Ford Fanuc R30ia R30ib Nextgen E286

VEHICLE OPERATION STRUCTURE AND STANDARDS
(VOSS)
FORD Robot Programming Guide - FANUC Implementation

Next Gen - Integrated Ethernet Safety for R-30iA and R-30iB
Controllers
Appendix – NutRunning Applications

Table of Contents
1 SAMPLE TEACH PENDANT PROGRAMS ........................................ 5
1.1 PG21 – Nut Runner............................................................................................ 5
1.2 NUTRUN01 – Nut Runner Process .................................................................... 8
1.3 NRFLTRCVR – Fault Recovery ........................................................................ 12
1.4 PICKUP BOLT/NUT – (If Applicable) ............................................................. 14
1.5 PG08 – Maintenance Position .......................................................................... 17
1.6 PG09 – Minor Maintenance Position ............................................................... 19
1.7 HOME_IO – Reset Input/Output MACRO........................................................ 21
2 NUT RUNNER ERROR RECOVERY PROGRAM SCHEDULES ... 24
3 NUT RUNNER RUN DOWN PROGRAM SCHEDULES ................. 25

4 SOFTWARE I/F PANEL...................................................................... 28
4.1 Nut Runner Menu Interface .............................................................................. 28
5 NUTRUNNER PMC LOGIC (S-LOGIC) FOR R-30IA
CONTROLLERS .......................................................................................... 29
6 NUTRUNNER PMC LOGIC (S-LOGIC) FOR R-30IB
CONTROLLERS.......................................................................................... 30
7 NUTRUNNER AND VISION PMC LOGIC (S-LOGIC) FOR R-30IA

CONTROLLERS .......................................................................................... 31
8 NUTRUNNER AND VISION PMC LOGIC (S-LOGIC) FOR R-30IB

CONTROLLERS.......................................................................................... 32
Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 2 of 32

Revision History
Revision Modification Date Description
1.0 2012-05-11 Initial Release
Added NutRunner and Vision specific PMC logic
section.
1.1 2012-11-15 Updated PMC: Created Prompt Box Rung for Resume
Tolerance in LEVEL2. Y73.0
Updated PMC: Add bypass spindle logic to nutrunner
ladder.
Updated PMC: Added SRVO-408 filtering. Added
safety chain fault error decoding to send a bit to the
PLC.
1.2 2012-12-21 Created direct Exit Zones in HOME_IO.
Updated PMC: Created R0.7 Part Present in MH.
Added not R0.7 to y126.7 contact. Created K13.1 No
Tool SS Reset Contact.
Updated PMC: Added K0016.1 (VAC 4 ON PB) and
K0016.2 (BLOWOFF 4 ON PB) to rung output
D0612.1 (MH IF PB TO) in INTERFACE logic.
1.3 2013-01-14 Fixed Exit Zone 14 bit in HOME_IO.
1.4 2013-03-18 Added R-30iB specific PMC.
Updated PMC and Vision PMC: Changed torque not
okay bits R250.0, R250.1, R250.2 and R250.3 to
R300.0, R300.1, R300.2 and R300.3 respectively in
order to coincide with necessary PMC changes for
ENET safe for the iB robot internal IO mapping.
1.5 2013-07-08 Added a new TP Program PG09 which is a copy of
PG08, but for PG09, DO[6] is changed to DO[587].
1.6 2013-08-07 Updated iA PMC: Modified logic for rung with output
R0388.0 OPSFTY_FLT_LATCH. Added a rung for
this modification that has output R0388.1 F1008.1
DELAY ON.
Updated iB PMC: Removed logic for fault decoding for
SRVO 379-385 alarms (R387.1 - R87.7). Removed
comments for R387.1 - R387.7. Modified comment for
R387.0 for new R30iB fault description. Modified logic
for rung with output R0388.0 OPSFTY_FLT_LATCH.
Added a rung for this modification that has output
R0388.1 F1008.1 DELAY ON.
1.7 2014-06-24 Corrected PG21 to set Clear to Transfer and Unclamp to
ON at end of program
Updated iA PMC (Regular and Vision): Modified
facility code reset logic. Modified safety chain fault

detection logic.
Updated iB (Both) PMC: Facility code reset logic
modified.
Updated iB (Both) PMC: Modified R388.1 comment.
Updated HOME_IO to reset Robot at Minor
Maintenance;
Added DO[587:RBT AT MINMAINT]=OFF
1.8 2015-01-30 Added Second Program Verify to Main Style Program
Updated (Minor) Maintenance Programs:: Moved
position at which the at (Minor) Maintenance position
signal is turned off to come immediately after the wait
for the PLC (Minor) Maintenance clear signal.
Updated PMC (Regular): Added DO587 to allow for
release from FFR if sent to minor Maintenance
Updated PMC (All) :: Added Couple and Decouple pass
through signals to Tool Changer Subprogram

1 Sample Teach Pendant Programs
1.1 PG21 – Nut Runner

/PROG PG21 Job
/ATTR
OWNER = MNEDITOR;
COMMENT = "NutRunner";
PROG_SIZE = 2462;
CREATE = DATE 10-02-16 TIME 16:47:26;
MODIFIED = DATE 10-10-05 TIME 08:28:20;
FILE_NAME = PG03;
VERSION = 0;
LINE_COUNT = 113;
MEMORY_SIZE = 2902;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !***************************** ;
2: ! NUT RUNNER PG21 ;
3: ! ;
4: !***************************** ;
5: ;
6: !Verify Program ;
7: PROGRAM VERIFY(21) ;
8: ;
9: !Set Robot UTOOL Number ;
10: UTOOL_NUM=1 ;
11: ;
12: !Set Robot UFRAME Number ;
13: UFRAME_NUM=1 ;
14: ;
15: ;
16: !-------------------------------- ;
17: !Set Robot Payload ;
18: PAYLOAD[3] ;
19: ;
20: !Setup App Specific Outputs ;
21: ! Runs HOME_IO ;
22: SETUP OUTPUTS ;
23: ;
24: !Move to Home ;
25: GO TO HOME POS ;
26: ;
27: ! Move to pounce position ;
28: GO TO POUNCE ;
29: ;
30: !Clr to Adv Xfer ;
31: DO[954:CLRTOADVXFR]=ON ;
32: ;
33: !Clr to Ret Xfer ;
34: DO[955:CLRTORETXFR]=ON ;
35: ;
36: !Clr to Unclamp ;
37: DO[956:CLRTOUNCLMP]=OFF ;

38: ;
39: !-------------------------------- ;
40: LBL[33:Loop Back ] ;
41: ;
42: ! Turn ON Robot in LOOP ;
43: DO[24:RBT IN LOOP]=ON ;
44: ;
45: !-------------------------------- ;
46: !Wait Continue from Pounce ;
47: ! or Return to Home ;
48: WAIT DI[9:START CYCLE]=ON OR DI[13:RETURN TO HOME]=ON ;
49: ;
50: ! Turn OFF Robot in LOOP ;
51: DO[24:RBT IN LOOP]=OFF ;
52: ;
53: !If Return to Home ;
54: ! jump to LB[13] ;
55: IF DI[13:RETURN TO HOME]=ON,JMP LBL[13] ;
56: ;
57: !If Continue from Pounce ;
58: ! jump to LB[9] ;
59: IF DI[9:START CYCLE]=ON,JMP LBL[9] ;
60: ;
61: JMP LBL[33] ;
62: ;
63: !-------------------------------- ;
64: !Continue from Pounce ;
65: LBL[9] ;
5: ;
8: ;
67: !Clr to Return Xfer ;
68: DO[955:CLRTORETXFR]=OFF ;
69: ;
71: DO[954:CLRTOADVXFR]=OFF ;
72: ;
74: DO[956:CLRTOUNCLMP]=OFF ;
75: ;
76: ;
77: !******************************* ;
78: !NUT Runner Logic ;
79: !******************************* ;
80: ;
81: !Enter Zone3 ;
82: ENTER ZONE(3) ;
83: ;
84: !Calls NUTRUNNER PROCESS ;
85: ! Contains NUT IO Logic ;
86: CALL NUTRUN01 ;
87: ;
88: !Exit Zone ;
89: EXIT ZONE(3) ;
90: !******************************* ;
91: ;
92: !Clr to Return Xfer ;
94: ;
97: ;
99: DO[956:CLRTOUNCLMP]=ON ;
100: ;

101: ! Turn ON Robot in LOOP ;
103: ;
104: !Wait for Ret Home ;
105: WAIT DI[13:RETURN TO HOME]=ON ;
106: ;
107: ! Turn OFF Robot in LOOP ;
109: ;
110: LBL[13:Return to Home ] ;
111: !-------------------------------- ;
112: !Move to Home ;
/POS
/END

1.2 NUTRUN01 – Nut Runner Process
/PROG NUTRUN01
/ATTR
OWNER = MNEDITOR;
COMMENT = "NUT RUNNER Prog";
PROG_SIZE = 3216;
CREATE = DATE 10-03-25 TIME 07:38:16;
FILE_NAME = RUNNER1;
VERSION = 0;
LINE_COUNT = 152;
MEMORY_SIZE = 3628;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
SPOT Welding Equipment Number : 1 ;
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
CYCLE_TARGET = 0.00 ;
/MN
1: !***************************** ;
2: ! NUT RUNNER PROCESS ;
3: ! ;
4: !***************************** ;
5: ;
14: ;
15: LBL[16:Restart Run-Down#1] ;
16: ;
17: !Reset Retry Register ;
18: R[19:RetryNutRun]=0 ;
22: ;
23: !-------------------------------- ;
24: !RUNDOWN 1 PROCESS ;
25: !-------------------------------- ;
26: ;
27: LBL[15:Retry Run-Down#1] ;
28: ;
29: !Reset Nutrun PASS Bit ;
30: DO[978:NUTRUN PASS]=OFF ;
31: ;
32: !Reset Nutrun FAIL Bit ;
33: DO[979:NUTRUN FAIL]=OFF ;
34: ;
35: !Turn ON Robot in Loop ;
37: ;
38: !Check Communication OK ;
39: WAIT DI[797:COMM OK]=ON ;
40: ;
41: !Wait Nutrunner Ready ;
42: WAIT DI[798:READY]=ON ;
43: ;
44: !Turn OFF Robot in Loop ;
46: ;
47: !Set At Bolt Bits ;
48: GO[26:ROBT ATBOLT BITS]=1 ;

