[1]: A. Ready to Pick/Latch/Unlatch B. Ready to Latch C. Exit Pick/Ready to Drop/Exit Drop D. Ready to Unlatch
No
ATI Error Present?
Yes
End Post User Alarm for ATI Error and Pause Program
R[17]=1
Select Recovery Method R[17]
R[17]=0
Reset Latch Tool DO[632] Reset Unlatch Tool DO[633] Set Clear Errors DO[635] Wait x seconds for ATI to reset Reset Clear Errors DO[635]
Set Clear Errors DO[635] Wait x seconds for ATI to reset Reset Clear Errors DO[635]
End
Note: This recovery method will retry the latch or unlatch operation in the pick or drop macro upon exiting.
84
CUSW REL1.3
Check Tool (Macro)

Start
Set Tool ID R[1], Line Number R[8], and Tool ID for PLC GO[3]
Yes
Does Current Tool ID Match Desired Tool ID?
End
No
Is Tool on Wrist? DI[644] R[1]
No
Yes
Pick Preparation and Pick Tool (Macro)
Drop Preparation and Drop Tool (Macro)
85
CUSW REL1.3
Drop Tool Nest 1 (Macro)

Start Set Request to Enter Tool Nest DO[71]
Set Robot UTOOL and UFRAME
Wait for Clear to Enter Tool Nest DI[81]
Clear ATI Errors DO[635] Reset Clear of Tool Nest DO[72] Reset Request to Enter Tool Nest DO[71]
Set Tool Device Offline (Macro) Note: (if applicable) Tool nest 1 approach and retreat positions are to use the same position as the couple position, PR[6]. This position is then offset by a distance using a tool offset via position register, PR[14].
Move to Tool Nest Perch
ATI General Error DO[645] High?
Yes
ATI State Check Sequence 5 (Macro)
No
Note: Turn Out of Nest off before TSIV switches are made. When the Out of Nest Output is set high, the tool changer globally disables the unlatch command. This output must be turned off to unlatch the tool changer. Reset Out of Nest DO[637]
Move to Tool Nest
Wait for Tool in Nest 1 DI[73]
86
CUSW REL1.3
Drop Tool Nest 1 (contd)

Note: In the robot ladder logic, PMC the following logic is added: (Even if you ONLY have one tool, you must define a Reference Position (below) in order to UnCouple a tool.) IF DO[646:UnCoupleToolPos1]=ON or DO[647:UnCoupleToolPos2]=ON or DO[648:UnCoupleToolPos3]=ON or DO[649:UnCoupleToolPos4]=ON or DO[650:UnCoupleToolPos5]=ON or DO[651:UnCoupleToolPos6]=ON or DO[652:UnCoupleToolPos7]=ON or DO[653:UnCoupleToolPos8]=ON THEN turn DO[RbtOKtoUnCouple]=ON ReferncePos[11] ReferncePos[12] ReferncePos[13] ReferncePos[14] ReferncePos[15] ReferncePos[16] ReferncePos[17] ReferncePos[18] A
Reset Latch Tool DO[632] Set Unlatch Tool DO[633]
Note: You do NOT need to set this DO[654] output in robot TP, this will be handled in robot code. It is FYI for you. RbtOKtoUnCouple DO[654]
Unlatch DI[633] High?
Code in KAREL to Unlock: IF (DO[637] = OFF) AND (DO[633]+) AND (DO[654]=ON) THEN DO[633]=ON ATI Unlatched or General Error?
Yes
No - Timeout
General Error DO[645]

Tool Unlocked DI[633] Not Tool Locked DI[632]

Note: (if applicable) Tool nest 1 approach and retreat positions are to use the same position as the couple position, PR[6]. This position is then offset by a distance using a tool offset via position register, PR[14]. This move must be 1 inch further than complete separation of the tool and be of FINE type Set Robot Payload without Tool Set Robot UTOOL and UFRAME
Move Clear of Tool in Nest Inputs Note: Check for disengagement of tool changer
Wait for Tool in Nest 1 DI[73]
Yes
No
Wait for Tool in Nest 1 DI[73] Move 4 Inches Above Clear of Tool in Nest
Reset Unlatch Tool DO[633] Set Out of Nest DO[637] Clear ATI Errors DO[635] Set Robot UTOOL and UFRAME
Move Clear of Tool Nest
End
87
CUSW REL1.3
Enter Zone 1 (Macro)

Start
Reset Clear of Zone 1 DO[33]
W ait for OK to Enter Zone 1 DI[33]
End
Home IO (Macro)
Start
Set Housekeeping Outputs
End
Move Home (Macro)

Start
Call Get_HOME (Karel Program)
NOTE: Get_Home Karel program will copy the position taught in Reference position to PR[Home]
Move Home
NOTE: Fine Move Required
End
Move Home From Pounce (Macro)

Start
Move Home From Pounce
End
88
CUSW REL1.3
Pick Tool Nest 1 (Macro)

Start
Clear ATI Errors DO[635]
Move to Tool Nest Perch
Set Request to Enter Tool Nest DO[71]
Wait for Clear to Enter Tool Nest DI[81]
Reset Clear of Tool Nest DO[72] Reset Request to Enter Tool Nest DO[71]
Note: (if applicable) Tool nest 1 approach and retreat positions are to use the same position as the couple position, PR[6]. This position is then offset by a distance using a tool offset via position register, PR[10].
Move to Tool Nest Approach
Note: Turn Out of Nest off before TSI switches are made. When the Out of Nest Output is set high, the tool changer globally disables the unlatch command. This output must be turned off to unlatch the tool changer.
Reset Out of Nest DO[637]
No
User Alarm Lock or Unlock Sensor Incorrect State
Tool Locked and Tool Unlocked Low?
Yes
Reset Latch Tool DO[632] Set Unlatch Tool DO[633]
Unlatch DI[633] High?
Yes
No - Timeout
ATI Unlatched or Error Posted?

Tool Unlocked DI[633]

Move to Tool Nest
89
CUSW REL1.3
Pick Tool Nest 1 (contd)
Reset Unlatch Tool DO[633] Set Latch Tool DO[632]
Set Tool Device Online (Macro)
Latch DI[632] High?
Yes
No - Timeout
ATI Latched or Error Posted?
Tool Locked DI[632] Not Tool Unlocked DI[633]

Set Robot Payload with Tool Set Robot UTOOL and UFRAME
Is Tool ID correct? Note: (if applicable) Tool nest 1 approach and retreat positions are to use the same position as the couple position, PR[6]. This position is then offset by a distance using a tool offset via position register, PR[10].
No
User Alarm Unexpected Tool Present
Yes
Move Clear of Tool in Nest Inputs
End
Yes
No
Move Clear of Tool Nest
Set Out Of Nest DO[637]
Set Tool Device Online (Macro)
No
Move Clear of Tool Nest Check Device Online End
Yes
90
CUSW REL1.3
Process Application Macros (Spot, Dispense, Stud)

MH Ped Spot Weld
Start
Move To Weld 1
Move To Weld 2
Move Clear of Ped Welder
Tip Dress, Tip Change, Burn In, Service or Go To Dropoff?
Tip Change DI[105]

Tip Dress Ped Gun Schedule 0 (Macro) Reset Tip Dress Complete DO[29] Tip Change Ped Gun (Macro) Tip Dress Ped Gun Schedule 58 (Macro) End
Dropoff 1 DI[51]
Tip Burn In DI[104]

Tip Burn In (Macro)
Tip Dress DI[28]

Tip Dress Ped Gun Schedule 62 (Macro)
Note: Refer to flow charts for tip change and tip dress macro details Note: Tip Dress Macros use an argument call for the burn in schedule. Schedule 0 skips the burn in.
Note: A tip dress is performed prior to tip change to allow operator to verify tip dresser is properly dressing caps.
Service Request DI[27] MH Service with Part (Macro)
91
CUSW REL1.3
Process Application Macros (contd)

MH Ped Dispense
Start A
Pre-processing for Dispense Equipment
Wait for Dispense Vol. OK
Wait for Dispenser Ready DI[385] Note: The Nordson controller requires 100ms delay time between setting robot in process, dispense style, and dispense style strobe. Wait statements are used here to allow the Nordson to see the delay.
Reset Dispense Complete DO[401] Reset Dispense Robot in Process DO[393] Post-processing for Dispense Equipment
Set Dispense Robot in Process DO[393] Wait 100ms Set Dispense Style GO[31] Wait 100ms Set Dispense Style Strobe DO[394]
Wait for Dispense In Process DI[386]
Purge Gun 1 DI[95]

Purge Ped Gun 1 (Macro)
Purge or Go To Dropoff?
Reset Dispense Style GO[31] Reset Dispense Style Strobe DO[394] Set Collision Guard Sensitivity R[42]
Dropoff 1 DI[51]
End
Move To Seal Start and Turn on Gun
Move Along Path
Move To Seal End and Turn off Gun
Move Clear of Nozzle
Reset Collision Guard Sensitivity R[41] Set Dispense Complete DO[401]
Note: The Nordson controller requires approx 500ms between the final gun off command and setting dispense complete. Therefore a move clear of part is performed between these commands to allow this time to elapse.
92
CUSW REL1.3
Process Application Macros (contd)
MH Ped Stud Weld

Start
Move To Weld 1
Move To Weld 2
Move Clear of Ped Welder
End
93
CUSW REL1.3
Purge Ped Gun (Macro)

Start
Set Ext Purge 1 in Progress DO[97] Pre-processing for Dispense Equipment Set Dispense 1 Purge DO[416] Wait X Seconds Reset Dispense 1 Purge DO[416] Post-processing for Dispense Equipment Reset Ext Purge 1 in Progress DO[97]
End
Reset Stepper (Macro)

Start
Set W1 Reset Stepper DO[590]
Wait for Stepper Reset DI[204]
Reset W1 Reset Stepper DO[590]
End
94
CUSW REL1.3
Tip Burn In (Macro)

Start
Reset Register for Burn Ins Complete R[14]
Do Tip Burn In Weld Schedule 62
Completed # of Burn Ins Required?
No
Note: Number of required burn ins to be set by user via register value 15.
Yes
Do Tip Wear Compensation Gun 1 (Macro) Set Tip Burn In Complete DO[104] Note: Tip wear compensation to be performed without measurement error checking.
End
95
CUSW REL1.3
Tip Change Ped Gun (Macro)

Start
Pulse W1 Water Off DO[587] Set Robot at Service DO[26] Set Ready for Tip Change DO[30]
Wait for Service Complete DI[26]
Reset Robot at Service DO[26] Reset Ready for Tip Change DO[30] Reset Stepper (Macro) Seat Caps Gun 1 (Macro) Do Tip Wear Compensation Gun 1 (Macro) Pulse W1 Reset Water Saver DO[586]
End
96
CUSW REL1.3

Start
Setup Gun 1 Burn in Schedule R[19]
No
Tip dress Bypassed R[127]
Yes
Set Robot in Tip Dress DO[28]
Move Common Dress Approach Set Turn on Tip Dresser DO[101] Wait for Tip Dress Motor On DI[101] Move To Dresser Do Tip Dress Weld Schedule 60 Move Away from Dress
No
Tip Burn In Required R[19]
Yes
Do Tip Burn In Weld Schedule R[19] Do Tip Wear Compensation Gun 1 (Macro) Note: Tip burn in and wear compensation can be skipped. This is to be used only prior to tip change when burn in and wear compensation is not required after a tip dress. Note: Tip wear compensation to be performed without measurement error checking. Reset Tip Dress Request 1 DO[100] [PR Home Fine Move] Set Tip Dress Complete DO[29]
Reset Turn On Tip Dresser DO[101]
Reset Robot in Tip Dress DO[28]
End
97
CUSW REL1.3

Start
Setup Gun 2 Burn in Schedule R[20]
No
Tip dress Bypassed R[127]
Yes
Set Robot in Tip Dress DO[28]
Move Common Dress Approach Set Turn on Tip Dresser DO[101] Wait for Tip Dress Motor On DI[101] Move To Dresser Do Tip Dress Weld Schedule 61 Move Away from Dress
No
Yes
Do Tip Burn In Weld Schedule R[20] Do Tip Wear Compensation Gun 2 (Macro) Note: Tip burn in and wear compensation can be skipped. This is to be used only prior to tip change when burn in and wear compensation is not required after a tip dress. Note: Tip wear compensation to be performed without measurement error checking. Reset Tip Dress Request 1 DO[100] [PR Home Fine Move] Set Tip Dress Complete DO[29]
Reset Turn On Tip Dresser DO[101]
End
98
CUSW REL1.3
Tip Dress Ped Gun (Macro)

Start
Setup Gun 1 Burn in Schedule R[19] Set Robot in Tip Dress DO[28]
Wait for Tip Dress Dump Ext DI[99]
Turn on Tip Dresser DO[101]
Wait for Tip Dress Motor On DI[101]
Do Tip Dress Weld Schedule 60
Reset Turn on Tip Dresser DO[101] Reset Tip Dress Request 1 DO[100] Set Tip Dress Complete DO[29]
Wait for Tip Dress Dump Retracted DI[100]
No
Yes
Do Tip Burn In Weld Schedule R[19]
Do Tip Wear Compensation Gun 1 (Macro)
End
99
CUSW REL1.3
Tool Drop Preparation (Macro)

Start
Select Tool from Tool Number R[16]
Unknown Tool
Set Application Error Output User Alarm Unexpected Tool Present Reset App Error Output
Set Application Error Output User Alarm Tool Nest Not Empty Reset App Error Output
Tool 1
Verify Part Not Present (Macro) Set Active MH Tool and Gripper State for Drop (Macro) Tool Nest 1 Empty?
Yes
No
A
Tool 2
Yes
No
A
Tool 3
Yes
No
A
Tool 4
Yes
No
A
End
100
CUSW REL1.3
Tool Pick Preparation (Macro)

Start
Select Tool Nest from Pick Tool GI[4] or Style Program
Unknown Tool
Set Application Error Output User Alarm Invalid Tool Requested Reset App Error Output
Set Application Error Output User Alarm Tool Nest Empty Reset App Error Output
Tool 1
Tool Nest 1 Empty?
No
Yes
A
Tool 2
Tool Nest 2 Empty?
No
Yes
A
Tool 3
Tool Nest 3 Empty?
No
Yes
A
Tool 4
Tool Nest 4 Empty?
No
Yes
A End
101
CUSW REL1.3
TEACH PENDANT LOGIC EXAMPLES