49: ;
50: !Autorepeat Nutrun Sequence ;
51: IF DI[10:AUTO REPEAT MD]=ON,JMP LBL[10] ;
52: ;
53: !In Retry Mode ;
54: IF R[19:RetryNutRun]>0,JMP LBL[17] ;
55: ;
56: !Set Nut Runner ;
57: ! Torque Seq Schedule ;
63: ! Reference Schedule Chart ;
63: ! 22 = ALL 3 Guns Model#1 ;
58: GO[25:TORQUE SEQ BITS]=22 ;
59: ;
62: ;
63: !Wait TorqueSeqEchoBit ;
63: ! 22 = ALL 3 Guns Model#1 ;
64: WAIT GI[25:TORQUESEQECHOBIT]=22 ;
65: ;
68: ;
69: !Skip Fault Retry Loop ;
70: JMP LBL[11] ;
71: ;
72: LBL[17:Retry Schedule] ;
73: ;
77: !Set Retry Schedule ;
63: ! Retry Program Call Offset ;
78: GO[25:TORQUE SEQ BITS]=(R[20:TorqueNOKSpindlB]+15) ;
79: ;
82: ;
63: ! Retry Program Call Offset ;
84: WAIT GI[25:TORQUESEQECHOBIT]=(R[20:TorqueNOKSpindlB]+15) ;
85: ;
88: ;
89: LBL[11:Start Run-Down#1] ;
90: ;
91: !Set Start of Sequence ;
92: DO[794:START SEQUENCE]=ON ;
93: ;
96: ;
97: !Wait InTorqueSeqBit ;
98: WAIT DI[795:IN TORQUE SEQ]=ON TIMEOUT,LBL[15] ;
99: ;
102: ;
103: !Reset Start of Sequence ;
104: DO[794:START SEQUENCE]=OFF ;
105: ;
109: !Wait TorqueOK or Torque Fault ;
110: WAIT DI[794:TORQUE OK]=ON OR DI[796:TORQUE FAULT]=ON ;
114: ;
115: !Run-Down#1 ;

116: IF DI[794:TORQUE OK]=ON,JMP LBL[12] ;
117: ;
118: !Autorepeat Fault Retry ;
119: IF DI[10:AUTO REPEAT MD]=ON AND DI[796:TORQUE FAULT]=ON,JMP
LBL[15] ;
120: ;
121: !Retry Limit Has Been Exceeded ;
122: IF DI[794:TORQUE OK]=OFF AND R[19:RetryNutRun]>=1,JMP LBL[14] ;
123: ;
124: !Error Condition Routine ;
125: IF DI[794:TORQUE OK]=OFF AND R[19:RetryNutRun]<1 OR
DI[796:TORQUE FAULT]=ON ,CALL NRFLTRCRVR ;
126: ;
127: !Check If Bolt PASSED Recovery ;
128: IF DO[978:NUTRUN PASS]=ON,JMP LBL[15] ;
129: ;
130: !Check If Bolt FAILED Recovery ;
130: ! NOTE: ;
130: ! IF single run-down at each ;
130: ! position process, this JMP LBL ;
130: ! should be JMP LBL[13] to ;
130: ! continue to NEXT bolt ;
131: IF DO[979:NUTRUN FAIL]=ON,JMP LBL[14] ;
132: ;
133: LBL[12:Run-Down#1 OK] ;
134: ;
140: ;
141: !Bolt Fasten Complete ;
142: WAIT DI[449:BLT FSTN COMP]=ON ;
143: ;
146: ;
147: !Continue To NEXT ;
148: JMP LBL[13] ;
149: ;
150: LBL[14:Recovery Failed] ;
151: ;
152: !Retry Run-Down#1 ;
153: IF R[19:RetryNutRun]<1,JMP LBL[15] ;
157: ;
160: ;
161: !Restart or Abort Decision ;
162: WAIT DI[913:NUTRUNNER RETRY]=ON OR DI[13:RETURN TO HOME]=ON ;
163: ;
169: ;
170: !I/F PB Start Reset:Retry Process ;
171: IF DI[913:NUTRUNNER RETRY]=ON,JMP LBL[16] ;
175: ;
176: !Abort and Set Run-Down#1 Complete ;
177: JMP LBL[17] ;
178: ;
179: LBL[13:Continue] ;
180: ;
203: ;
204: !-------------------------------- ;
205: !RUNDOWN 2 PROCESS ;
206: !-------------------------------- ;
207: ! IF Final Torque On Manual;
207: ! Retry PB on I/F Panel ;

207: ! ONLY re-run Faulted Bolts;
207: ;
207: ;
207: ;
207: ;
178: ;
523: ;
524: !Reset Torque Bits ;
526: ;
527: !Reset At Bolt Bits ;
529: ;
530: !Jump To End ;
531: JMP LBL[99] ;
532: ;
533: LBL[10:Autorepeat] ;
534: ;
535: !Autorepeat Nutrun Process ;
536: ! Set Nut Runner ;
537: ! Torque Seq Schedule ;
539: ;
542: ;
544: WAIT GI[25:TORQUESEQECHOBIT]=30 ;
545: ;
548: ;
549: !Rundown Process 1 ;
550: IF GO[26:ROBT ATBOLT BITS]=1,JMP LBL[11] ;
551: ;
553: ! Simulate Hinge2Door Rundown ;
554: WAIT 3.00(sec) ;
555: ;
557: IF GO[26:ROBT ATBOLT BITS]=2,JMP LBL[31] ;
558: ;
559: LBL[99:End] ;
/POS
/END

1.3 NRFLTRCVR – Fault Recovery
/PROG NRFLTRCVR Macro
/ATTR
OWNER = MNEDITOR;
COMMENT = "";
PROG_SIZE = 1390;
CREATE = DATE 10-03-31 TIME 09:25:30;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 61;
MEMORY_SIZE = 1774;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = *,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !***************************** ;
2: ! NUT RUNNER FAULT RECOVERY ;
3: ! ;
4: !***************************** ;
5: ;
6: !Set Register to TorqueNOKSpindle ;
7: R[20:TorqueNOKSpindlB]=GI[26:TRQNOKSPNBT1-16] ;
8: ;
9: !Wait Communication OK ;
10: WAIT DI[797]=ON ;
11: ;
12: !Wait NutRunner READY ;
13: WAIT DI[798]=ON ;
14: ;
15: !Set Nut Runner ;
16: ! Torque Seq Schedules ;
17: GO[25:TORQUE SEQ BITS]=R[20:TorqueNOKSpindlB] ;
18: ;
20: WAIT GI[25:TORQUESEQECHOBIT]=R[20:TorqueNOKSpindlB] ;
21: ;
22: !SET TO ZERO SO NOTHING GETS SET ;
24: ;
25: !Set Start of Sequence ;
26: DO[794]=ON ;
27: ;
28: !Wait InTorqueSeqBit ;
29: WAIT DI[795]=ON ;
30: ;
31: !Reset Start of Sequence ;
32: DO[794]=OFF ;
33: ;
34: !Wait TorqueOK or Torque Fault Bi ;
35: WAIT DI[796]=ON OR DI[794]=ON ;
36: ;
37: !Torque OK ;
38: IF DI[794]=ON,JMP LBL[100] ;
39: ;
40: !Torque Fault ;
41: IF DI[796]=ON,JMP LBL[101] ;

42: ;
43: ;
44: !Torque OK ;
45: LBL[100] ;
46: ;
47: !Check if Nut PASSED ;
48: DO[978]=ON ;
49: JMP LBL[999] ;
50: ;
51: ;
52: !Torque Fault ;
53: LBL[101] ;
54: ;
55: !Check if Nut FAILED ;
56: DO[979]=ON ;
57: ;
58: ;
59: LBL[999] ;
60: !INCREMENT RETRY COUNTER ;
61: R[19:RESET RETRY]=R[19:RESET RETRY]+1 ;
/POS
/END

1.4 PICKUP BOLT/NUT – (If Applicable)
NOTE1: This program is for a bolt/nut process. Look at the logic for verification
that it has a bolt and if it doesn’t do a retry of the pickup routine.
/PROG PICKUP
/ATTR
OWNER = MNEDITOR;
COMMENT = "NUT PICKUP";
PROG_SIZE = 3466;
CREATE = DATE 11-11-04 TIME 05:07:34;
FILE_NAME = PICKUP;
VERSION = 0;
LINE_COUNT = 139;
MEMORY_SIZE = 3958;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !******************************** ;
2: !Pickup Nut Process ;
3: ! Program ;
4: !******************************** ;
5: ;
6: UTOOL_NUM=1 ;
7: UFRAME_NUM=1 ;
8: ;
9: LBL[99] ;
10: ;
11: !Reset Retry Register ;
12: R[18]=0 ;
13: ;
14:J P[3:zn6in] 70% CNT100 ;
15: ;
16: LBL[10:Retry] ;
17: ;
18: !Move to Nut 1 Pickup Position ;
19:L P[6:prepick] 1000mm/sec CNT10 ;
20: ;
21: CALL NUTRUNPRE ;
22: ;
23:L P[7:picknut] 300mm/sec FINE ;
24: ;
25: WAIT DI[667:IN TORQUE SEQ]=OFF ;
26: ;
27: !Rotate Spindle ;
28: CALL NUTRUNPK ;
29: ;
30:L P[6:prepick] 250mm/sec CNT50 ;
31: ;
32:L P[1:nut1_check1] 1000mm/sec FINE ;
33: ;
34: !Set In Nut Check Position ;

36: ;
37: !Logic Delay ;
38: WAIT .10(sec) ;
39: ;
40: !Nut 1 Present In Placement ;
41: IF DI[67:PART PRESENT 1]=ON AND DI[69:PART PRESENT 3]=OFF,JMP
LBL[11] ;
42: ;
43: !Turn ON Robot In Loop ;
45: ;
47: CALL NUTRUNCK ;
48: ;
49: !Nut Present In Socket ;
50: WAIT DI[69:PART PRESENT 3]=ON TIMEOUT,LBL[11] ;
51: ;
52: !Turn OFF Robot In Loop ;
54: ;
55: !AutoRepeat Sequence ;
56: IF DI[10:AUTO REPEAT MD]=ON,JMP LBL[13] ;
57: ;
58: !Nut Present In Socket Correct? ;
59:L P[4:nut1_check2] 500mm/sec FINE ;
60: ;
61: !Logic Delay ;
62: WAIT .10(sec) ;
63: ;
65: CALL NUTRUNCK ;
66: ;
67: IF DI[69:PART PRESENT 3]=ON,JMP LBL[15] ;
68: ;
69: !Exit And Continue ;
70: JMP LBL[13] ;
71: ;
72: LBL[11:Increment Retry] ;
73: ;
74: !Retry Limits Have Been Exceeded ;
75: IF R[18]>=3,JMP LBL[14] ;
76: ;
77: !Increment Retry Counter ;
78: R[18]=R[18]+1 ;
79: ;
80: !Retry Pickup ;
81: JMP LBL[10] ;
82: ;
83: LBL[12:Rotate Spindle] ;
84: ;
86: CALL NUTRUNCK ;
87: ;
88: !Turn ON Robot In Loop ;
90: ;
91: !Nut Present In Socket ;
92: WAIT DI[69:PART PRESENT 3]=ON TIMEOUT,LBL[11] ;
93: ;
94: !Turn OFF Robot In Loop ;
96: ;
100: !Exit And Continue ;
101: JMP LBL[13] ;
102: ;

103: LBL[15:WipeNut] ;
104: ;
105: CALL WIPE_NUT1 ;
106: ;
107: JMP LBL[11] ;
108: ;
109: LBL[14:Man. Int.] ;
110: ;
111: !Turn ON Robot in loop ;
113: ;
114: !******************************** ;
115: ! WALK INTO CELL AND ;
116: ! MOVE NUT 1 TO SOCKET 1 ;
117: !******************************** ;
118: ;
119: WAIT ((DI[67:PART PRESENT 1]=OFF AND DI[69:PART PRESENT 3]=ON)
OR DI[913:NUTRUNNER RETRY]=ON) ;
120: ;
121: !******************************** ;
122: ! WALK INTO CELL AND ;
123: ! MOVE NUT 1 TO SOCKET 1 ;
124: !******************************** ;
125: ;
126: !Turn OFF Robot in loop ;
128: ;
129: !Manual Retry Option ;
130: IF DI[913:NUTRUNNER RETRY]=ON,JMP LBL[10] ;
131: ;
133: ;
134: !Reset In Nut Check Position ;
136: ;
137: !Move Clear of Pickup ;
138:J P[2:zn6clr] 80% CNT10 ;
139: ;
/POS
/END

1.5 PG08 – Maintenance Position
/PROG PG08
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 1786;
CREATE = DATE 09-10-02 TIME 10:57:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 68;
MEMORY_SIZE = 2138;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! Manual Tip Dress ;
3: ! ;
4: ! Moves robot to Maint Position ;
5: ! ;
6: ! NOTE: This program has ;
7: ! GP[1:robot] ;
8: ! ;
9: !***************************** ;
10: ;
13: ;
14: ;
15: !CLR TO ADV. TRANSFER ;
17: ;
18: ;
19: !Set Robot Payload WITHOUT PART ;
20: PAYLOAD[2] ;
21: ;
23: UTOOL_NUM=1 ;
24: ;
26: UFRAME_NUM=1 ;
27: ;
30: SETUP OUTPUTS ;
31: ;
32: !Move to Home ;
34: ;
35: ;
36: !------------------------------ ;
37: !Approach to Maint Pos ;

38:J P[1] 20% CNT100 ;
39:J P[2] 20% CNT100 ;
40: ;
41: !Maintenance Position ;
42:L P[3] 200mm/sec CNT100 ;
43: ;
44: !Maint Position ON ;
45: DO[6:RBT AT MAINT]=ON ;
46: ;
50: !Wait for Maintenance Clear ;
51: WAIT DI[7:MAINT POS CLR]=ON ;
52: ;
62: !Maint Position OFF ;
63: DO[6:RBT AT MAINT]=OFF ;
57: !------------------------------ ;
58: !Depart from Maint Pos ;
59:J P[2] 20% CNT100 ;
60:J P[1] 20% CNT100 ;
61: ;
64: ;
65: ;
66: !Move to Home ;
68: ;
/POS
/END

1.6 PG09 – Minor Maintenance Position
/PROG PG09
/ATTR
OWNER = MNEDITOR;
COMMENT = "Maintenance PRG";
PROG_SIZE = 1786;
CREATE = DATE 09-10-02 TIME 10:57:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 68;
MEMORY_SIZE = 2138;
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
CONTROL_CODE = 00000000 00000000;
/APPL
CYCLE_REFERENCE = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
/MN
1: !***************************** ;
2: ! Manual Tip Dress ;
3: ! ;
4: ! Moves robot to Maint Position ;
5: ! ;
6: ! NOTE: This program has ;
7: ! GP[1:robot] ;
8: ! ;
9: !***************************** ;
10: ;
13: ;
14: ;
17: ;
18: ;
19: !Set Robot Payload WITHOUT PART ;
20: PAYLOAD[2] ;
21: ;
23: UTOOL_NUM=1 ;
24: ;
26: UFRAME_NUM=1 ;
27: ;
30: SETUP OUTPUTS ;
31: ;
32: !Move to Home ;
34: ;
35: ;
36: !------------------------------ ;
37: !Approach to Maint Pos ;

38:J P[1] 20% CNT100 ;
39:J P[2] 20% CNT100 ;
40: ;
41: !Maintenance Position ;
42:L P[3] 200mm/sec CNT100 ;
43: ;
44: !Maint Position ON ;
45: DO[587:RBT AT MIN MAINT]=ON ;
46: ;
50: !Wait for Maintenance Clear ;
51: WAIT DI[7:MAINT POS CLR]=ON ;
52: ;
63: DO[587:RBT AT MIN MAINT]=OFF ;
57: !------------------------------ ;
58: !Depart from Maint Pos ;
59:J P[2] 20% CNT100 ;
60:J P[1] 20% CNT100 ;
61: ;
63: DO[587:RBT AT MIN MAINT]=OFF ;
64: ;
65: ;
66: !Move to Home ;
68: ;
/POS
/END

1.7 HOME_IO – Reset Input/Output MACRO
/PROG HOME_IO
/ATTR
OWNER = ASCBIN;
COMMENT = "SET AT HOME I-O";
PROG_SIZE = 1592;
CREATE = DATE 10-02-23 TIME 06:58:08;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 85;
MEMORY_SIZE = 1876;
TASK_PRIORITY = 60,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 1,
ABORT_REQUEST = 7,
PAUSE_REQUEST = 3;
DEFAULT_GROUP = *,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: !******************************** ;
2: !MACRO SET AT HOME I-O ;
3: ! ;
4: !Also runs Automatically when ;
5: ! robot goes from non-home pos ;
6: ! to home pos ;
7: ! ;
8: ! NOTE: This program has NO ;
9: ! GP[1:robot] and ;
10: ! GP[2:servogun] motion ;
11: !***************************** ;
12: ;
15: ;
16: !CLR TO RET. TRANSFER ;
18: ;
19: !CLEAR TO UNCLAMP ;
20: DO[956:CLRTOUNCLMP]=ON ;
21: ;
22: ;
23: !ROBOT USER DEFINE OFF ;
24: DO[41:UDEF RBT OUT 1]=OFF ;
32: ;
33: ;
34: !RESET FAULT RESET ;
35: DO[959:FAULTRESET]=OFF ;
36: ;
37: ;
38: !RESET ROBOT LOOP ;
40: DO[977:WTRSVRPULSRST]=OFF ;

41: DO[963:PRGRM FLT]=OFF ;
42: ;
43: !AT REPAIR OFF ;
44: DO[587:RBT AT MINMAINT]=OFF ;
45: ;
46: ;
47: !RESET PICKUP POS ;
48: DO[49:RBT @ PKUP POS 1]=OFF ;
49: DO[59:RBT AT DRP OFF 1]=OFF ;
56: ;
57: ;
58: !RESET WRK POS ;
59: DO[177:MDL WRK POS 1]=OFF ;
67: ;
68: ;
69: !CLEAR EXIT ZONES ;
70: DO[900:CLROFZONE1]=ON ;
84: ;
85: !SET NUMBER RESET = ;
86: ! (3) RETRIES ;
87: CALL WELD1DIS ;
88: ;
89: !PEDESTAL APPLICATION ONLY ;
90: DO[971:PEDDMPAPP]=ON ;
91: ;
92: ;
93: !***************************** ;
94: !RESET NUT RUNNER SIGNALS ;
97: DO[978:NUTRUN PASS]=OFF ;
98: DO[979:NUTRUN FAIL]=OFF ;
99: ;
100: ! Reset the register that holds ;
101: ! the program number to run ;
102: R[153:ProgSelNum]=0 ;
103: ;
/POS

/END

2 NUT Runner Error Recovery Program Schedules
Below is the Error Recovery Grid for the each Spindle. If there is Torque NOT OK for the
individual spindle, the robot TP program will send this bit GO[25:TORQUE SEQ BITS] to the
Nut Runner.
Table 1: Error Recovery for Multiple Spindle Applications