Contained in the following pages are examples of TP logic of the processes required for the PF program. The information contained in each section is for REFERENCE ONLY.
102
CUSW REL1.3
Material Handling
1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: 41: 42: 43: 44: 45: 46: 47: 48: 49: 50: 51: 52: 53:J 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: !Material Handling Template ; !****************************** ; !Remove these comments ; !Before Build!!! ; !Rename Program as Necessary ; !Edit Program to Match Part Type ; ; !Modify Zone Numbers and ; !Locations as Required ; ; !Uncomment the MACROs before ; ! finalizing the OLPs ; ; !EXAMPLE PROGRAM ONLY ; !****************************** ; ; !Set Robot Payload ; PAYLOAD[2] ; ; !Set Robot UTOOL Number ; UTOOL_NUM=1 ; ; !Set Robot UFRAME Number ; UFRAME_NUM=1 ; ; !MACRO-Setup App Specific IO ; CALL APP_IO ; ; !Set Acknowledge Style ; GO[1:ActiveStyleBits]=10 ; ; !Reset Coll Guard Sensitivity ; COL GUARD ADJUST ; ; !****************************** ; !TOOL CHANGE APPLICATION ONLY ; ; !Set Desired Tool ID Register ; R[2:Desired Tool ID]=2 ; ; !MACRO-Check Tool ; CALL CHK_TOOL ; ; !MACRO-Set MH Tool ; Set MH Tool(1) ; !****************************** ; ; !MACRO-Set Additional Gripper ; !States (if necessary) ; !Grip Part(2) ; ; !Move to Pounce ; P[1] 100% CNT100 ; ; !Set At Pounce Position Bit ; DO[25:RbtAtPounce]=ON ; ; !MACRO-Verify Part Not Present ; Check No Part(1) ; ; !MACRO-Open the Gripper ; Release Part(1) ; ; DO[89:PickOverride]=OFF ; DO[94:AbortPickReq]=OFF ; ; !Wait For Go To Work ; !or Return Home From Pounce ; WAIT DI[31:GoToWork]=ON OR DI[25:RetFromPounce]=ON ; ; !Check For Go To Work ; IF DI[31:GoToWork]=ON,JMP LBL[20] ; ; !Return Home From Pounce ; CALL MVHMPNCE ; 76: 77: 78: 79: 80: 81: 82: 83: 84: 85: 86: 87: 88: 89: 90: 91: 92: 93: 94: 95: 96: 97: 98: 99: 100: 101: 102:L 103: 104: 105: 106: 107: 108: 109: 110: 111: 112: 113: 114: 115: 116: 117:L 118: 119: 120: 121: 122: 123: 124: 125: 126: 127: 128: 129: 130: 131: 132: 133: 134: 135: 136: 137: 138: 139: 140: 141: 142: 143: 144:L 145: 146: 147: 148: 149: 150: 151: ; !Jump To Program End ; JMP LBL[1000] ; ; LBL[20:Go To Work] ; ; !Set Robot At Work ; DO[18:RbtAtWork]=ON ; ; !Reset Robot At Pounce ; DO[25:RbtAtPounce]=OFF ; ; !Wait For Go To Pickup 1 ; WAIT DI[49:GoToPickup1]=ON ; ; !Reset Clear Of Pickup 1 ; DO[49:ClrOfPickup1]=OFF ; ; !Reset Clear To Transfer ; DO[31:CleartoTransfer]=OFF ; ; !MACRO-Zone Check ; !(if necessary) ; CALL ENTRZON1 ; ; !Move Over Pickup 1 ; P[2] 1000mm/sec CNT100 ; ; !MACRO-Verify Correct Tool ; !Call TOOL_VER ; ; !MACRO-Verify Part Not Present ; Check No Part(1) ; ; !MACRO-Open the Gripper ; Release Part(1) ; ; !Set Coll Guard Sensitivity ; COL GUARD ADJUST R[42]; ; !Move To Pickup 1 ; P[3] 500mm/sec FINE ; ; !MACRO-Check For Part Present ; Part Present(1) ; ; !Set Reposition Tooling ; !GO[2:ReposTooling]=1 ; ; !Wait for Tooling Repositioned ; !WAIT GI[5:ToolingRepod1]=1 ; ; !MACRO-Close The Gripper ; Grip Part(1) ; ; !Set At Pickup 1 ; DO[50:AtPickup1]=ON ; ; !Select Payload With Parts ; PAYLOAD[3] ; ; !Wait for Tooling Repositioned ; !WAIT GI[5:ToolingRepod1]=1 ; ; !Reset Reposition Tooling ; !GO[2:ReposTooling]=0 ; ; !Move Clear Fixt Part Presence ; P[4] 1000mm/sec FINE ; ; !Wait For Exit Pickup 1 ; WAIT DI[50:ExitPickup1]=ON ; ; !Reset Coll Guard Sensitivity ; COL GUARD ADJUST ; ;
103
CUSW REL1.3
152: 153: 154: 155: 156: 157: 158: 159:L 160: 161: 162: 163: 164: 165: 166: 167: 168: 169: 170: 171: 172:L 173: 174: 175: 176: 177: 178: 179: 180: 181: 182: 183: 184: 185: 186: 187: 188: 189: 190: 191: 192:L 193: 194: 195: 196: 197: 198: 199: 200: 201:L 202: 203: 204: 205: 206: 207: 208: 209: 210: 211: 212: 213:
!MACRO-Check For Part Present ; Part Present(1) ; ; !Reset At Pickup 1 ; DO[50:AtPickup1]=OFF ; ; !Move Clear Of Pickup 1 ; P[5] 1000mm/sec FINE ; ; !Set Clear Of Pickup 1 ; DO[49:ClrOfPickup1]=ON ; ; !Set Clear To Transfer ; DO[31:CleartoTransfer]=ON ; ; !Set Clear Of Interference ; !Zone (If Necessary) ; DO[33:RbtClrZone1]=ON ; ; !Move ; P[6] 1000mm/sec FINE ; ; !Insert Process Application ; !as Required ; !CALL (MACRO) ; ; !Wait For Go To Dropoff 1 ; WAIT DI[51:GoToDropoff1]=ON ; ; !MACRO-Zone Check ; !(If Necessary) ; CALL ENTRZON1 ; ; !Reset Clear Of Dropoff 1 ; DO[51:ClrOfDropoff1]=OFF ; ; !Reset Clear To Transfer ; DO[31:CleartoTransfer]=OFF ; ; !Move Over Dropoff 1 ; P[7] 1000mm/sec CNT100 ; ; !MACRO-Verify Correct Tool ; !Call CHK_TOOL ; ; !Set Coll Guard Sensitivity ; COL GUARD ADJUST R[42] ; ; !Move To Dropoff 1 ; P[8] 1000mm/sec FINE ; ; !Set At Dropoff 1 ; DO[52:AtDropoff1]=ON ; ; !Wait for Reposition Tooling ; !WAIT GI[5:ToolingRepod1]=2 ; ; !MACRO-Open the Gripper ; Release Part(1) ; ; !Select Payload Without Parts ; PAYLOAD[2] ;
214: 215: 216: 217: 218: 219: 220: 221: 222: 223: 224: 225: 226:L 227: 228: 229: 230: 231: 232: 233: 234: 235: 236: 237: 238: 239: 240: 241: 242: 243: 244: 245:J 246: 247: 248: 249: 250: 251: 252: 253: 254:J 255: 256: 257: 258: 259: 260: 261: 262: 263: 264: 265: 266: 267: 268: 269: 270: 271: 272: 273: 274: 275:
; !Set Robot UTOOL Number ; UTOOL_NUM=1 ; ; !Set Robot UFRAME Number ; !If Necessary ; UFRAME_NUM=1 ; ; !Set Tooling Repositioned ; !GO[2:ReposTooling]=2 ; ; !Move Clr Robot Part Present ; P[9] 1000mm/sec FINE ; ; !MACRO-Verify No Part Present ; Check No Part(1) ; ; !Wait For Exit Dropoff 1 ; !(if necessary) ; WAIT DI[52:ExitDropoff1]=ON ; ; !Reset Coll Guard Sensitivity ; COL GUARD ADJUST ; ; !Reset At Dropoff 1 ; DO[52:AtDropoff1]=OFF ; ; !Reset Tooling Repositioned ; !GO[2:ReposTooling]=0 ; ; !Move Clear Of Dropoff 1 ; P[10] 100% CNT100 ; ; !Set Clear Of Dropoff 1 ; DO[51:ClrOfDropoff1]=ON ; ; !Set Clear Of Interference Zone ; DO[33:RbtClrZone1]=ON ; ; !Move Clear of Transfer ; P[11] 100% FINE ; ; !Set Clear To Transfer ; DO[31:CleartoTransfer]=ON ; ; !Reset Robot At Work ; DO[18:RbtAtWork]=OFF ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ; !Set Work Complete ; DO[19:WorkComplete]=ON ; ; !Wait For Work Complete Ack ; WAIT DI[32:WorkCompleteAck]=ON ; ; !Reset Work complete ; DO[19:WorkComplete]=OFF ; ; LBL[1000:End] ; ;
104
CUSW REL1.3
Dispense
1: !Carried Dispense Template ; 2: !******************************** ; 3: !Remove these comments ; 4: !Before Build!!! ; 5: !Rename Program as Necessary ; 6: !Edit Program to Match Part Type ; 7: ; 8: !Modify Zone Numbers and ; 9: !Locations as Required ; 10: ; 11: !Uncomment the MACROs before ; 12: ! finalizing the OLPs ; 13: ; 14: !EXAMPLE PROGRAM ONLY ; 15: !******************************** ; 16: ; 17: !Set Robot Payload ; 18: PAYLOAD[2] ; 19: ; 20: !Set Robot UTOOL Number ; 21: UTOOL_NUM=1 ; 22: ; 23: !Set Robot UFRAME Number ; 24: UFRAME_NUM=1 ; 25: ; 26: !MACRO-Setup App Specific IO ; 27: CALL APP_IO ; 28: ; 29: !Set Acknowledge Style ; 30: GO[1:ActiveStyleBits]=10 ; 31: ; 32: !Reset Coll Guard Sensitivity ; 33: COL GUARD ADJUST ; 34: ; 35: !Reset Clear To Transfer ; 36: DO[31:CleartoTransfer]=OFF ; 37: ; 38: !Move to Pounce ; 39:J P[1] 100% FINE ; 40: ; 41: !Set At Pounce Position Bit ; 42: DO[25:RbtAtPounce]=ON ; 43: ; 44: !Wait For Go To Work ; 45: !or Return Home From Pounce ; 46: WAIT DI[31:GoToWork]=ON OR DI[25:RetFromPounce]=ON ; 47: ; 48: !Check For Go To Work ; 49: IF DI[31:GoToWork]=ON,JMP LBL[20] ; 50: ; 51: !Return Home From Pounce ; 52: CALL MVHMPNCE ; 53: ; 54: !Jump To Program End ; 55: JMP LBL[1000] ; 56: ; 57: LBL[20:Go To Work] ; 58: ; 59: !Set Robot At Work ; 60: DO[18:RbtAtWork]=ON ; 61: ; 62: !Reset Robot At Pounce ; 63: DO[25:RbtAtPounce]=OFF ; 64: ; 65: !MACRO-Zone Check ; 66: !(if necessary) ; 67: !CALL ENTRZON1 ; 68: ; 69: !Pre-process Dispense Equipment ; 70: !(insert statements) ; 71: ; 72: !Wait for Dispenser Ready ; 73: WAIT (DI[385:Dsp1DispenRdy]=ON) ; 74: ; 75: 76: 77: 78: 79: 80: 81: 82: 83: 84: 85: 86: 87: 88: 89: 90: 91: 92: 93: 94: 95: 96: 97: 98: 99: 100: 101:L 102: 103: 104:L 105: 106: 107:L 108: 109: 110:L 111: 112: 113: 114: 115: 116: 117: 118: 119: 120: 121: 122: 123: 124: 125: 126: 127: 128: 129: 130: 131: 132: 133: 134: 135: 136: 137: 138: 139: 140: 141: 142: 143: 144: 145: 146: 147: 148: 149: !Set Disp Robot in Process ; DO[393:Disp1RbtinPrc]=ON ; ; WAIT .10(sec) ; ; !Set Dispense Style ; GO[31:Disp1StyBits]=1 ; ; WAIT .10(sec) ; ; !Set Disp Style Strobe ; DO[394:Disp1StyStrobe]=ON ; ; !Wait for Disp in Process ; WAIT DI[386:Dsp1DispenInPrc]=ON ; !Reset Dispense Style ; GO[31:Disp1StyBits]=0 ; ; !Reset Disp Style Strobe ; DO[394:Disp1StyStrobe]=OFF ; ; !Set Coll Guard Sensitivity ; COL GUARD ADJUST R[42] ; ; !Move Seal Start, Turn On Gun ; P[2] 1000mm/sec CNT100 SS[1] ; !Move along Path ; P[3] 1000mm/sec CNT100 ; ; !Move To Seal End, Turn Off Gun P[4] 1000mm/sec CNT100 SE ; ; !Move Clear of Part ; P[5] 1000mm/sec FINE ; ; !Reset Coll Guard Sensitivity ; COL GUARD ADJUST ; ; !Set Dispense Complete ; DO[401:Disp1Complete]=ON ; ; !Wait for Dispense Vol. OK ; WAIT DI[387:Dsp1VolumeOK]=ON ; !Reset Dispense Complete ; DO[401:Disp1Complete]=OFF ; ; !Reset Disp Robot in Process ; DO[393:Disp1RbtinPrc]=OFF ; ; !Post-process Dispense Equip ; !(insert statements) ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ; !Set Work Complete ; DO[19:WorkComplete]=ON ; ; !Set Clear To Transfer ; DO[31:CleartoTransfer]=ON ; ; !Set Clear Of Interference Zone DO[33:RbtClrZone1]=ON ; ; !Wait For Work Complete Ack ; WAIT DI[32:WorkCompleteAck]=ON ; !Reset Work complete ; DO[19:WorkComplete]=OFF ; ; LBL[1000:End] ; ;
105
CUSW REL1.3
Spot Welding