ERROR RECOVERY
PRG1 PRG2 PRG3 PRG4 PRG5 PRG6 PRG7 PRG8 PRG9 PRG10 PRG11 PRG12 PRG13 PRG14 PRG15
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4
NOTE: 1st 15 programs are reserved for Error Recovery. (This allows the robot to directly call
the TorqueNOK group input as a program to the torque controller).
Additional Atlas-Copco Program Mode Modifications
Table 2: Atlas-Copco Program Mode Modifications Forward (540 Degrees)

FORWARD (540 DEGREES)…USED FOR SPINNING NR WHILE MOVING ONTO BOLT/NUT @ PICKUP
PG226 PG227 PG228 PG229 PG230 PG231 PG232 PG233 PG234 PG235 PG236 PG237 PG238 PG239 PG240
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4
Table 3: Atlas-Copco Program Mode Modifications Forward (360 Degrees)

FORWARD (360 DEGREES)…USED FOR BOLT/NUT PICK & CHECK
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4

3 NUT Runner Run Down Program Schedules
Below is the Run Down Program Grids for the each Model Number. When the robot is in
position, the robot will call a Torque Schedule depending on what spindle to use, bit
GO[25:TORQUE SEQ BITS] to the Nut Runner.
Table 4a: Run Down Program Model #1 for Multiple Spindle Applications
RUN DOWN PROGRAM MODEL#1
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4
Table 4b: Run Down Program Model #1 For Single Spindle Applications
RUN DOWN PROGRAM MODEL#1**
Recover* Bolt1 Bolt2 Bolt3 Bolt4 Bolt5 Bolt6 Bolt7 Bolt8 Bolt9 Bolt10 Bolt11 Bolt12 Bolt13 Bolt14
*Note PRG1 is error recovery for all models.
**Note that each mode may be assigned a unique torque
Table 5a: Final Torque Program Model #1

FINAL TORQUE PROGRAM MODEL#1
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4
Bolt1 Bolt2 Bolt3 Bolt4 Bolt5 Bolt6 Bolt7 Bolt8 Bolt9 Bolt10 Bolt11 Bolt12 Bolt3 Bolt14 Bolt15
Table 6a: Run Down Program Model #2

1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4

Table 7a: Final Torque Program Model #2
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4
Table 8a: Run Down Program Model #3

1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4
Table 9: Final Torque Program Model #3

PRG91 PRG92 PRG93 PRG94 PRG95 PRG96 PRG97 PRG98 PRG99 PG100 PG101 PG102 PG103 PG104 PG105
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4
Table 10: Run Down Program Model #4

1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4

1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4

Table 12: Run Down Program Model #5
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4

1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
3 3 3 3 3 3 3 3
4 4 4 4 4 4 4 4

4 Software I/F Panel
4.1 Nut Runner Menu Interface

5 NutRunner PMC Logic (S-Logic) for R-30iA Controllers

[FORD_NEXTGEN_ENETSafe_NUTRUNNER_2014_08_15]
Ladder Diagram 1
N00001 R0000.0 R0000.0

A 1 ALWAYS ON
ALWAYS ALWAYS
ON ON
R0000.0
B
ALWAYS
ON
N00002 R0000.0 G1000.0

C 4 IMMEDIATE STOP
ALWAYS IMSTP
ON
N00003 X0000.0 R0100.5 G1000.1

D 6 *HOLD
DI 1 EXT BREAK A *HOLD
RNENBL NO HOLD
N00004 X1026.4 R0100.5

E 9 S BREAK A NO HOLD
SI12 HOL BREAK A
DSW NO HOLD
N00005 X1026.5 R0100.5

F 11 R BREAK A NO HOLD
SI13 RES BREAK A
ETSW NO HOLD
X1026.4 X1025.6
G
SI12 HOL CYCLE
DSW START
X0000.1 X1026.4
H
DI 2 EX SI12 HOL
RNEN RST DSW
N00006 R0000.0 G1000.2

I 19 SAFE SPEED
ALWAYS SFSPD
ON
N00007 X1000.3 G1000.3

J 21
O
Ladder Diagram 2
N00008 X1025.1 G1000.4

A 23 FAULT RESET
FAULT RB FAULT
RESET RESET
X0000.1 X0001.2
B
DI 2 EX DI 11
RNEN RST PLC AUTO
X1026.5
C
SI13 RES
ETSW
X0000.3
D
DI 4 EXT
CY STRT
X0000.2
E
DI 3 EXT
MTR ON
Y0119.6
F
DO 959 F
LT RESET
N00009 X1000.6 G1000.6

G 32 GO HOME
HOME
N00010 R0000.0 G1000.7

H 34 ENABLE
ALWAYS ENABLE
ON
N00011 F1000.0 Y1000.0

I 36
COMMAND
ENABLE
N00012 F1000.1 Y1000.1

J 38
SYSTEM
READY
Y1025.5
K MOTORS ENABLE
MOTORS
ENABLE
N00013 F1000.2 Y1000.2

L 41
PROGRAM
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

N 45
HELD
Y0000.0
O ROBOT RUN ENABLE INTERRUPT ACK
DO 1 RUN
ENB ACK
Ladder Diagram 3
N00016 F1000.5 ACT R0338.0

A 48 SUB 3 0031 INTERNAL FAULT DELAY
FAULT TMR INT FLT
DELAY
N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

B 52
FAULT RB FAULT FILTERED INT FLT
RESET FAULT DELAY
Y0120.2 Y0000.4
C ROBOT CONTROLLER FAULT
DO 963 DO 5 RBT
PRG FLT CNT FLT
Y0001.6
D
DO 15 CO
LL DTCT
N00018 F1000.6 Y1000.6

E 60
AT HOME
Y0000.1
F ROBOT AT HOME
DO 2 RBT
@ HOME
N00019 F1000.7 Y1000.7

G 63
TPENABLE
Y0119.7 Y0000.3
H ROBOT IN TEACH
DO 960 DO 4 RBT
AUTO KEY IN TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

I 67
ECO17 ECO18 ECO19 ECO20 ECO21 ECO22 ECO23
FC1 FC2 FC4 FC8 FC16 FC32 FC64
1 R1402.7 R1405.0
J S
ECO24 FACILITY
FC128 CODE 11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

K 76
EC01 EC02 ECO3 ECO4 ECO5 ECO6 ECO7
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

L
ECO8 ECO10 ECO11 ECO12 ECO14 ECO15
2 R1401.7 R1405.1
M
ECO16 ERROR 4
N00022 R1405.0 R1405.1 G1000.4 R1405.2

N 91 FENCE FAULT
FACILITY ERROR 4 RB FAULT FENCE
CODE 11 RESET FAULT
R1405.2
O
FENCE
FAULT
Ladder Diagram 4
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

A 96 POWER FAIL RECOVERY
INT EXT FAULT BRK PWR COMMAND SYSTEM PWR FAIL
MTR ON FL RCVRY ENABLE READY RECVRY
R0000.2
B
INT EXT
CYC STRT
K0010.3
C
PWR FAIL
RECVRY
N00024 K0010.3 ACT R1466.0

D 104 SUB 3 0027 BREAK POWER FAIL RECOVERY
PWR FAIL TMR BRK PWR
RECVRY FL RCVRY
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

E 108
DO 4 RBT COMMAND DO 5 RBT INT EXT INT EXT SYSTEM STEP
IN TCH ENABLE CNT FLT MTR ON CYC STRT READY
R1404.5 Y0000.2
F
DRP AUTO DO 3 RBT
FAULT IN AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

G ROBOT IN AUTOMATIC
TP FANUC FENCE TEACH DO 15 CO DO 3 RBT
E-STOP E-STOP FAULT MEMORY LL DTCT IN AUTO
N00026 Y0119.5 Y0072.4

H 125 INPUT SIMULATED
DO 958 I DO 581 I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

I 127 S DROP AUTO FAULT
FC AVAIL APPL FC ZERO FAULT RB FAULT DRP AUTO
ALARMS RESET FAULT
N00028 F1000.5 R1404.5

J 133 R DROP AUTO FAULT
FAULT DRP AUTO
FAULT
G1000.4
K
RB FAULT
RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

L 136
FAULT ECO33 ECO FC AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 140
FC AVAIL ECO17 ECO18 ECO19 ECO20 ECO21 ECO22
FC1 FC2 FC4 FC8 FC16 FC32
1 R1402.6 R1402.7 R1404.3

N S
ECO23 ECO24 SPOT
FC64 FC128 ALARM
O
Ladder Diagram 5
N00031 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 150
1 R1402.6 R1402.7 R0330.0

B S
ECO23 ECO24 ARC
FC64 FC128 ALARM
N00032 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

C 160
1 R1402.6 R1402.7 R0330.1

D S
ECO23 ECO24 SEALER
FC64 FC128 ALARM
N00033 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 170
1 R1402.6 R1402.7 R0330.2

F S
ECO23 ECO24 SERVOGUN
FC64 FC128 ALARM
N00034 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

G 180
1 R1402.6 R1402.7 R0330.3

H S
ECO23 ECO24 TOOLCHNG
FC64 FC128 ALARM
N00035 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

I 190
1 R1402.6 R1402.7 R0330.4

J S
ECO23 ECO24 SYSTEM
FC64 FC128 ALARM
N00036 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

K 200
1 R1402.6 R1402.7 R1406.0

L S
ECO23 ECO24 FACILITY
FC64 FC128 CODE 15
N00037 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 210
1 R1402.6 R1402.7 R1404.2

N
ECO23 ECO24 FC ZERO
FC64 FC128
O
Ladder Diagram 6
N00038 R1404.1 ACT R1404.3

A 220 SUB57 0001 R
ECO DIFU SPOT
RETRIEVE ALARM
R0330.0
B R
ARC
ALARM
R0330.1
C R
SEALER
ALARM
R0330.2
D R
SERVOGUN
ALARM
R0330.3
E R
TOOLCHNG
ALARM
R0330.4
F R
SYSTEM
ALARM
R1405.0
G R
FACILITY
CODE 11
R1406.0
H R
FACILITY
CODE 15
N00039 R1404.4 ACT R1404.6

I 231 SUB 3 0006
FC AVAIL TMR RETRIEVE
DELAY
N00040 R1404.6 R1404.1

J 235 S
RETRIEVE ECO
DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

K 237 SUB 3 0007 R
ECO TMR ECO
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

L 241 S WELD FAULT #1
FC AVAIL SPOT FC ZERO FAULT DO 126 W
ALARM LD FLT 1
N00043 X0083.1 Y0015.5

M 246 R WELD FAULT #1
DI 666 I DO 126 W
NCYCLE1 LD FLT 1
N00044 K0010.1 K0010.0 R0000.1

N 248
EXT MTR TEACH INT EXT
ON MEMORY MTR ON
O
Ladder Diagram 7
N00045 X0000.2 K0010.0 K0010.5 K0010.1

A 251 S EXTERNAL MOTORS ON
DI 3 EXT TEACH MAINT ME EXT MTR
MTR ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

B
SI13 RES DO 5 RBT FAULT
ETSW CNT FLT
X1025.1
C
FAULT
RESET
X0000.1 X0001.2
D
DI 2 EX DI 11
RNEN RST PLC AUTO
K0010.3
E
PWR FAIL
RECVRY
N00046 Y0000.2 Y0000.4 G1000.4 K0010.1

F 264 R EXTERNAL MOTORS ON
DO 3 RBT DO 5 RBT RB FAULT EXT MTR
IN AUTO CNT FLT RESET ON
N00047 K0010.2 K0010.0 K0010.5 R0000.2

G 268
EXT CYC TEACH MAINT ME INT EXT
START MEMORY M CYC STRT
N00048 X0000.3 K0010.0 K0010.2

H 272 S EXTERNAL CYCLE START
DI 4 EXT TEACH EXT CYC
CY STRT MEMORY START
X1026.5 Y0000.4 F1000.5

I
ETSW CNT FLT
X1025.1
J
FAULT
RESET
X0000.1 X0001.2
K
DI 2 EX DI 11
RNEN RST PLC AUTO
K0010.3
L
PWR FAIL
RECVRY
R0340.0
M
MANUAL
WELD
N00049 Y0000.2 Y0000.4 G1000.4 K0010.2

N 285 R EXTERNAL CYCLE START
DO 3 RBT DO 5 RBT RB FAULT EXT CYC
IN AUTO CNT FLT RESET START
O
Ladder Diagram 8
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 289
DI 17 PG DI 18 PG DI 19 PG DI 20 PG DI 21 PG DI 22 PG DI 23 PG
SLCT 1 SLCT 2 SLCT 4 SLCT 8 SLCT 16 SLCT 32 SLCT 64
1 X0002.7 R0507.0
B PROGRAM 1
DI 24 PG PROGRAM
SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 298
1 X0002.7 R0507.1
D PROGRAM 2
DI 24 PG PROGRAM
SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 307
1 X0002.7 R0507.2
F PROGRAM 3
DI 24 PG PROGRAM
SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 316
1 X0002.7 R0507.3
H PROGRAM 4
DI 24 PG PROGRAM
SLCT128 4
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 325
1 X0002.7 R0507.4
J PROGRAM 5
DI 24 PG PROGRAM
SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 334
1 X0002.7 R0507.5
L PROGRAM 6
DI 24 PG PROGRAM
SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 343
1 X0002.7 R0507.6
N PROGRAM 7
DI 24 PG PROGRAM
SLCT128 7
O
Ladder Diagram 9
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 352
1 X0002.7 R0507.7
B PROGRAM 8
DI 24 PG PROGRAM
SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 361
1 X0002.7 R0508.0
D PROGRAM 9
DI 24 PG PROGRAM
SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 370
1 X0002.7 R0508.1
F PROGRAM 10
DI 24 PG PROGRAM
SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 379
1 X0002.7 R0508.2
H PROGRAM 11
DI 24 PG PROGRAM
SLCT128 11
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 388
1 X0002.7 R0508.3
J PROGRAM 12
DI 24 PG PROGRAM
SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 397
1 X0002.7 R0508.4
L PROGRAM 13
DI 24 PG PROGRAM
SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 406
1 X0002.7 R0508.5
N PROGRAM 14
DI 24 PG PROGRAM
SLCT128 14
O
Ladder Diagram 10
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 415
1 X0002.7 R0508.6
B PROGRAM 15
DI 24 PG PROGRAM
SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 424
1 X0002.7 R0508.7
D PROGRAM 16
DI 24 PG PROGRAM
SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 433
1 X0002.7 R0509.0
F PROGRAM 17
DI 24 PG PROGRAM
SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 442
1 X0002.7 R0509.1
H PROGRAM 18
DI 24 PG PROGRAM
SLCT128 18
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 451
1 X0002.7 R0509.2
J PROGRAM 19
DI 24 PG PROGRAM
SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 460
1 X0002.7 R0509.3
L PROGRAM 20
DI 24 PG PROGRAM
SLCT128 20
O
Ladder Diagram 11
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 469
DI 5 MV DO 3 RBT PROGRAM PAUSED AT HOME DI 11 *HOLD
TO POUNC IN AUTO RUNNING PLC AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

B
DO 3 RBT PAUSED PROGRAM DI 11
IN AUTO RUNNING PLC AUTO
F1000.6 R0507.0 F1000.2 F1000.3

C
AT HOME PROGRAM PROGRAM PAUSED
1 RUNNING
R0507.1
D
PROGRAM
2
R0507.2
E
PROGRAM
3
R0507.3
F
PROGRAM
4
R0507.4
G
PROGRAM
5
R0507.5
H
PROGRAM
6
R0507.6
I
PROGRAM
7
R0507.7
J
PROGRAM
8
R0508.0
K
PROGRAM
9
R0508.1
L
PROGRAM
10
R0508.2
M
PROGRAM
11
R0508.3
N
PROGRAM
12
R0508.4
O
PROGRAM
13
Ladder Diagram 12
R0508.5
A
PROGRAM
14
R0508.6
B
PROGRAM
15
R0508.7
C
PROGRAM
16
R0509.0
D
PROGRAM
17
R0509.1
E
PROGRAM
18
R0509.2
F
PROGRAM
19
R0509.3
G
PROGRAM
20
Y0000.2 F1000.3 F1000.2 X0000.1 X0001.2

H
DO 3 RBT PAUSED PROGRAM DI 2 EX DI 11
IN AUTO RUNNING RNEN RST PLC AUTO
X1025.6
I
CYCLE
START
1 R0000.1 D0603.0 Y0000.4 R0100.5 F1000.5 G1000.5

J UOP CYCLE START
INT EXT CYCLE DO 5 RBT BREAK A FAULT UOP CYC
MTR ON STRT DLY CNT FLT NO HOLD START
N00071 G1000.5 F1000.2 ACT D0603.0

K 520 SUB 3 0008 S CYCLE START DELAY
UOP CYC PROGRAM TMR CYCLE
START RUNNING STRT DLY
N00072 D0603.0 ACT D0603.0

L 525 SUB 3 0009 R CYCLE START DELAY
CYCLE TMR CYCLE
STRT DLY STRT DLY
N00073 F1000.2 D0603.0

M 529 R CYCLE START DELAY
PROGRAM CYCLE
RUNNING STRT DLY
N00074
N 531 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

O 532 SUB 3 0011 TEACH MEMORY DELAY
DO 960 TMR TEACH ME
AUTO KEY M DELAY
Ladder Diagram 13
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 536 TEACH MEMORY
DO 4 RBT SI13 RES FAULT CYCLE TEACH
IN TCH ETSW RESET START MEMORY
K0010.4
B
TEACH ME
M DELAY
K0010.0
C
TEACH
MEMORY
N00077 K0008.0 R0350.0

D 543 MAINTENANCE MODE
AUTO/MAI IN MAINT
NT SS
N00078 R0350.0 ACT D0610.0

E 545 SUB 3 0012 MAINTENANCE MODE DELAY
IN MAINT TMR MAINT
DELAY
N00079 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

F 549 MAINTENANCE MEMORY
MAINT DO 3 RBT DO 2 RBT SI13 RES FAULT MAINT ME
DELAY IN AUTO @ HOME ETSW RESET M
K0010.5 X0000.6
G
MAINT ME DI 7 MAI
M NT PSCLR
N00080 X0000.2 X0000.3 Y0000.2 K0010.6

H 558 EXTERNAL START ANTI-TIE DOWN
DI 3 EXT DI 4 EXT DO 3 RBT EXT STRT
MTR ON CY STRT IN AUTO ANTI TD
K0010.6
I
EXT STRT
ANTI TD
N00081 X0002.0 G1001.0

J 563
DI 17 PG PNS 1
SLCT 1
N00082 X0002.1 G1001.1

K 565
DI 18 PG PNS 2
SLCT 2
N00083 X0002.2 G1001.2

L 567
DI 19 PG PNS 3
SLCT 4
N00084 X0002.3 G1001.3

M 569
DI 20 PG PNS 4
SLCT 8
N00085 X0002.4 G1001.4

N 571
DI 21 PG PNS 5
SLCT 16
N00086 X0002.5 G1001.5

O 573
DI 22 PG PNS 6
SLCT 32
Ladder Diagram 14
N00087 X0002.6 G1001.6

A 575
DI 23 PG PNS 7
SLCT 64
N00088 X0002.7 G1001.7

B 577
DI 24 PG PNS 8
SLCT128
N00089 X0000.6 K0008.0 Y0120.5

C 579 MAINTENANCE POSITION CLEAR
DI 7 MAI AUTO/MAI DO 966 M
NT PSCLR NT SS ANTP CLR
N00090 K0008.0 Y0001.4

D 582 SEND ROBOT TO MAINTENANCE
AUTO/MAI DO 13 SN
NT SS DRBT MNT
N00091 Y0112.3 Y0003.0

E 584 CLEAR OF ZONE #1
DO 900 DO 25 CL
CLR ZN 1 R ZON 1
N00092 Y0112.4 Y0003.1

F 586 CLEAR OF ZONE #2
DO 901 DO 26 CL
CLR ZN 2 R ZON 2
N00093 Y0112.5 Y0003.2

G 588 CLEAR OF ZONE #3
DO 902 DO 27 CL
CLR ZN 3 R ZON 3
N00094 Y0112.6 Y0003.3

H 590 CLEAR OF ZONE #4
DO 903 DO 28 CL
CLR ZN 4 R ZON 4
N00095 Y0112.7 Y0003.4

I 592 CLEAR OF ZONE #5
DO 904 DO 29 CL
CLR ZN 5 R ZON 5
N00096 Y0113.0 Y0003.5

J 594 CLEAR OF ZONE #6
DO 905 DO 30 CL
CLR ZN 6 R ZON 6
N00097 Y0113.1 Y0003.6

K 596 CLEAR OF ZONE #7
DO 906 DO 31 CL
CLR ZN 7 R ZON 7
N00098 Y0113.2 Y0003.7

L 598 CLEAR OF ZONE #8
DO 907 DO 32 CL
CLR ZN 8 R ZON 8
N00099 Y0113.3 Y0004.0

M 600 CLEAR OF ZONE #9
DO 908 DO 33 CL
CLR ZN 9 R ZON 9
N00100 Y0113.4 Y0004.1

N 602 CLEAR OF ZONE #10
DO 909 C DO 34 CL
LR ZN 10 R ZON 10
N00101 Y0113.5 Y0004.2

O 604 CLEAR OF ZONE #11
DO 910 C DO 35 CL
LR ZN 11 R ZON 11
Ladder Diagram 15
N00102 Y0113.6 Y0004.3