1: !Carried Spot Welding Template ; 2: !******************************** ; 3: !Remove these comments ; 4: !Before Build!!! ; 5: !Rename Program as Necessary ; 6: !Edit Program to Match Part Type ; 7: ; 8: !Modify Zone Numbers and ; 9: !Locations as Required ; 10: ; 11: !Uncomment the MACROs before ; 12: ! finalizing the OLPs ; 13: ; 14: !EXAMPLE PROGRAM ONLY ; 15: !******************************** ; 16: ; 17: !Set Robot Payload ; 18: PAYLOAD[2] ; 19: ; 20: !Set Robot UTOOL Number ; 21: UTOOL_NUM=1 ; 22: ; 23: !Set Robot UFRAME Number ; 24: UFRAME_NUM=1 ; 25: ; 26: !MACRO-Setup App Specific IO ; 27: CALL APP_IO ; 28: ; 29: !Set Acknowledge Style ; 30: GO[1:ActiveStyleBits]=1 ; 31: ; 32: !Reset Clear To Transfer ; 33: DO[31:CleartoTransfer]=OFF ; 34: ; 35: !Move to Pounce ; 36:J P[1] 100% FINE ; 37: ; 38: !Set At Pounce Position Bit ; 39: DO[25:RbtAtPounce]=ON ; 40: ; 41: !Wait For Go To Work ; 42: !or Return Home From Pounce ; 43: WAIT DI[31:GoToWork]=ON OR DI[25:RetFromPounce]=ON ; 44: ; 45: !Check For Go To Work ; 46: IF DI[31:GoToWork]=ON,JMP LBL[20] ; 47: ; 48: !Return Home From Pounce ; 49: CALL MVHMPNCE ; 50: ; 51: !Jump To Program End ; 52: JMP LBL[1000] ; 53: ; 54: LBL[20:Go To Work] ; 55: ; 56: !Set Robot At Work ; 57: DO[18:RbtAtWork]=ON ; 58: ; 59: !Reset Robot At Pounce ; 60: DO[25:RbtAtPounce]=OFF ; 61: ; 62: !MACRO-Zone Check ; 63: !(if necessary) ; 64: CALL ENTRZON1 ; 65: ; 66: !Move to Weld 1 ; 67: !insert motion if necessary ; 68:L P[2] 1000mm/sec FINE ; 69: ; 70: !Select Schedule Weld 1 ; 71:L : 72: 73: 74: 75:L 76: 77: 78:L : 79: 80: 81:L 82: 83: 84: 85: 86: 87: 88: 89: 90: 91: 92: 93: 94: 95: 96: 97: 98: 99: 100: 101: 102: 103: 104: 105: 106: 107: 108: 109: 110: 111: 112: 113:J 114: 115: 116: 117: 118: 119: 120: 121: 122: 123: 124: 125: 126: 127: 128: 129: 130: 131: 132: 133: 134: 135: 136: 139: 140: ; P[3] 100mm/sec FINE SPOT[SD=1,P=1,S=1,ED=1] ; ; !Move to Weld 2 ; !insert motion if necessary ; P[4] 1000mm/sec FINE ; ; !Select Schedule Weld 2 ; P[5] 100mm/sec FINE SPOT[SD=1,P=1,S=1,ED=1] ; ; !Move Clear of Clamps ; P[6] 1000mm/sec FINE ; ; !Set Clear to Unclamp Early ; DO[65:Clr2UnclampEarly]=ON ; ; !Check for Tip Dress Req ; IF DI[28:TipDressGunReq]=ON,JMP LBL[30] ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ; !Set Work Complete ; DO[19:WorkComplete]=ON ; ; !Set Clear To Transfer ; DO[31:CleartoTransfer]=ON ; ; !Set Clear Of Interference Zone ; DO[33:RbtClrZone1]=ON ; ; !Wait For Work Complete Ack ; WAIT DI[32:WorkCompleteAck]=ON ; ; !Reset Work complete ; DO[19:WorkComplete]=OFF ; ; JMP LBL[1000] ; ; LBL[30] ; ; !Move Clear of Transfer ; !To Tip Dress ; P[7] 50% FINE ; ; !Set Work Complete ; DO[19:WorkComplete]=ON ; ; !Set Clear To Transfer ; DO[31:CleartoTransfer]=ON ; ; !Set Clear Of Interference Zone ; DO[33:RbtClrZone1]=ON ; ; !Wait For Work Complete Ack ; WAIT DI[32:WorkCompleteAck]=ON ; ; !Reset Work complete ; DO[19:WorkComplete]=OFF ; ; !MACRO-Tip Dress Gun 1 ; CALL TPDRSGN1(62) ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ; CALL WR_UPDAT(1,0) ; ; LBL[1000:End] ;
106
CUSW REL1.3
Stud Welding
1: !Carried Stud Welding Template ; 2: !******************************** ; 3: !Remove these comments ; 4: !Before Build!!! ; 5: !Rename Program as Necessary ; 6: !Edit Program to Match Part Type ; 7: ; 8: !Modify Zone Numbers and ; 9: !Locations as Required ; 10: ; 11: !Uncomment the MACROs before ; 12: ! finalizing the OLPs ; 13: ; 14: !EXAMPLE PROGRAM ONLY ; 15: !******************************** ; 16: ; 17: !Set Robot Payload ; 18: PAYLOAD[2] ; 19: ; 20: !Set Robot UTOOL Number ; 21: UTOOL_NUM=1 ; 22: ; 23: !Set Robot UFRAME Number ; 24: UFRAME_NUM=1 ; 25: ; 26: !MACRO-Setup App Specific IO ; 27: CALL APP_IO ; 28: ; 29: !Set Acknowledge Style ; 30: GO[1:ActiveStyleBits]=1 ; 31: ; 32: !Reset Clear To Transfer ; 33: DO[31:CleartoTransfer]=OFF ; 34: ; 35: !Move to Pounce ; 36:J P[1] 100% FINE ; 37: ; 38: !Set At Pounce Position Bit ; 39: DO[25:RbtAtPounce]=ON ; 40: ; 41: !Wait For Go To Work ; 42: !or Return Home From Pounce ; 43: WAIT DI[31:GoToWork]=ON OR DI[25:RetFromPounce]=ON ; 44: ; 45: !Check For Go To Work ; 46: IF DI[31:GoToWork]=ON,JMP LBL[20] ; 47: ; 48: !Return Home From Pounce ; 49: CALL MVHMPNCE ; 50: ; 51: !Jump To Program End ; 52: JMP LBL[1000] ; 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68:L 69: 70: 71:L : 72: 73: 74: 75:L 76: 77: 78:L : 79: 80: 81:L 82: 83: 84: 85: 86: 87: 88: 89: 90: 91: 92: 93: 94: 95: 96: 97: 98: 99: 100: 101: 102: 103: ; LBL[20:Go To Work] ; ; !Set Robot At Work ; DO[18:RbtAtWork]=ON ; ; !Reset Robot At Pounce ; DO[25:RbtAtPounce]=OFF ; ; !MACRO-Zone Check ; !(if necessary) ; CALL ENTRZON1 ; ; !Move to Weld 1 ; !insert motion if necessary ; P[2] 1000mm/sec FINE ; ; !Select Schedule Weld 1 ; P[3] 100mm/sec FINE SPOT[S=1] ; ; !Move to Weld 2 ; !insert motion if necessary ; P[4] 1000mm/sec FINE ; ; !Select Schedule Weld 2 ; P[5] 100mm/sec FINE SPOT[S=1] ; ; !Move Clear of Clamps ; P[6] 1000mm/sec FINE ; ; !Set Clear to Unclamp Early ; DO[65:Clr2UnclampEarly]=ON ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ; !Set Work Complete ; DO[19:WorkComplete]=ON ; ; !Set Clear To Transfer ; DO[31:CleartoTransfer]=ON ; ; !Set Clear Of Interference Zone ; DO[33:RbtClrZone1]=ON ; ; !Wait For Work Complete Ack ; WAIT DI[32:WorkCompleteAck]=ON ; ; !Reset Work complete ; DO[19:WorkComplete]=OFF ; ;
107
CUSW REL1.3
Tip Change (Style #3)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 37: 37: 37: 38: 39: 40: !Tip Change Template ; !****************************** ; !Remove these comments ; !Before Build!!! ; !Rename Program as Necessary ; !Edit Program to Match Part Type ; ; !Modify Zone Numbers and ; !Locations as Required ; ; !Uncomment the MACROs before ; ! finalizing the OLPs ; ; !EXAMPLE PROGRAM ONLY ; !****************************** ; ; !Set Robot Payload ; PAYLOAD[2] ; ; !Set Robot UTOOL Number ; UTOOL_NUM=1 ; ; !Set Robot UFRAME Number ; UFRAME_NUM=1 ; ; !MACRO-Setup App Specific IO ; CALL APP_IO ; ; !Set Acknowledge Style ; GO[1:ActiveStyleBits]=3 ; ; !Insert Dress Approach Movement ; !(if necessary) ; ; !MACRO-Tip Dress Gun 1 ; CALL TPDRSGN1(0) ; ; !Wait for TipDressComplete ; WAIT (1) sec. ; ; !Reset Tip Dress Complete ; DO[29:TipDressComplt]=OFF ; ; 41: 42:J 43: 44: 45: 46: 47: 48: 49: 50: 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: 76: 77: 78: 79: 80: 81: 82: !Move to Tip Change Position ; P[1] 100% FINE ; ; !Set Robot at Service ; DO[26:RbtAtService]=ON ; ; !Set Ready for Tip Change ; DO[30:RdyForTipChg]=ON ; ; !Wait for Service Complete ; WAIT (DI[26:ServiceCompltReq]=ON) ; ; !Reset Robot at Service ; DO[26:RbtAtService]=OFF ; ; !Reset Ready for Tip Change ; DO[30:RdyForTipChg]=OFF ; ; !MACRO-Reset Stepper ; CALL RST_STPR ; ; !MACRO-Seat Caps Gun 1 ; CALL TW_PRSRT(1,500,2,4,1,10,5,15) ; ; !Tip Wear Compensation Gun 1 ; CALL WR_UPDAT(1,0) ; ; !Insert Dress Approach Movement ; !(if necessary) ; ; !Pulse W1 Reset Water Saver ; DO[586:W1RstWtrSvr]=PULSE,1.0sec ; ; !Wait for WaterOK ; WAIT (DI[785:W1OKtoWeld]=ON) ; ; !MACRO-Tip Dress Gun 1 ; CALL TPDRSGN1(62) ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ;
Purge (Style #4)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: !Purge Template ; !****************************** ; !Remove these comments ; !Before Build!!! ; !Rename Program as Necessary ; !Edit Program to Match Part Type ; ; !Modify Zone Numbers and ; !Locations as Required ; ; !Uncomment the MACROs before ; ! finalizing the OLPs ; ; !EXAMPLE PROGRAM ONLY ; !****************************** ; ; !MACRO-Setup App Specific IO ; CALL APP_IO ; ; !Set Acknowledge Style ; GO[1:ActiveStyleBits]=3 ; ; !Set Ext Purge 1 in Progress ; 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: 41: 42: 43: 44: 45: 46: DO[97:ExtPurg1InProgrs]=ON ; ; !Pre-process Dispense Equipment ; !(insert statements) ; ; !Turn On Gun-Purge Schedule ; DO[416:Disp1Purge]=ON ; ; !Wait 'X' Seconds ; WAIT 7.00(sec) ; ; !Turn Off Gun ; DO[416:Disp1Purge]=OFF ; ; !Post-process Disp Equipment ; !(insert statements) ; ; !Reset Ext Purge 1 in Progress ; DO[97:ExtPurg1InProgrs]=OFF ; ; !MACRO-Home IO (if necessary) ; CALL HOME_IO ; ;
108
CUSW REL1.3
Tip Burn In (Style #5)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: !Tip Burn In Template ; !****************************** ; !Remove these comments ; !Before Build!!! ; !Rename Program as Necessary ; !Edit Program to Match Part Type ; ; !Modify Zone Numbers and ; !Locations as Required ; ; !Uncomment the MACROs before ; ! finalizing the OLPs ; ; !EXAMPLE PROGRAM ONLY ; !****************************** ; ; !Set Robot Payload ; PAYLOAD[2] ; ; !Set Robot UTOOL Number ; 21: 22: 23: 24: 25: 29: 30: 31: 32: 33: 34:J 35: 36: 37: 38: 39: 40: 41: 42: 43: UTOOL_NUM=1 ; ; !Set Robot UFRAME Number ; UFRAME_NUM=1 ; ; !Set Acknowledge Style ; GO[1:ActiveStyleBits]=5 ; ; !Move to Service Position ; !if necessary ; PR[5] 100% FINE ; ; !MACRO-Tip Burn In ; CALL TPBURNIN ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ; !MACRO-Home IO ; CALL MOVE_IO ;
Service Program (Style #6)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: !Service Program Template ; !****************************** ; !Remove these comments ; !Before Build!!! ; !Rename Program as Necessary ; !Edit Program to Match Part Type ; ; !Modify Zone Numbers and ; !Locations as Required ; ; !Uncomment the MACROs before ; ! finalizing the OLPs ; ; !EXAMPLE PROGRAM ONLY ; !****************************** ; ; !Set Robot Payload ; PAYLOAD[2] ; ; !Set Robot UTOOL Number ; UTOOL_NUM=1 ; ; !Set Robot UFRAME Number ; 24: 25: 26: 27: 28: 29: 30: 31: 32: 33:J 34: 35: 36: 37: 38: 39: 40: 41: 42: 43: 44: 45: 46: UFRAME_NUM=1 ; ; !MACRO-Setup App Specific IO ; CALL APP_IO ; ; !Set Acknowledge Style ; GO[1:ActiveStyleBits]=6 ; ; !Move to Service Position ; PR[5] 100% FINE ; ; !Set Robot at Service ; DO[26:RbtAtService]=ON ; ; !Wait for Service Complt Req ; WAIT (DI[26:ServiceCompltReq]=ON) ; !Reset Robot at Service ; DO[26:RbtAtService]=OFF ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ;