A 606 CLEAR OF ZONE #12
DO 911 C DO 36 CL
LR ZN 12 R ZON 12
N00103 Y0113.7 Y0004.4

B 608 CLEAR OF ZONE #13
DO 912 C DO 37 CL
LR ZN 13 R ZON 13
N00104 Y0116.4 Y0004.5

C 610 CLEAR OF ZONE #14
DO 933 C DO 38 CL
LR ZN 14 R ZON 14
N00105 Y0118.7 Y0004.6

D 612 CLR OF INDEPENDENT MOTION ZN1
DO952 CL DO 39 CL
RMOTZN1 R INDMOT
N00106 Y0119.0 Y0004.7

E 614 CLR OF INDEPENDENT MOTION ZN2
DO953 CL DO 40 CL
RMOTZN2 R INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

F 616 CLEAR TO ADVANCE TRANSFER
DO 954 C DI 1 EXT DO 7 CLR
LRAV XFR RNENBL ADV
N00108 Y0119.2 X0000.0 Y0000.7

G 619 CLEAR TO RETURN TRANSFER
LRET XFR RNENBL RET XFR
N00109 Y0119.3 X0000.0 Y0001.0

H 622 CLEAR TO UNCLAMP
LR UNCLP RNENBL 2 UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 625 PROMPT BOX
DO 4 RBT DO 19001 DO 585
IN TCH PRPTBX PRMPT BX
N00111 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

J 628
1 R1402.7 R1405.3
K SYSTEM FACILITY CODE (24)
ECO24 SYS FCLY
FC128 CODE
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 637
FACILITY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R0365.0

N SRVO-001 OPERATOR PANEL E-STOP
ECO13 ECO14 ECO15 ECO16 SRVO-001
O
Ladder Diagram 16
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 655
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0366.0

C SRVO-002 TEACH PENDANT E-STOP
N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 673
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0367.0

F SRVO-003 DEADMAN SWITCH RELEAS
N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 691
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0368.0

I SRVO-005 ROBOT OVERTRAVELL
N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 709
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.0

L SRVO-007 EXTERNAL EMERGENCY ST
N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 727
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.1

O SRVO-408 DCS SSO EXT EMERGSTOP
Ladder Diagram 17
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 745
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.3

C SRVO-50 COLLISION DETECT
N00119 R1406.3 X1025.1 Y0001.6

D 763 COLLISION DETECT
SRVO-50 FAULT DO 15 CO
RESET LL DTCT
Y0001.6
E
DO 15 CO
LL DTCT
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 767
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

G
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.2

H SRVO-65 LOW BATTERY
LOW BATT
N00121 F1001.0 Y0001.1

I 785 ROBOT BATTERY LOW
BATALM DO 10 RB
T BAT LW
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 787
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0371.0

L SRVO-101 ROBOT OVERATRAVEL
N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 805
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.1

O DISTURBANCE EXCESS(SRVO11)
ECO13 ECO14 ECO15 ECO16 DISTURBA
NCE EXCE
Ladder Diagram 18
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 823
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0373.0

C SRVO-199 CONTROL STOP
CONTROL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 841
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0374.0

F SRVO-232 NTED INPUT
NTED IN
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 859
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0375.0

I SRVO-233 TP OFF IN T1,T2/DOOR
TP OFF
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 877
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0376.0

L SRVO-280 SVOFF INPUT
SVOFF I
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 895
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.0

O SRVO-378 OPSFTY11 STATUS ABNOR
OPSFT11
Ladder Diagram 19
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 913
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.1

C SRVO-379 OPSFTY12 STATUS ABNOR
OPSFT12
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 931
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.2

F SRVO-380 OPSFTY21 STATUS ABNOR
OPSFT21
N00131 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 949
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.3

I SRVO-381 OPSFTY22 STATUS ABNOR
OPSFT22
N00132 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 967
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.4

L SRVO-382 OPSFTY31 STATUS ABNOR
OPSFT31
N00133 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 985
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.5

OPSFT32
Ladder Diagram 20
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1003
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.6

OPSFT41
N00135 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1021
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.7

OPSFT42
N00136 R0387.0 R0388.0

G 1039 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 OPSFTY F
OPSFT11 LT LATCH
R0387.1
H
SRVO-379
OPSFT12
R0387.2
I
SRVO-380
OPSFT21
R0387.3
J
SRVO-381
OPSFT22
R0387.4
K
SRVO-382
OPSFT31
R0387.5
L
SRVO-383
OPSFT32
R0387.6
M
SRVO-384
OPSFT41
R0387.7
N
SRVO-385
OPSFT42
R0388.0 F1000.5
O
OPSFTY F FAULT
LT LATCH
Ladder Diagram 21
N00137 R0388.0 Y0073.1

A 1051 SAFETY CHAIN FAULT
OPSFTY F DO 586 S
LT LATCH FTY CHN
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

B 1053
SYS FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

C
2 R1401.4 R1401.5 R1401.6 R1401.7 R0377.0

D SYST-034 HOLD SIGNAL FROM SOP/
ECO13 ECO14 ECO15 ECO16 SYST-034
HOLD SI
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

E 1071
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

F
2 R1401.4 R1401.5 R1401.6 R1401.7 R0378.0

G SYST-038 OPERATION MODE T1 SEL
OPERATI
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

H 1089
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

I
2 R1401.4 R1401.5 R1401.6 R1401.7 R0379.0

J
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

K 1107
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

L
2 R1401.4 R1401.5 R1401.6 R1401.7 R0380.0

M SYST-040 OPERATION MODE AUTO S
OPERATI
O
Ladder Diagram 22
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1125
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0381.0

C SYST-042 DEADMAN DEFEATED
DEADMAN
N00143 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1143
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0382.0

F SYST-043 TP DISABLE IN T1/T2
TP DISA
N00144 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1161
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0383.0

I SYST-045 TP ENABLE IN AUTO MO
TP ENAB
N00145 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1179
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0384.0

L SYST-154 NO START IN ISOLATE/B
NO STAR
N00146 R0397.0 F1000.0 R0397.0

M 1197 FILTERED FAULT
FILTERED COMMAND FILTERED
FAULT ENABLE FAULT
R0398.0
N
FILTER
FLT GRP1
R0399.0
O
FILTER
FLT GRP2
Ladder Diagram 23
N00147 R0365.0 R0398.0

A 1202 FILTER FAULTS GROUP1
SRVO-001 FILTER
FLT GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0
RESERVED
R0373.0
I
SRVO-199
CONTROL
R0374.0
J
SRVO-232
NTED IN
R0375.0
K
SRVO-233
TP OFF
R0376.0
L
SRVO-280
SVOFF I
R0370.1
M
SRVO-408
R1456.0
N
APPL
ALARMS
O
Ladder Diagram 24
N00148 R0377.0 R0399.0

SYST-034 FILTER
HOLD SI FLT GRP2
R0378.0
B
SYST-038
OPERATI
R0379.0
C
SYST-039
R0380.0
D
SYST-040
OPERATI
R0381.0
E
SYST-042
DEADMAN
R0382.0
F
SYST-043
TP DISA
R0383.0
G
SYST-045
TP ENAB
R0384.0
H
SYST-154
NO STAR
X1025.0
I
FANUC
E-STOP
F1008.2
J
TP
E-STOP
X1026.1
K
SI9
AUTOMDSW
Y0000.3
L
DO 4 RBT
IN TCH
K0010.0
M
TEACH
MEMORY
R1405.2
N
FENCE
FAULT
O
Ladder Diagram 25
N00149 R0330.0 F1000.5 R1456.0

A 1232
ARC FAULT APPL
ALARM ALARMS
R0330.1
B
SEALER
ALARM
R0330.2
C
SERVOGUN
ALARM
R0330.3
D
TOOLCHNG
ALARM
R0330.4
E
SYSTEM
ALARM
R1404.3
F
SPOT
ALARM
R1456.0
G
APPL
ALARMS
N00150 D0001.0 ACT

H 1241 SUB10 0000
TOOL CHA JMP
NGE APP
N00151
I 1244 SUB66 P0001
CALLU TOOL CHANGING
N00152
J 1246 SUB30
JMPE
N00153
K 1247 SUB66 P0004
CALLU AIR SWITCH
N00154
L 1249 SUB66 P0006
CALLU UALM
N00155
M 1251 SUB66 P0007
CALLU INTERFACE
N00156
N 1253 SUB66 P0008
CALLU MH
N00157
O 1255 SUB66 P0026
CALLU NUTRUNNER
Ladder Diagram 26
N00158
A 1257 SUB66 P0009
CALLU APPLICATION
N00159
B 1259 SUB 2
END2
N00160 ### P0001 ###