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: !Tip Dress 1st Gun Template ; !****************************** ; !Remove these comments ; !Before Build!!! ; !Rename Program as Necessary ; !Edit Program to Match Part Type ; ; !Modify Zone Numbers and ; !Locations as Required ; ; !Uncomment the MACROs before ; ! finalizing the OLPs ; ; !EXAMPLE PROGRAM ONLY ; !****************************** ; ; !Set Robot Payload ; PAYLOAD[2] ; ; !Set Robot UTOOL Number ; 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: UTOOL_NUM=1 ; ; !Set Robot UFRAME Number ; UFRAME_NUM=1 ; ; !MACRO-Setup App Specific IO ; CALL APP_IO ; ; !Set Acknowledge Style ; GO[1:ActiveStyleBits]=7 ; ; !Insert Approach Movement ; !(if necessary) ; ; !MACRO-Tip Dress Gun 1 ; CALL TPDRSGN1(60) ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ;
109
CUSW REL1.3

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: !Tip Dress 2nd Gun Template ; !****************************** ; !Remove these comments ; !Before Build!!! ; !Rename Program as Necessary ; !Edit Program to Match Part Type ; ; !Modify Zone Numbers and ; !Locations as Required ; ; !Uncomment the MACROs before ; ! finalizing the OLPs ; ; !EXAMPLE PROGRAM ONLY ; !****************************** ; ; !Set Robot Payload ; PAYLOAD[2] ; ; !Set Robot UTOOL Number ; 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: UTOOL_NUM=1 ; ; !Set Robot UFRAME Number ; UFRAME_NUM=1 ; ; !MACRO-Setup App Specific IO ; CALL APP_IO ; ; !Set Acknowledge Style ; GO[1:ActiveStyleBits]=8 ; ; !Insert Approach Movement ; !(if necessary) ; ; !MACRO-Tip Dress Gun 2 ; CALL TPDRSGN2(61) ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ;
Tool Change (Style #9)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: !Tool Change Template ; !****************************** ; !Remove these comments ; !Before Build!!! ; !Rename Program as Necessary ; !Edit Program to Match Part Type ; ; !Modify Zone Numbers and ; !Locations as Required ; ; !Uncomment the MACROs before ; ! finalizing the OLPs ; ; !EXAMPLE PROGRAM ONLY ; !****************************** ; ; !Set Robot Payload ; PAYLOAD[2] ; ; !Set Robot UTOOL Number ; 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: UTOOL_NUM=1 ; ; !Set Robot UFRAME Number ; UFRAME_NUM=1 ; ; !MACRO-Setup App Specific IO ; CALL APP_IO ; ; !Set Acknowledge Style ; GO[1:ActiveStyleBits]=9 ; ; !Set Desired Tool ID ; R[2]=GI[4:PickToolBits] ; ; !MACRO-Check Tool on Wrist ; CALL CHK_TOOL ; ; !MACRO-Return To Home ; CALL MOV_HOME ; ;
110
CUSW REL1.3
Check ATI Errors (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: 41: 42: 43: 44: 45: 46: 47: 48: 49: 50: 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: !****************************** ; !MACRO CHECK ATI ERRORS ; !****************************** ; !Parameters: AR[] ; !1: Current Sequence ; !****************************** ; ; !Jump to Current Sequence ; R[16]=AR[1] ; JMP LBL[R[16]] ; ; !****************************** ; !READY TO PICK/LATCH/UNLATCH ; !****************************** ; LBL[1:ReadyToPick] ; LBL[3:Latch] ; LBL[7:Unlatch] ; ; !Set ATI Recovery Method ; R[17]=1 ; ; IF (DI[648:RTLMismatch]),JMP LBL[648] ; IF (DI[649:TSIVMismatch]),JMP LBL[649] ; IF (DI[650:LatchOverLoad]),JMP LBL[650] ; IF (DI[651:UnlatchOverLoad]),JMP LBL[651] ; IF (DI[652:SpareOverload]),JMP LBL[652] ; IF (DI[659:TSIVFault]),JMP LBL[659] ; IF (DI[660:RTLFault]),JMP LBL[660] ; IF (DI[653:RTLrtlvMismatch]),JMP LBL[653] ; IF (DI[654:TSIVtsrvMismatch]),JMP LBL[654] ; IF (DI[655:UnsafeUnlatch]),JMP LBL[655] ; IF (DI[656:LckUnlckSensFlt]),JMP LBL[656] ; IF (DI[657:LatchNotComplt]),JMP LBL[657] ; IF (DI[658:UnlatchNotComplt]),JMP LBL[658] ; ; !OK - Exit ; JMP LBL[999] ; ; !****************************** ; !READY TO LATCH ; !****************************** ; LBL[2:ReadyToLatch] ; ; !Set ATI Recovery Method ; R[17]=0 ; ; IF (!DI[636:ReadyToLock1]),JMP LBL[636] ; IF (!DI[637:ReadyToLock2]),JMP LBL[637] ; ; !OK - Exit ; JMP LBL[999] ; ; !****************************** ; !EXIT PICK/RDY TO DROP/EXT DROP ; !****************************** ; LBL[4:ExitPick] ; LBL[5:ReadyToDrop] ; LBL[8:ExitDrop] ; ; !Set ATI Recovery Method ; R[17]=0 ; ; IF (DI[648:RTLMismatch]),JMP LBL[648] ; IF (DI[649:TSIVMismatch]),JMP LBL[649] ; IF (DI[650:LatchOverLoad]),JMP LBL[650] ; IF (DI[651:UnlatchOverLoad]),JMP LBL[651] ; IF (DI[652:SpareOverload]),JMP LBL[652] ; IF (DI[659:TSIVFault]),JMP LBL[659] ; IF (DI[660:RTLFault]),JMP LBL[660] ; IF (DI[653:RTLrtlvMismatch]),JMP LBL[653] ; IF (DI[654:TSIVtsrvMismatch]),JMP LBL[654] ; IF (DI[655:UnsafeUnlatch]),JMP LBL[655] ; IF (DI[656:LckUnlckSensFlt]),JMP LBL[656] ; IF (DI[657:LatchNotComplt]),JMP LBL[657] ; IF (DI[658:UnlatchNotComplt]),JMP LBL[658] ; 76: 77: 78: 79: 80: 81: 82: 83: 84: 85: 86: 87: 88: 89: 90: 91: 92: 93: 94: 95: 96: 97: 98: 99: 100: 101: 102: 103: 104: 105: 106: 107: 108: 109: 110: 111: 112: 113: 114: 115: 116: 117: 118: 119: 120: 121: 122: 123: 124: 125: 126: 127: 128: 129: 130: 131: 132: 133: 134: 135: 136: 137: 138: 139: 140: 141: 142: 143: 144: 145: 146: 147: 148: 149: 150: ; !OK - Exit ; JMP LBL[999] ; ; !****************************** ; !READY TO UNLATCH ; !****************************** ; LBL[6:ReadyToUnlatch] ; ; !Set ATI Recovery Method ; R[17]=0 ; ; IF (!DI[640:ToolStndIntlkV1]),JMP LBL[640] ; IF (!DI[641:ToolStndIntlkV2]),JMP LBL[641] ; ; !OK - Exit ; JMP LBL[999] ; ; !****************************** ; !ERROR HANDLING ; !****************************** ; ; !AUX POWER ; LBL[635] ; UALM[7] ; JMP LBL[900] ; ; !READY TO LOCK1 ; LBL[636] ; UALM[8] ; JMP LBL[900] ; ; !READY TO LOCK2 ; LBL[637] ; UALM[9] ; JMP LBL[900] ; ; !TOOL STAND INTERLOCK1 ; LBL[640] ; UALM[10] ; JMP LBL[900] ; ; !TOOL STAND INTERLOCK2 ; LBL[641] ; UALM[11] ; JMP LBL[900] ; ; !RTL MISMATCH ; LBL[648] ; UALM[12] ; JMP LBL[900] ; ; !TSIV MISMATCH ; LBL[649] ; UALM[13] ; JMP LBL[900] ; ; !LATCH OVERLOAD ; LBL[650] ; UALM[14] ; JMP LBL[900] ; ; !UNLATCH OVERLOAD ; LBL[651] ; UALM[15] ; JMP LBL[900] ; ; !SPARE OVERLOAD ; LBL[652] ; UALM[16] ; JMP LBL[900] ; ; !RTLRTLV MISMATCH ; LBL[653] ; UALM[17] ;
111
CUSW REL1.3
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JMP LBL[900] ; ; !TSIVTSRV MISMATCH ; LBL[654] ; UALM[18] ; JMP LBL[900] ; ; !UNSAFE UNLATCH ; LBL[655] ; UALM[19] ; JMP LBL[900] ; ; !LOCK UNLOCK SENSOR FAULT ; LBL[656] ; UALM[20] ; JMP LBL[900] ; ; !LATCH NOT COMPLETE ; LBL[657] ; UALM[21] ; JMP LBL[900] ; ; !UNLATCH NOT COMPLETE ; LBL[658] ; UALM[22] ; JMP LBL[900] ; ; !TSIV FAULT ; LBL[659] ; UALM[23] ; JMP LBL[900] ; ; !RTL FAULT ; LBL[660] ; UALM[24] ; JMP LBL[900] ; ; !****************************** ;
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!RECOVERY ; !****************************** ; ; LBL[900:Recovery] ; ; !Check Recovery Type ; IF R[17]=1,JMP LBL[910] ; ; !Set Clear Errors ; DO[635:ClearErrs]=ON ; ; !Wait 2 Seconds ; WAIT 2.00(sec) ; ; !Reset Clear Errors ; DO[635:ClearErrs]=OFF ; ; !Retry ; JMP LBL[R[16]] ; ; LBL[910] ; ; !Reset Latch and Unlatch Tool ; DO[632:LatchOrLock]=OFF ; DO[633:UnlatchOrUnlock]=OFF ; ; !Set Clear Errors ; DO[635:ClearErrs]=ON ; ; !Wait 2 Seconds ; WAIT 2.00(sec) ; ; !Reset Clear Errors ; DO[635:ClearErrs]=OFF ; ; LBL[999:End] ; ;
Check Tool (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: !****************************** ; !MACRO CHECK TOOL ON WRIST ; !****************************** ; ; LBL[1:Verify Tool] ; ; !Set Current Tool ID and ; !Line Number ; R[1]=(GI[41:ToolIDswtch1Bits]) ; R[8]=(GI[45:ToolIDSwtch5Bits]) ; GO[3:ToolIDOnWrstBits]=R[1] ; ; !Is Tool ID Correct? ; IF R[1]=R[2],JMP LBL[999] ; ; !Is Tool on Wrist? ; 17: LBL[2] 18: 19: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: IF (!DI[644:ToolPresent] AND R[1]=15),JMP ; ; !Drop Prep and Drop Tool ; CALL PREPDROP ; ; JMP LBL[1] ; ; LBL[2:Pick Tool] ; ; !Select Pick Fixture & Pick ; CALL PREPPICK ; ; JMP LBL[1] ; ; LBL[999:End] ; ;
112
CUSW REL1.3

1: !****************************** ; 2: !MACRO DROP TOOL IN NEST 1 ; 3: !****************************** ; 4: ; 5: UTOOL_NUM=5 ; 6: UFRAME_NUM=0 ; 7: ; 8: DO[635:ClearErrs]=PULSE,1.0sec ; 9: ; 10: !Set Request to Enter Tool Nest ; 11: DO[71:Req2EntrToolNest]=ON ; 12: ; 13: !Wait Clear to Enter Tool Nest ; 14: WAIT DI[81:Clr2EntToolNest]=ON ; 15: ; 16: !Reset Clear of Tool Nest ; 17: DO[72:ClearOfToolNest]=OFF ; 18: ; 19: !Reset Request to Enter Nest ; 20: DO[71:Req2EntrToolNest]=OFF ; 21: ; 22: !MACRO-Set Tool Device Offline ; 23: CALL DV_OFFLN(2,31,10) ; 23: CALL DV_OFFLN(2,39,10) ; 24: ; 25: !Move to Tool Nest Perch/Approach ; 26:J P[3:Perch In] 100% FINE ; 27: ; 28: !PR[111:ToolOffset1] ; 29: !X=-150 Y=0 Z=65 Rx=0 Ry=0 Rz=0 ; 30:L PR[101:ToolNest1Drop] 1200mm/sec FINE Tool_Offset,PR[111:ToolOffset1] : ; 31: ; 32: !PR[112:ToolOffset2] ; 33: !X=-5 Y=0 Z=65 Rx=0 Ry=0 Rz=0 ; 34:L PR[101:ToolNest1Drop] 200mm/sec FINE Tool_Offset,PR[112:ToolOffset2] : ; 35: ; 36: !PR[113:ToolOffset3] ; 37: !X=0 Y=0 Z=25 Rx=0 Ry=0 Rz=0 ; 38:L PR[101:ToolNest1Drop] 50mm/sec FINE Tool_Offset,PR[113:ToolOffset3] : ; 39: ; 40: !MACRO-ATI State Check - Seq5 ; 41: IF DO[645:GeneralFaults]=ON,CALL ATI_CHCK(5) ; 42: ; 43: !Reset Out of Nest ; 44: DO[637:OutOfNest]=OFF ; 45: ; 46: !Move to Tool Nest ; 47: UTOOL_NUM=5 ; 48:L PR[101:ToolNest1Drop] 50mm/sec FINE ; 49: ; 50: !Wait for Tool in Nest 1 ; 51: WAIT DI[73:ToolInNest1]=ON ; 52: ; 53: !MACRO-ATI State Check - Seq6 ; 54: CALL ATI_CHCK(6) ; 55: ; 56: LBL[7:RetryATISeq7] ; 57: ; 58: !Reset Latch Tool ; 59: DO[632:LatchOrLock]=OFF ; 60: ; 61: !Set Unlatch Tool ; 62: DO[633:UnlatchOrUnlock]=ON ; 63: ; 64: !Wait for ATI switches to settle in ; 64: WAIT DI[633:ToolUnLocked]=ON TIMEOUT,LBL[633] ; 65: LBL[633] ; 66: ; 67: !Wait for ATI ; 68: WAIT ((DI[633:ToolUnLocked] AND !DI[632:ToolLocked]) OR : DO[645:GeneralFaults]) ; 69: ; 70: !Check for Errors ; 71: IF DO[645:GeneralFaults]=OFF,JMP LBL[17] ; 72: ; 73: !MACRO-ATI State Check - Seq7 ; 74: CALL ATI_CHCK(7) ; 75: ; 76: JMP LBL[7] ; 77: ; 78: LBL[17:ATIUnlocked] ; 79: ; 80: !Set Payload Without Tool ; 81: PAYLOAD[2] ; 82: ; 83: UTOOL_NUM=9 ; 84: UFRAME_NUM=0 ; 85: ; 86:L PR[106:ToolNest1Pick] 150mm/sec FINE ; 87: ; 87: !Move Clear of Tool in Nest IO ; 88: !PR[114:ToolOffset4] ; 89: !X=0 Y=0 Z=-15 Rx=0 Ry=0 Rz=0 ; 90:L PR[106:ToolNest1Pick] 150mm/sec FINE Tool_Offset,PR[114:ToolOffset4] : ; 91: ; 92: !Wait for Tool in Nest 1 ; 93: !Check for Disengagement ; 94: !of Tool Changer ; 95: WAIT DI[73:ToolInNest1]=ON ; 96: ; 97: !MACRO-ATI State Check - Seq8 ; 98: IF DO[645:GeneralFaults]=OFF,JMP LBL[8] ; 99: ; 100: !MACRO-ATI State Check ; 101: CALL ATI_CHCK(8) ; 102: ; 103: !Wait for Tool in Nest 1 ; 104: !Check for Disengagement ; 105: !of Tool Changer ; 106: WAIT DI[73:ToolInNest1]=ON ; 107: ; 108: LBL[8] ; 109: !Clear of Tool in Nest ; 110: ; 111: !PR[115:ToolOffset5] ; 112: !X=0 Y=0 Z=-155 Rx=0 Ry=0 Rz=0 ; 113:L PR[106:ToolNest1Pick] 150mm/sec FINE Tool_Offset,PR[115:ToolOffset5] : ; 114: ; 115: !Reset Unlatch Tool ; 116: DO[633:UnlatchOrUnlock]=OFF ; 117: ; 118: !Set Out of Nest ; 119: DO[637:OutOfNest]=ON ; 120: ; 121: !Clear Ati Errors ; 122: DO[635:ClearErrs]=PULSE,1.0sec ; 123: ; 124: UTOOL_NUM=9 ; 125: UFRAME_NUM=0 ; 126: ; 127: !Move Clear of Tool Nest ; 128:J P[2:Perch Out] 50% FINE ;
113
CUSW REL1.3

1: !****************************** ; 2: !MACRO PICK TOOL FROM NEST 1 ; 3: !****************************** ; 4: ; 5: UTOOL_NUM=9 ; 6: UFRAME_NUM=0 ; 7: ; 8: !Move to Tool Nest Perch ; 9:J P[1:Perch In] 100% FINE ; 10: ; 11: !Clear Ati Errors ; 12: DO[635:ClearErrs]=PULSE,1.0sec ; 13: ; 14: !Set Request to Enter Tool Nest ; 15: DO[71:Req2EntrToolNest]=ON ; 16: ; 17: !Wait Clear to Enter Tool Nest ; 18: WAIT DI[81:Clr2EntToolNest]=ON ; 19: ; 20: !Reset Clear of Tool Nest ; 21: DO[72:ClearOfToolNest]=OFF ; 22: ; 23: !Reset Request to Enter Nest ; 24: DO[71:Req2EntrToolNest]=OFF ; 25: ; 26: ! 27: ; 28: !Move Clear of Tool in Nest IO ; 29: !PR[115:ToolOffset5] ; 30: !X=0 Y=0 Z=-155 Rx=0 Ry=0 Rz=0 ; 31:L PR[106:ToolNest1Pick] 150mm/sec FINE Tool_Offset,PR[115:ToolOffset5] : ; 32: ; 33: !PR[116:ToolOffset6] ; 34: !X=0 Y=0 Z=-50 Rx=0 Ry=0 Rz=0 ; 35:L PR[106:ToolNest1Pick] 150mm/sec FINE Tool_Offset,PR[116:ToolOffset6] : ; 36: !Reset Out of Nest ; 37: DO[637:OutOfNest]=OFF ; 38: ; 39: LBL[10] ; 40: ; 41: !Check ATI Sensor States ; 42: WAIT (!DI[632:ToolLocked] AND !DI[633:ToolUnLocked]) TIMEOUT,LBL[90] ; 43: ; 44: LBL[1:RetryATISeq1] ; 45: ; 46: !Reset Latch Tool ; 47: DO[632:LatchOrLock]=OFF ; 48: ; 49: !Set Unlatch Tool ; 50: DO[633:UnlatchOrUnlock]=ON ; 51: ; 52: WAIT DI[633:ToolUnLocked]=ON TIMEOUT,LBL[633] ; 53: LBL[633] ; 54: ; 55: !Wait for ATI Feedback ; 56: WAIT (DI[633:ToolUnLocked] OR DO[645:GeneralFaults]) ; 57: ; 58: !Check for General Errors ; 59: IF DO[645:GeneralFaults]=OFF,JMP LBL[11] ; 60: ; 61: !ATI State Check - Seq1 ; 62: CALL ATI_CHCK(1) ; 63: ; 64: JMP LBL[1] ; 65: ; 66: LBL[11:ToolUnlocked] ; 67: ; 68: !Move to Tool Nest ; 69: ; 70: !PR[117:ToolOffset7] ; 71: !X=0 Y=0 Z=-25 Rx=0 Ry=0 Rz=0 ; 72:L PR[106:ToolNest1Pick] 150mm/sec FINE Tool_Offset,PR[117:ToolOffset7] : ; 73:L PR[106:ToolNest1Pick] 50mm/sec FINE ; 74: ; 75: !ATI State Check - Seq2 ; 76: CALL ATI_CHCK(2) ; 77: ; 78: LBL[3:RetryATISeq3] ; 79: ; 80: !Reset Unlatch Tool ; 81: DO[633:UnlatchOrUnlock]=OFF ; 82: ; 83: !Set Latch Tool ; 84: DO[632:LatchOrLock]=ON ; 85: ; 86: !MACRO-Set Tool Devices Online ; 87: CALL DV_ONLN(2,31,0) ; 87: CALL DV_ONLN(2,39,0) ; 88: ; 89: WAIT DI[632:ToolLocked]=ON TIMEOUT,LBL[632] ; 90: LBL[632] ; 91: ; 92: !Wait for ATI ; 93: WAIT ((DI[632:ToolLocked] AND !DI[633:ToolUnLocked]) OR : DO[645:GeneralFaults]) ; 94: ; 95: !Check for Errors ; 96: IF DO[645:GeneralFaults]=OFF,JMP LBL[13] ; 97: ; 98: !ATI State Check - Seq3 ; 99: CALL ATI_CHCK(3) ; 100: ; 101: JMP LBL[3] ; 102: ; 103: LBL[13:ToolLocked] ; 104: ; 105: !Set Payload With Tool ; 106: PAYLOAD[1] ; 107: ; 108: !Verify Tool ID ; 109: IF GI[41:ToolIDswtch1Bits]<>R[2:Desired Tool ID],JMP LBL[6] ; 110: ; 111: !Set Frames with new Tool ; 111: UTOOL_NUM=5 ; 112: UFRAME_NUM=0 ; 113: ; 114: !Move Clear of Tool in Nest IO ; 115:L PR[6:ToolNest1] 50mm/sec FINE ; 116: ; 117: !PR[113:ToolOffset3] ; 118: !X=0 Y=0 Z=25 Rx=0 Ry=0 Rz=0 ; 119:L PR[101:ToolNest1Drop] 50mm/sec FINE Tool_Offset,PR[113:ToolOffset3] : ; 120: !ATI State Check - Seq4 ; 121: IF DO[645:GeneralFaults]=ON,CALL ATI_CHCK(4) ; 122: ; 123: !Set Out of Nest ; 124: DO[637:OutOfNest]=ON ; 125: ; 126: !PR[112:ToolOffset2] ; 127: !X=-5 Y=0 Z=65 Rx=0 Ry=0 Rz=0 ; 128:L PR[101:ToolNest1Drop] 200mm/sec FINE Tool_Offset,PR[112:ToolOffset2] : ; 129: !Move Clear Tool Nest ; 130: ; 131: !PR[111:ToolOffset1] ; 132: !X=-150 Y=0 Z=65 Rx=0 Ry=0 Rz=0 ; 133:L PR[101:ToolNest1Drop] 1200mm/sec FINE Tool_Offset,PR[111:ToolOffset1] : ;
114
CUSW REL1.3
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!Set Frames with new Tool again ; UTOOL_NUM=5 ; UFRAME_NUM=0 ; ; !Move to Tool Nest Perch ; P[2:Perch Out] 2000mm/sec FINE ; ; !Check If Device Is Online ; CALL DV_STCHK(2,31,3) ; IF R[3:Devnet Status]=2,JMP LBL[99] ; ; !Set Device Online ; CALL DV_ONLN(2,31,30) ; JMP LBL[99] ; ;
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LBL[6:ToolIDMismatch] ; ; !User Alarm - Unrecognized ; !Tool on End-effector ; UALM[1] ; ABORT ; ; LBL[90:ATILockUnlockSns] ; ; !User Alarm - Lock or Unlock ; !Sensor Incorrect State ; UALM[26] ; JMP LBL[10] ; ; LBL[99:End] ;
115
CUSW REL1.3
Enter Zone 1 (Macro)

1: 2: 3: 4: 5: !****************************** ; !Enter Zone 1 Macro ; !****************************** ; ; !Reset Clear of Zone 1 ; 6: 7: 8: 9: 10: DO[33:RobotClrZone1]=OFF ; ; !Wait for OK To Enter Zone 1 ; WAIT DI[33:Zone1ClrToEnter]=ON ; ;
Home IO (Macro)
1: 2: 3: 4: 5: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: !****************************** ; !MACRO Setup Outputs ; !****************************** ; ; GO[1:ActiveStyle]=0 ; ; DO[18:RbtAtWork]=OFF ; DO[19:WorkComplete]=OFF ; DO[25:RbtAtPounce]=OFF ; DO[26:RbtAtService]=OFF ; DO[28RbtInTipDress]=OFF ; DO[29:TipDressComplt]=OFF ; DO[31:ClearToTransfer]=ON ; ; !Zones ; DO[33:RbtClrZone1]=ON ; DO[34:RbtClrZone2]=ON ; DO[35:RbtClrZone3]=ON ; DO[36:RbtClrZone4]=ON ; DO[37:RbtClrZone5]=ON ; DO[38:RbtClrZone6]=ON ; DO[39:RbtClrZone7]=ON ; DO[40:RbtClrZone8]=ON ; ; !Pickup/Dropoff ; DO[49:ClrOfPickup1]=ON ; DO[50:AtPickup1]=OFF ; DO[51:ClrOfDropoff1]=ON ; DO[52:AtDropoff1]=OFF ; DO[53:ClrOfPickup2]=ON ; DO[54:AtPickup2]=OFF ; DO[55:ClrOfDropoff2]=ON ; DO[56:AtDropoff2]=OFF ; DO[57:ClrOfPickup3]=ON ; 36: 37: 38: 39: 40: 41: 42: 43: 44: 45: 46: 47: 48: 49: 50: 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: DO[58:AtPickup3]=OFF ; DO[59:ClrOfDropoff3]=ON ; DO[60:AtDropoff3]=OFF ; DO[61:ClrOfPickup4]=ON ; DO[62:AtPickup4]=OFF ; DO[63:ClrOfDropoff4]=ON ; DO[64:AtDropoff4]=OFF ; ; DO[65:Clr2UnclampEarly]=OFF; DO[71:Req2ToEnterTN]=OFF ; DO[72:ClrOfToolNest]=ON ; DO[89:PickOverride]=OFF ; DO[94:AbortPickReq]=OFF ; DO[102:StepperRst1Ack]=OFF ; DO[103:StepperRst2Ack]=OFF ; DO[104:TipBurnInComplt]=OFF ; DO[105:RbtClrFixt1]=ON ; DO[106:RbtClrFixt2]=ON ; DO[107:RbtClrFixt3]=ON ; GO[2:ReposTooling]=0 ; ; GO[31:Disp1StyleBits]=0 ; DO[393:Disp1RbtinPrc]=OFF ; DO[394:Disp1StyStrobe]=OFF ; DO[401:Disp1Complete]=OFF ; ; DO[637:OutOfNest]=ON ; DO[640:ToolNotPresent]=OFF ; DO[641:InvalidToolReqd]=OFF ; DO[642:UnxpctdToolPrsnt]=OFF ; DO[643:Nest not Empty]=OFF ; DO[644:Nest is Empty]=OFF ; ;
116
CUSW REL1.3
Process Application Ped Spot (Macro)