C 1260 SUB71 P0001
SP TOOL CHANGING
N00161 X0080.0 R0347.0

D 1262 GUN ID NOT 0
DI 641 GUN ID
TOOL ID1 NOT 0
X0080.1
E
DI 642
TOOL ID2
X0080.2
F
DI 643
TOOL ID4
X0080.3
G
DI 644
TOOL ID8
N00162 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

H 1267
DI 641 DI 642 DI 643 DI 644 GUN 1 ON
TOOL ID1 TOOL ID2 TOOL ID4 TOOL ID8 ARM
N00163 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

I 1272
DI 641 DI 642 DI 643 DI 644 GUN 2 ON
N00164 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

J 1277
DI 641 DI 642 DI 643 DI 644 GUN 3 ON
N00165 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

K 1282
DI 641 DI 642 DI 643 DI 644 GUN 4 ON
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

L 1287
DI 641 DI 642 DI 643 DI 644 GUN 5 ON
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

M 1292
DI 641 DI 642 DI 643 DI 644 GUN 6 ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

N 1297
DI 641 DI 642 DI 643 DI 644 GUN 7 ON
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

O 1302
DI 641 DI 642 DI 643 DI 644 GUN 8 ON
Ladder Diagram 27
N00170 R0321.0 R0328.6

A 1307 TOOL ON ROBOT
GUN 1 ON TOOLONRO
ARM BOT
R0322.0
B
GUN 2 ON
ARM
R0323.0
C
GUN 3 ON
ARM
R0324.0
D
GUN 4 ON
ARM
R0325.0
E
GUN 5 ON
ARM
R0326.0
F
GUN 6 ON
ARM
R0326.1
G
GUN 7 ON
ARM
R0326.2
H
GUN 8 ON
ARM
N00171 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

I 1316
GUN 1 ON GUN 2 ON GUN 3 ON GUN 4 ON GUN 5 ON GUN 6 ON GUN 7 ON
ARM ARM ARM ARM ARM ARM ARM
1 R0326.2 R0348.0
J ANY GEO TOOL PRESENT ON ROBOT
GUN 8 ON GEOTOOLP
ARM RSNT
N00172 X0080.0 Y0038.0

K 1325
DI 641 DO 305
TOOL ID1 TOOL ID1
N00173 X0080.1 Y0038.1

L 1327
DI 642 DO 306
TOOL ID2 TOOL ID2
N00174 X0080.2 Y0038.2

M 1329
DI 643 DO 307
TOOL ID4 TOOL ID4
N00175 X0080.3 Y0038.3

N 1331
DI 644 DO 308
TOOL ID8 TOOL ID8
O
Ladder Diagram 28
N00176 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

A 1333
DI 305 DI 306 DI 307 DI 308 DI 309 DI 310 DI 311
TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6 TCSTND7
1 X0038.7 R0327.0
B GUN 1-8 (ALL TOOLS IN STAND)
DI 312 GUN 1-8
TCSTND8
N00177 Y0117.4 K0011.1

C 1342 TOOL CHANGER RELEASE
DO 941 TC
TC UNLCK RELEASED
N00178 Y0117.3 X0079.4 X0079.5 R0328.6 Y0079.0

D 1344 S TOOL CHANGER LOCK
DO 940 DI 637 DI 638 TOOLONRO DO 633 T
TC LOCK RDY2LCK1 RDY2LCK2 BOT C LOCK
R0328.6
E
TOOLONRO
BOT
N00179 X0079.0 Y0040.6

F 1351
DI 633 DO 327 T
TC LOCKD CCOUPMON
N00180 Y0117.4 Y0117.3 Y0079.0

G 1353 R TOOL CHANGER LOCK
DO 941 DO 940 DO 633 T
TC UNLCK TC LOCK C LOCK
N00181 K0011.1 Y0079.0 X0080.4 X0080.5 R0328.6 Y0079.1

H 1356 TOOL CHANGER UNLOCK
TC DO 633 T DI 645 T DI 646 T TOOLONRO DO 634 T
RELEASED C LOCK SIV SRV BOT C UNLOCK
R0328.6
I
TOOLONRO
BOT
N00182 X0079.1 Y0040.7

J 1364
DI 634 DO 328 T
TC ULCKD CRELMON
N00183 R0328.6 K0008.0 R0218.4

K 1366 TOOL CHANGER NO TOOL DETECTED
TOOLONRO AUTO/MAI DI 940 T
BOT NT SS C NOTOOL
N00184 Y0117.5 Y0117.6 Y0000.2 Y0038.5

L 1369 TOOL CHANGER OPEN COVERS
DO 942 DO 943 DO 3 RBT DO 310 T
TCOPNCVR TCCLSCVR IN AUTO C OPNCVR
K0011.4 K0011.5 Y0000.3

M
TC OPENG TC CLOS DO 4 RBT
UNCOVER GUNCOVER IN TCH
N00185 Y0117.5 Y0117.6 Y0000.2 Y0038.6

N 1377 TOOL CHANGER CLOSE COVERS
DO 942 DO 943 DO 3 RBT DO 311 T
TCOPNCVR TCCLSCVR IN AUTO C CLSCVR
K0011.5 K0011.4 Y0000.3

O
TC CLOS TC OPENG DO 4 RBT
GUNCOVER UNCOVER IN TCH
Ladder Diagram 29
N00186 X0038.0 R0321.0 R0329.0

A 1385 GUN1 POSITION
DI 305 GUN 1 ON GUN1 POS
TCSTND1 ARM ITION
X0038.0 X0039.3
B
DI 305 DI 316 G
TCSTND1 EOTPDCK
N00187 X0038.1 R0322.0 R0329.1

C 1391 GUN2 POSITION
TCSTND2 ARM ITION
X0038.1 X0039.3
D
DI 306 DI 316 G
TCSTND2 EOTPDCK
N00188 X0038.2 R0323.0 R0329.2

E 1397 GUN3 POSITION
TCSTND3 ARM ITION
X0038.2 X0039.3
F
DI 307 DI 316 G
TCSTND3 EOTPDCK
N00189 X0038.3 R0324.0 R0329.3

G 1403 GUN4 POSITION
TCSTND4 ARM ITION
X0038.3 X0039.3
H
DI 308 DI 316 G
TCSTND4 EOTPDCK
N00190 X0038.4 R0325.0 R0329.4

I 1409 GUN5 POSITION
TCSTND5 ARM ITION
X0038.4 X0039.3
J
DI 309 DI 316 G
TCSTND5 EOTPDCK
N00191 X0038.5 R0326.0 R0329.5

K 1415 GUN6 POSITION
TCSTND6 ARM ITION
X0038.5 X0039.3
L
DI 310 DI 316 G
TCSTND6 EOTPDCK
N00192 X0038.6 R0326.1 R0329.6

M 1421 GUN7 POSITION
TCSTND7 ARM ITION
X0038.6 X0039.3
N
DI 311 DI 316 G
TCSTND7 EOTPDCK
O
Ladder Diagram 30
N00193 X0038.7 R0326.2 R0329.7

TCSTND8 ARM ITION
X0038.7 X0039.3
B
DI 312 DI 316 G
TCSTND8 EOTPDCK
N00194 R0329.0 R0328.7

C 1433 ALL GUN1-8 POSITION
GUN1 POS GUN1-8 P
ITION OSITION
R0329.1
D
GUN2 POS
ITION
R0329.2
E
GUN3 POS
ITION
R0329.3
F
GUN4 POS
ITION
R0329.4
G
GUN5 POS
ITION
R0329.5
H
GUN6 POS
ITION
R0329.6
I
GUN7 POS
ITION
R0329.7
J
GUN8 POS
ITION
N00195 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1442
DI 316 G DI 305 DI 306 DI 307 DI 308 DI 309 DI 310
EOTPDCK TCSTND1 TCSTND2 TCSTND3 TCSTND4 TCSTND5 TCSTND6
1 X0038.6 X0038.7 R0320.0

L TOOL 1 IN OPDOCK
DI 311 DI 312 TOOL1INO
TCSTND7 TCSTND8 PDOCK
N00196 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1452
1 X0038.6 X0038.7 R0320.1

N TOOL 2 IN OPDOCK
O
Ladder Diagram 31
N00197 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1462
1 X0038.6 X0038.7 R0320.2

B TOOL 3 IN OPDOCK
N00198 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1472
1 X0038.6 X0038.7 R0320.3

D TOOL 4 IN OPDOCK
N00199 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1482
1 X0038.6 X0038.7 R0320.4

F TOOL 5 IN OPDOCK
N00200 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1492
1 X0038.6 X0038.7 R0320.5

H TOOL 6 IN OPDOCK
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1502
1 X0038.6 X0038.7 R0320.6

J TOOL 7 IN OPDOCK
N00202 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1512
1 X0038.6 X0038.7 R0320.7

L TOOL 8 IN OPDOCK
O
Ladder Diagram 32
N00203 R0320.0 R0319.0

A 1522 ALL TOOLS IN OPDOCK
TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00204 X0082.6 Y0038.7

I 1531
DI 663 T DO 312 T
CCOMMOK CCOMMOK
N00205 X0082.7 Y0039.2

J 1533
DI 664 T DO 315 T
CTLSLDPW LSLIDPWR
N00206 X0079.4 X0079.5 G1008.4

K 1535 RTL1&L2SWITCHMISMATCH
DI 637 DI 638 UALM 5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI 637 DI 638
RDY2LCK1 RDY2LCK2
N00207 R0328.6 G1008.5