1: 2: 3: 4: 5: 6: 7:L 8: 9: 10:L : 11: 12: 13: 14:L 15: 16: 17:L : 18: 19: 20:L 21: 22: 23: 24: 25: !****************************** ; !MACRO PED SPOT WELD; !****************************** ; ; !Move to Weld 1 ; !insert motion if necessary ; P[1] 1000mm/sec FINE ; ; !Select Schedule Weld 1 ; P[2] 100mm/sec FINE SPOT[SD=1,P=1,S=1,ED=1] ; ; !Move to Weld 2 ; !insert motion if necessary ; P[3] 1000mm/sec FINE ; ; !Select Schedule Weld 2 ; P[4] 100mm/sec FINE SPOT[SD=1,P=1,S=1,ED=1] ; ; !Move Clear of Ped Welder ; P[5] 1000mm/sec FINE ; ; LBL[20] ; ; !Dropoff/Tip Change/Tip Dress ; WAIT (DI[51:GoToDropoff1]=ON OR DI[28:TipDressGunReq]=ON OR DI[105:TipChangeReq]=ON OR DI[104: TipBurnInReq]=ON OR DI[27: ServiceRequest]=ON); ; !Check for Tip Change ; IF DI[105:TipChangeReq]=ON,JMP LBL[30] ; ; !Check for Tip Dress ; IF DI[28:TipDressGunReq]=ON,JMP LBL[40] ; ; !Check for Tip Burn In ; IF DI[104:TipBurnInReq]=ON,JMP LBL[50] ; ; !Check for Service Request ; IF DI[27:ServiceRequest]=ON,JMP LBL[60] ; !Check for go to Dropoff ; IF DI[51:GoToDropoff1]=ON,JMP LBL[70] ; 41: 42: 43: 44: 45: 46: 47: 48: 49: 50: 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: 76: 77: 78: 79: 80: 81: 82: 83: 84: 85: ; !****************************** LBL[30:TipChange] ; ; !MACRO-Tip Dress Ped ; CALL TPDRSPD(0) ; ; !Reset Tip Dress Complete ; DO[29:TipDressComplt]=OFF ; ; !MACRO-Tip Change Ped ; CALL TPCHGPD ; ; !MACRO-Tip Dress Ped ; CALL TPDRSPD(58) ; ; JMP LBL[20] ; ; !****************************** LBL[40:TipDress] ; ; !MACRO-Tip Dress Ped ; CALL TPDRSPD(62) ; ; JMP LBL[20] ; ; !****************************** LBL[50:TipBurnIn] ; ; !MACRO-Tip Burn In ; CALL TPBURNIN ; ; JMP LBL[20] ; ; !****************************** LBL[60:Service_W_Part] ; ; !MACRO-Srv_With_Prt ; CALL Srv_With_Prt ; ; JMP LBL[20] ; ; !****************************** LBL[70:Dropoff] ; ; ;
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117
CUSW REL1.3
Process Application Ped Dispense (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37:L 38: 39: 40:L 41: !****************************** ; !MACRO PED DISPENSE ; !****************************** ; ; !Pre-processing for Disp Equip ; !Insert Statements ; ; !Wait for Dispenser Ready ; WAIT (DI[385:Dsp1DispenRdy]=ON) ; !Set Disp Robot in Process ; DO[393:Disp1RbtinPrc]=ON ; ; WAIT .10(sec) ; ; !Set Dispense Style ; GO[31:Disp1StyBits]=1 ; ; WAIT .10(sec) ; ; !Set Disp Style Strobe ; DO[394:Disp1StyStrobe]=ON ; ; !Wait for Disp in Process ; WAIT DI[386:Dsp1DispenInPrc]=ON ; !Reset Dispense Style ; GO[31:Disp1StyBits]=0 ; ; !Reset Disp Style Strobe ; DO[394:Disp1StyStrobe]=OFF ; ; !Set Coll Guard Sensitivity ; COL GUARD ADJUST R[42] ; ; !Move Seal Start, Turn On Gun ; P[1] 1000mm/sec CNT100 SS[1] ; ; !Move along Path ; P[2] 100mm/sec CNT100 ; ;
Example: SS[1] seal schedule is using BW TCPP (robot tool center point position) changes digital ; IO per robot speed. In the SS command use the following per robot speed 500mm/sec: 200mm=10volt 100mm=5volts OR Change SS[1] flow rate to be direct voltage
42: !Move To Seal End, Turn Off Gun ; 43:L P[3] 1000mm/sec CNT100 SE ; 44: ; 45: !Move Clear of Nozzle ; 46:L P[4] 1000mm/sec FINE ; 47: ; 48: !Reset Coll Guard Sensitivity ; 49: COL GUARD ADJUST ; 50: ; 51: !Set Dispense Complete ; 52: DO[401:Disp1Complete]=ON ; 53: ; 54: !Wait for Dispense Vol. OK ; 55: WAIT DI[387:Dsp1VolumeOK]=ON ; 56: ; 57: !Reset Dispense Complete ; 58: DO[401:Disp1Complete]=OFF ; 59: ; 60: !Reset Disp Robot in Process ; 61: DO[393:Disp1RbtinPrc]=OFF ; 62: ; 63: !Post-processing for Disp Equip ; 64: !Insert Statements ; 65: ; 66: LBL[20] ; 67: ; 68: !Purge or Go To Dropoff ; 69: WAIT (DI[51:GoToDropoff1]=ON OR DI[95:PurgeGun1Req]=ON) ; 70: ; 71: !Check for Dropoff ; 72: IF DI[51:GoToDropoff1]=ON,JMP LBL[30] ; 73: ; 74: !MACRO - Purge Ped Gun 1 ; 75: CALL PRGPDGN1 ; 76: ; 77: JMP LBL[20] ; 78: ; 79: LBL[30:Dropoff] ; 80: ;
Need Fine term type or more robot positions (delay time). Because the SE instruction is to close to the DO[401:dispe nsecomplete]. The Nordson may see both signals turn ON at the same time due to their scan rate.
118
CUSW REL1.3
Process Application Ped Stud (Macro)

1: 2: 3: 4: 5: 6: 7:L 8: 9: 10:L : 11: !****************************** ; !MACRO PED STUD WELD; !****************************** ; ; !Move to Weld 1 ; !insert motion if necessary ; P[1] 1000mm/sec FINE ; ; !Select Schedule Weld 1 ; P[2] 100mm/sec FINE SPOT[S=1] ; ; 12: 13: 14:L 15: 16: 17:L : 18: 19: 20:L 21: !Move to Weld 2 ; !insert motion if necessary ; P[3] 1000mm/sec FINE ; ; !Select Schedule Weld 2 ; P[4] 100mm/sec FINE SPOT[S=1] ; ; !Move Clear of Ped Welder ; P[5] 1000mm/sec FINE ; ;
Purge Ped Gun (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: !****************************** ; !MACRO PURGE PED GUN 1 ; !****************************** ; ; !Set Ext Purge 1 in Progress ; DO[97:ExtPurg1InProgrs]=ON ; ; !Pre-process Dispense Equipment ; !(insert statements) ; ; !Turn On Gun-Purge Schedule ; DO[416:Disp1Purge]=ON ; ; 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: 25: !Wait 'X' Seconds ; WAIT 7.00(sec) ; ; !Turn Off Gun ; DO[416:Disp1Purge]=OFF ; ; !Post-process Disp Equipment ; !(insert statements) ; ; !Reset Ext Purge 1 in Progress ; DO[97:ExtPurg1InProgrs]=OFF ; ;
Reset Stepper (Macro)

1: 2: 3: 4: 5: 6: 7: !****************************** ; !MACRO RESET STEPPER ; !****************************** ; ; !Set Weld 1 Reset Stepper ; DO[590:W1ResetStepper]=ON ; ; 8: 9: 10: 11: 12: 13: !Wait for Stepper Reset ; WAIT DI[204:W1 SteppersReset]=ON ; ; !Reset Weld 1 Reset Stepper ; DO[590:W1ResetStepper]=OFF ; ;
Tip Burn In (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11:L : 12: !****************************** ; !MACRO TIP BURN IN ; !****************************** ; ; !Reset Registers for Burn In ; R[14]=0 ; ; LBL[1] ; ; !Burn In ; P[1] 100mm/sec FINE SPOT[SD=1,P=1,S=62,ED=1] ; ; 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: !Total Number of Burn Ins ; R[14]=R[14]+1 ; ; !Check Number of Burn-ins ; IF R[14]<R[15],JMP LBL[1] ; ; !MACRO-Tip Wear Compensation ; CALL WR_UPDAT(1,0) ; ; !Set Tip Burn-in Complete ; DO[104:TipBurnInComplt]=ON ; ;
Tip Change Ped Gun (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: !****************************** ; !MACRO TIP CHANGE PED GUN ; !****************************** ; ; !Pulse W1 Water Off ; DO[587:W1WtrOff]=PULSE,1.0sec ; ; !Set Robot at Service ; DO[26:RbtAtService]=ON ; ; !Set Ready for Tip Change ; DO[30:RdyForTipChg]=ON ; ; !Wait for Service Complete ; WAIT (DI[26:ServiceCompltReq]=ON) ; !Reset Robot at Service ; 18: 19: 20: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: DO[26:RbtAtService]=OFF ; ; !Reset Ready for Tip Change ; DO[30:RdyForTipChg]=OFF ; ; !MACRO-Reset Stepper ; CALL RST_STPR ; ; !MACRO-Seat Caps Gun 1 ; CALL TW_PRSRT(1,500,2,4,1,10,5,15) ; ; !Tip Wear Compensation Gun 1 ; CALL WR_UPDAT(1,0) ; ; !Pulse W1 Reset Water Saver ; DO[586:W1RstWtrSvr]=PULSE,1.0sec ; ;
119
CUSW REL1.3

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14:J 15:J 16:J 17:J 18:J 19: 20: 21: 22: 23: 24: 25: 26: 27:L 28: 29: 30:L : 31: 32: 33:L 34: 35: 36: !******************************** ; !MACRO Tip Dress Carried gun 1 ** ; !******************************** ; ; !Setup Weld Register ; R[19:Gun1BurnInSched]=AR[1] ; ; IF DI[127:TipdressBypassed]=ON,JMP LBL[20] ; ; !Set Robot In Tip Dress ; DO[28:RobotInTipDress]=ON ; ; !T/Dress Approach (Common Pos.) ; PR[4:MHWait/TDCom Pos] 50% FINE ; P[1] 80% CNT25 ; P[2] 80% CNT25 ; P[3] 80% CNT25 ; P[4] 80% CNT10 ; ; !Turn On Tip Dress Motor ; DO[101:TurnOnTipDresser]=ON ; ; !Wait Tip Dress Motor On ; WAIT DI[101:TipDrsMotorOn]=ON ; ; !Before/After Tip Dress ; P[5] 800mm/sec FINE ; ; !At Tip Dress ; P[6] 500mm/sec FINE SPOT[SD=2,P=60,S=60,ED=2] ; ; !Before/After Tip Dress ; P[5] 800mm/sec CNT10 ; ; !Turn Off Tip Dress Motor ; DO[101:TurnOnTipDresser]=OFF ; 37: 38:L 39:J 40:J 41:J 42: 43: 44:J 45: 46: 47: 48: 49: 50: 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67:J 68: 69: 70: 71: ; P[4] 1600mm/sec CNT50 ; P[3] 80% CNT25 ; P[2] 80% CNT25 ; P[1] 80% CNT25 ; ; !T/Dress Approach (Common Pos.) ; PR[4:MHWait/TDCom Pos] 80% CNT50 ; ; !STYLE003 Wear Update & ; !Burn In Skip ; IF R[19:Gun1BurnInSched]=0,JMP LBL[10] ; ; !MACRO-Tip Wear Compensation ; CALL WR_UPDAT(1,0) ; ; !Set Tip Dress Complete ; DO[29:TipDressComplt]=ON ; ; LBL[20:TIPDRESS BYPASS] ; ; IF R[19:Gun1BurnInSched]=0,JMP LBL[10] ; ; !Do Tip Burn In Weld Schedule ; SPOT[SD=4,P=62,S=R[19],ED=4] ; ; LBL[10:SKIP TIPBURN] ; ; !******************************** ; !CNT CAN NOT CHANGE MUST BE FINE ; PR[1:Home 1] 80% FINE ; !******************************** ; ; !Reset Robot In Tip Dress ; DO[28:RobotInTipDress]=OFF ;

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14:J 15:J 16:J 17:J 18:J 19: 20: 21: 22: 23: 24: 25: 26: 27:L 28: 29: 30:L : 31: 32: 33:L 34: 35: !******************************** ; !MACRO Tip Dress Carried gun 2 ** ; !******************************** ; ; !Setup Weld Register ; R[20:Gun2BurnInSched]=AR[1] ; ; IF DI[127:TipdressBypassed]=ON,JMP LBL[20] ; ; !Set Robot In Tip Dress ; DO[28:RobotInTipDress]=ON ; ; !T/Dress Approach (Common Pos.) ; PR[4:MHWait/TDCom Pos] 50% FINE ; P[1] 80% CNT25 ; P[2] 80% CNT25 ; P[3] 80% CNT25 ; P[4] 80% CNT10 ; ; !Turn On Tip Dress Motor ; DO[101:TurnOnTipDresser]=ON ; ; !Wait Tip Dress Motor On ; WAIT DI[101:TipDrsMotorOn]=ON ; ; !Before/After Tip Dress ; P[5] 800mm/sec FINE ; ; !At Tip Dress ; P[6] 500mm/sec FINE SPOT[SD=2,P=60,S=61,ED=2] ; ; !Before/After Tip Dress ; P[5] 800mm/sec CNT10 ; ; !Turn Off Tip Dress Motor ; 36: 37: 38:L 39:J 40:J 41:J 42: 43: 44:J 45: 46: 47: 48: 49: 50: 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67:J 68: 69: 70: 71: DO[101:TurnOnTipDresser]=OFF ; ; P[4] 1600mm/sec CNT50 ; P[3] 80% CNT25 ; P[2] 80% CNT25 ; P[1] 80% CNT25 ; ; !T/Dress Approach (Common Pos.) ; PR[4:MHWait/TDCom Pos] 80% CNT50 ; ; !STYLE003 Wear Update & ; !Burn In Skip ; IF R[20:Gun2BurnInSched]=0,JMP LBL[10] ; ; !MACRO-Tip Wear Compensation ; CALL WR_UPDAT(1,0) ; ; !Set Tip Dress Complete ; DO[29:TipDressComplt]=ON ; ; LBL[20:TIPDRESS BYPASS] ; ; IF R[20:Gun2BurnInSched]=0,JMP LBL[10] ; ; !Do Tip Burn In Weld Schedule ; SPOT[SD=4,P=62,S=R[19],ED=4] ; ; LBL[10:SKIP TIPBURN] ; ; !******************************** ; !CNT CAN NOT CHANGE MUST BE FINE ; PR[1:Home 1] 80% FINE ; !******************************** ; ; !Reset Robot In Tip Dress ; DO[28:RobotInTipDress]=OFF ;
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CUSW REL1.3
Tip Dress Ped Gun (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24:L : 25: 26: !****************************** ; !MACRO TIP DRESS PED GUN ; !****************************** ; !Parameters: AR[] ; !1: Burn In Schedule Gun 1 ; !****************************** ; ; !Setup Weld Register ; R[19:Gun1BurnInSched]=AR[1] ; ; !Set Robot in Tip Dress ; DO[28:RbtInTipDress]=ON ; ; !Wait for Tip Dress Dump Ext ; WAIT DI[99:TipDressDumpExtd]=ON ; ; !Turn On Tip Dresser ; DO[101:TurnOnTipDresser]=ON ; ; !Wait Tip Dress Motor On ; WAIT DI[101:TipDrsMotorOn]=ON ; ; !Do Tip Dress Weld Schedule ; P[1] 100mm/sec FINE SPOT[SD=1,P=1,S=60,ED=1] ; ; !Reset Turn On Tip Dresser ; 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: 41: 42:L : 43: 44: 45: 46: 47: 48: 49: 50: 51: DO[101:TurnOnTipDresser]=OFF ; ; !Reset Tip Dress Request ; DO[100:TipDressReq1]=OFF ; ; !Set Tip Dress Complete ; DO[29:TipDressComplt]=ON ; ; !Wait for Tip Dress Dump Ret ; WAIT DI[100:TipDrsDumpRtrct]=ON ; ; !Check If Burn In Required ; IF R[19:Gun1BurnInSched]=0,JMP LBL[10] ; ; !Do Tip Burn In Weld Schedule ; P[2] 100mm/sec FINE SPOT[SD=1,P=1,S=R[19],ED=1] ; ; !MACRO-Tip Wear Compensation ; CALL WR_UPDAT(1,0) ; ; LBL[10:SkipBurnIn] ; ; !Reset Robot in Tip Dress ; DO[28:RbtInTipDress]=OFF ; ;
121
CUSW REL1.3
Tool Drop Preperation (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: 41: 42: 43: 44: 45: 46: 47: 48: 49: 50: 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: !****************************** ; !MACRO TOOL DROP PREPARATION ; !****************************** ; ; LBL[1:Retry] ; ; !Select Tool ; SELECT R[1]=1,JMP LBL[10] ; =2,JMP LBL[20] ; =3,JMP LBL[30] ; =4,JMP LBL[40] ; ELSE,JMP LBL[90] ; ; LBL[10:Tool1] ; ; !Verify Part Not Present ; Check No Part(1,2,3,4) ; ; !MACRO-Set Active MH Tool ; Set MH Tool(1) ; ; !Set Tool 1 Drop State ; Release Part(1) ; ; !Verify Nest Empty Before Drop ; IF DI[73:ToolInNest1]=ON,JMP LBL[95] ; ; !MACRO-Drop Tool in Nest 1 ; CALL NST1DROP ; ; JMP LBL[99] ; ; ; LBL[20:Tool2] ; ; !Verify Part Not Present ; Check No Part(1,2,3,4) ; ; !MACRO-Set Active MH Tool ; Set MH Tool(2) ; ; !Set Tool 2 Drop State ; Release Part(1) ; ; !Verify Nest Empty Before Drop ; IF DI[74:ToolInNest2]=ON,JMP LBL[95] ; ; !MACRO-Drop Tool in Nest 2 ; CALL NST2DROP ; ; JMP LBL[99] ; ; ; LBL[30:Tool3] ; ; !Verify Part Not Present ; Check No Part(1,2,3,4) ; ; !MACRO-Set Active MH Tool ; Set MH Tool(3) ; ; !Set Tool 3 Drop State ; Release Part(1) ; 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: 76: 77: 78: 79: 80: 81: 82: 83: 84: 85: 86: 87: 88: 89: 90: 91: 92: 93: 94: 95: 96: 97: 98: 99: 100: 101: 102: 103: 104: 105: 106: 107: 108: 109: 110: 111: 112: 113: 114: 115: 116: 117: 118: 119: 120: 121: 122: 123: 124: 125: 126: ; !Verify Nest Empty Before Drop ; IF DI[75:ToolInNest3]=ON,JMP LBL[95] ; ; !MACRO-Drop Tool in Nest 3 ; CALL NST3DROP ; ; JMP LBL[99] ; ; ; LBL[40:Tool4] ; ; !Verify Part Not Present ; Check No Part(1,2,3,4) ; ; !MACRO-Set Active MH Tool ; Set MH Tool(4) ; ; !Set Tool 4 Drop State ; Release Part(1) ; ; !Verify Nest Empty Before Drop ; IF DI[76:ToolInNest4]=ON,JMP LBL[95] ; ; !MACRO-Drop Tool in Nest 4 ; CALL NST4DROP ; ; JMP LBL[99] ; ; !****************************** ; !ALARMS ; !****************************** ; ; !Unexpected Tool Present ; LBL[90:WrongTool] ; ; !Set Application Error Output ; DO[642:UnxpctdToolPrsnt]=ON ; ; !Post User Alarm ; UALM[3] ; ; !Reset Appliction Error Output ; DO[642:UnxpctdToolPrsnt]=OFF ; ; JMP LBL[1] ; ; !Nest not Empty; LBL[95:Nest not Empty] ; ; !Set Application Error Output ; DO[643:Nest not Empty]=ON ; ; !Post User Alarm ; UALM[4] ; ; !Reset Not not Empty ; DO[643:Nest not Empty]=OFF ; ; JMP LBL[1] ; ; LBL[99:End] ; ;
122
CUSW REL1.3
Tool Pick Preperation (Macro)

1: 2: 3: 4: 5: 6: 7: 8: 9: 10: 11: 12: 13: 14: 15: 16: 17: 18: 19: 20: 21: 22: 23: 24: 25: 26: 27: 28: 29: 30: 31: 32: 33: 34: 35: 36: 37: 38: 39: 40: 41: 42: 43: 44: !****************************** ; !MACRO TOOL PICK PREPARATION ; !****************************** ; ; LBL[1] ; ; !Select Tool Nest for Pick ; SELECT R[2]=1,JMP LBL[10] ; =2,JMP LBL[20] ; =3,JMP LBL[30] ; =4,JMP LBL[40] ; ELSE,JMP LBL[90] ; ; LBL[10:Tool1] ; ; !Verify Tool in Nest B4 Pick ; IF DI[73:ToolInNest1]=OFF,JMP LBL[95] ; ; !MACRO-Pick Tool in Nest 1 ; CALL NST1PICK ; ; JMP LBL[99] ; ; LBL[20:Tool2] ; ; !Verify Tool in Nest B4 Pick ; IF DI[74:ToolInNest2]=OFF,JMP LBL[95] ; ; !MACRO-Pick Tool in Nest 2 ; CALL NST2PICK ; ; JMP LBL[99] ; ; LBL[30:Tool3] ; ; !Verify Tool in Nest B4 Pick ; IF DI[75:ToolInNest3]=OFF,JMP LBL[95] ; ; !MACRO-Pick Tool in Nest 3 ; CALL NST3PICK ; ; JMP LBL[99] ; ; LBL[40:Tool4] ; 45: 46: 47: 48: 49: 50: 51: 52: 53: 54: 55: 56: 57: 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: 76: 77: 78: 79: 80: 81: 82: 83: 84: 85: 86: 87: ; !Verify Tool in Nest B4 Pick ; IF DI[76:ToolInNest4]=OFF,JMP LBL[95] ; ; !MACRO-Pick Tool in Nest 4 ; CALL NST4PICK ; ; JMP LBL[99] ; ; !****************************** ; !ALARMS ; !****************************** ; ; !Invalid Tool Requested ; LBL[90:WrongTool] ; ; !Set Application Error ; !DO[641:InvalidToolReqd]=ON ; ; !Post User Alarm ; UALM[2] ; ; !Reset Application Error ; !DO[641:InvalidToolReqd]=OFF ; ; JMP LBL[1] ; ; !Tool Nest is Empty ; LBL[95:Nest is Empty] ; ; !Set Application Error ; DO[644:Nest is Empty]=ON ; ; !Post User Alarm ; UALM[5] ; ; !Reset Application Error ; DO[644:Nest is Empty]=OFF ; ; JMP LBL[1] ; ; LBL[99:End] ; ;
123
CUSW REL1.3

Chrysler's Robotics Group Standards

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Chrysler's Robotics Group Standards

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Chryslers Robotics Group Applications Standards For

Controlled Robots For Use On CUSW North America Projects

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RELEASE REVISION AND COMMENTS PAGE

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PROCESS REQUIREMENTS TO ALLOW FOR ALIGNMENT OF ROBOT

TEACH PENDANT USER KEY ASSIGNMENT

USE OF PULSED OUTPUTS

USE OF ROBOT PROGRAM SPACE CHECK

COORDINATED MOTION OF HORIZONTAL AXIS

ROBOT DRESS REQUIREMENTS

SEALER STYLE NUMBERS

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SEALER SYSTEM CALIBRATION TO ROBOT ANALOG OUTPUT

FANUC ROBOTICS ROBOT SIGNALS AND MACHINE AUTOMATIC

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ROBOT D-NET OUTPUT BIT MAP (ROBOT TO PLC)

CollisionDetd IOSimulated WldEnabled RobotReady ActiveStyleBit1

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RbtAtInspectPos TeachPendantEnbd StartExtApp1Proc StartExtApp2Proc ToolIDOnWrist1

112 113 114 115 116

ToolIDOnWrist2 ToolIDOnWrist4 ProcessFault AppErrorActive AppErrorBit1

117 118 119 120 121

AppErrorBit2 AppErrorBit4 AppErrorBit8 AppErrorBit16 AppErrorBit32 AppErrorBit64 AppErrorBit128

122 123 124 125 126 127 128

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ROBOT D-NET INPUT BIT MAP (PLC TO ROBOT)

ServiceCompltReq ServiceRequest TipDressGunReq ProdStart

Spare GoToWork WorkCompleteAck Zone1ClrToEnter Zone2ClrToEnter Zone3ClrToEnter Zone4ClrToEnter

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PickTool2 PickTool4 PickTool8 Clr2EntToolNest ToolingRepod1

ToolingRepod2 Spare PalletPosBit1

TipDressDumpExtd TipDrsDumpRetrct TipDrsMotorOn ExtStepperReset1 ExtStepperReset2 TipBurnInReq

99 100 101 102 103 104

InspectRequired InspectComplete ClrToExitUsrPos1 ClrToExitUsrPos2

106 107 108 109

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RTU Auto Lube I/O

RTU Auto Lube I/O

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ROBOT IO MAP ASSIGNMENTS

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ROBOT BIT MAP

GO[1] GO[1] GO[1] GO[1] GO[1] GO[1] GO[1]

GO[5] GO[5] GO[5] GO[5]

GI[1] GI[1] GI[1] GI[1] GI[1] GI[1] GI[1]

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GO[3] GO[3] GO[3]

GO[4] GO[4] GO[4] GO[4] GO[4] GO[4] GO[4] GO[4]

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GO[11] GO[11] GO[11] GO[11] GO[11] GO[11]