M 1541 NO TOOL ON ARM
TOOLONRO UALM 6
BOT
N00208 K0013.1 R0000.7 Y0126.7

N 1543 NO TOOL ON EOAT SS
NOTOOLON PART PRE DO 1016
EOATSS SENT NOEOATSS
N00209 K0013.1 R0000.7 K0013.1

O 1546 R NO TOOL ON EOAT SS
NOTOOLON PART PRE NOTOOLON
EOATSS SENT EOATSS
Ladder Diagram 33
N00210 Y0039.3 Y0039.3

A 1549 S WRONG TOOL IN STAND
DO 316 W DO 316 W
RNGTLSTD RNGTLSTD
N00211 Y0039.3 X1025.1 Y0000.1 Y0039.3

B 1551 R WRONG TOOL IN STAND
DO 316 W FAULT DO 2 RBT DO 316 W
RNGTLSTD RESET @ HOME RNGTLSTD
N00212
C 1555 SUB72
SPE
N00213 ### AIR SWITCH ###

D 1556 SUB71 P0004
SP AIR SWITCH
N00214 X1020.6 Y0001.5

E 1558 END OF ARM AIR ON
RI 7 AIR DO 14 EO
FL SW A AIR ON
N00215
F 1560 SUB72
SPE
N00216 ### UALM ###

G 1561 SUB71 P0006
SP UALM
N00217 Y0120.2 X1025.1 Y0120.2

H 1563 PROGRAM FAULT
DO 963 FAULT DO 963
PRG FLT RESET PRG FLT
N00218 Y0120.2 G1008.0

I 1566 PROGRAM VERIFY FAULT
DO 963 UALM1
PRG FLT
N00219 K0010.0 Y0119.7 Y0000.3 G1010.6

J 1568 TEACH MEMORY ON
TEACH DO 960 DO 4 RBT UALM23
MEMORY AUTO KEY IN TCH
N00220 R0000.0 G1011.0

K 1572 GUN DISABLED SELECTOR SWITCH
ALWAYS UALM 25
ON
N00221 R0000.0 G1011.1

L 1574 RETRACT ENABLED
ALWAYS UALM 26
ON
N00222 Y0002.7 G1011.4

M 1576 IN PROGRAM LOOP
DO 24 RB UALM 29
T LOOP
N00223 Y0039.3 G1009.7

N 1578 TC PRESS FAULT RESET
DO 316 W UALM 16
RNGTLSTD
N00224
O 1580 SUB72
SPE
Ladder Diagram 34
N00225 ### INTERFACE ###

A 1581 SUB71 P0007
SP INTERFACE
N00226 D0612.1 ACT D0612.0

B 1583 SUB 3 0040 ALL INTERFACE PB TIMEOUT
MH IF PB TMR ALL IF P
TO B TO
D0612.2
C
SEAL IF
PB TO
D0612.3
D
STUD IF
PB TO
D0612.4
E
NUTRUN I
F PB TO
O
Ladder Diagram 35
N00227 K0002.0 D0612.1

A 1590 MH IF PB TO
CLMP1CLS MH IF PB
TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
Ladder Diagram 36
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC 1 ON
PB
K0014.3
G
VAC 2 ON
PB
K0014.4
H
VAC 3 ON
PB
K0014.5
I
BLOWOFF
1 ON PB
K0014.6
J
BLOWOFF
2 ON PB
K0014.7
K
BLOWOFF
3 ON PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
Ladder Diagram 37
K0016.1
A
VAC 4 ON
PB
K0016.2
B
BLOWOFF
4 ON PB
N00228 K0009.4 D0612.2

C 1623 SEAL IF PB TO
MAN FLOW SEAL IF
PB1 PB TO
K0008.7
D
RESEAL P
B1
K0011.2
E
AUTO PUR
GE PB1
K0008.2
F
ACCEPTSE
ALER1 IF
K0008.3
G
REJECTSE
ALER1 IF
K0012.3
H
INSPECTI
ON PB 1
K0009.5
I
MAN FLOW
PB2
K0009.0
J
RESEAL P
B2
K0011.3
K
AUTO PUR
GE PB2
K0012.4
L
INSPECTI
ON PB 2
K0013.5
M
ACCEPTSE
ALER2 IF
K0013.6
N
REJECTSE
ALER2 IF
O
Ladder Diagram 38
N00229 K0011.7 D0612.3

A 1636 STUD IF PB TO
STUDSKPR STUD IF
EMSTDPB1 PB TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
N00230 K0015.5 D0612.4

L 1648 NUT RUNNER IF PB TO
START RE NUTRUN I
SET PB F PB TO
K0016.3
M
NUTRUNN
RETRY PB
N00231
N 1651 SUB72
SPE
N00232 ### MH ###

O 1652 SUB71 P0008
SP MH
Ladder Diagram 39
N00233 Y0000.3 K0004.4 R1410.0

A 1654 MANUAL GRIP ENABLE
DO 4 RBT MAN GRP MAN GRP
IN TCH ENBLE SS ENABLE
N00234 R1410.0 ACT

B 1657 SUB10 0000
MAN GRP JMP
ENABLE
N00235 R0000.0 Y0114.0

C 1660 OPEN CLAMP 1
ALWAYS DO 913
ON OPNCLMP1
N00236 R0000.0 Y0114.1

D 1662 CLOSE CLAMP 1
ALWAYS DO 914
ON CLSCLMP1
N00237 R0000.0 Y0114.2

E 1664 OPEN CLAMP 2
ALWAYS DO 915
ON OPNCLMP2
N00238 R0000.0 Y0114.3

F 1666 CLOSE CLAMP 2
ALWAYS DO 916
ON CLSCLMP2
N00239 R0000.0 Y0114.4

G 1668 OPEN CLAMP 3
ALWAYS DO 917
ON OPNCLMP3
N00240 R0000.0 Y0114.5

H 1670 CLOSE CLAMP 3
ALWAYS DO 918
ON CLSCLMP3
N00241 R0000.0 Y0114.6

I 1672 OPEN CLAMP 4
ALWAYS DO 919
ON OPNCLMP4
N00242 R0000.0 Y0114.7

J 1674 CLOSE CLAMP 4
ALWAYS DO 920
ON CLSCLMP4
N00243 R0000.0 Y0115.0

K 1676 OPEN CLAMP 5
ALWAYS DO 921
ON OPNCLMP5
N00244 R0000.0 Y0115.1

L 1678 CLOSE CLAMP 5
ALWAYS DO 922
ON CLSCLMP5
N00245 R0000.0 Y0115.2

M 1680 OPEN CLAMP 6
ALWAYS DO 923
ON OPNCLMP6
N00246 R0000.0 Y0115.3

N 1682 CLOSE CLAMP 6
ALWAYS DO 924
ON CLSCLMP6
N00247 R0000.0 Y0115.4

O 1684 OPEN CLAMP 7
ALWAYS DO 925
ON OPNCLMP7
Ladder Diagram 40
N00248 R0000.0 Y0115.5

A 1686 CLOSE CLAMP 7
ALWAYS DO 926
ON CLSCLMP7
N00249 R0000.0 Y0115.6

B 1688 OPEN CLAMP 8
ALWAYS DO 927
ON OPNCLMP8
N00250 R0000.0 Y0115.7

C 1690 CLOSE CLAMP 8
ALWAYS DO 928
ON CLSCLMP8
N00251 R0000.0 Y0116.0

D 1692 OPEN CLAMP 9
ALWAYS DO 929
ON OPNCLMP9
N00252 R0000.0 Y0116.1

E 1694 CLOSE CLAMP 9
ALWAYS DO 930
ON CLSCLMP9
N00253 R0000.0 Y0116.2

F 1696 OPEN CLAMP 10
ALWAYS DO 931
ON OPNCLP10
N00254 R0000.0 Y0116.3

G 1698 CLOSE CLAMP 10
ALWAYS DO 932
ON CLSCLP10
N00255 R0000.0 Y0127.2

H 1700 VACUUM 1 ON
ALWAYS DO1019 V
ON AC1ON
N00256 R0000.0 Y0127.3

I 1702 BLOWOFF 1 ON
ALWAYS DO1020 B
ON LWOF1ON
N00257 R0000.0 Y0127.4

J 1704 VACUUM 2 ON
ALWAYS DO1021 V
ON AC2ON
N00258 R0000.0 Y0127.5

K 1706 BLOWOFF 2 ON
ALWAYS DO1022 B
ON LWOF2ON
N00259 R0000.0 Y0127.6

L 1708 VACUUM 3 ON
ALWAYS DO1023 V
ON AC3ON
N00260 R0000.0 Y0127.7

M 1710 BLOWOFF 3 ON
ALWAYS DO1024 B
ON LWOF3ON
N00261 R0000.0 Y0118.5

N 1712 VACUUM 4 ON
ALWAYS DO 950 V
ON AC4ON
N00262 R0000.0 Y0118.6

O 1714 BLOWOFF 4 ON
ALWAYS DO 951 B
ON LWOF4ON
Ladder Diagram 41
N00263
A 1716 SUB30
JMPE
N00264 R1410.0 ACT R0001.1

B 1717 SUB 3 0038
MAN GRP TMR MAN GRP
ENABLE TO
N00265 R0001.1 ACT

C 1721 SUB10 0000
MAN GRP JMP
TO
N00266 K0002.1 X1026.1 Y0114.0

D 1724 OPEN CLAMP 1
CLMP1OPN SI9 DO 913
AUTOMDSW OPNCLMP1
N00267 Y0114.0 Y0009.0

E 1727 OPEN CLAMP #1
DO 913 DO 73 OP
OPNCLMP1 N CLMP1
N00268 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9 DO 914
AUTOMDSW CLSCLMP1
N00269 Y0114.1 Y0009.1

G 1732 CLOSE CLAMP #1
DO 914 DO 74 CL
CLSCLMP1 S CLMP1
N00270 K0002.3 X1026.1 Y0114.2

H 1734 OPEN CLAMP 2
CLMP2OPN SI9 DO 915
AUTOMDSW OPNCLMP2
N00271 Y0114.2 Y0009.2

I 1737 OPEN CLAMP #2
DO 915 DO 75 OP
OPNCLMP2 N CLMP2
N00272 K0002.2 X1026.1 Y0114.3

CLMP2CLS SI9 DO 916
AUTOMDSW CLSCLMP2
N00273 Y0114.3 Y0009.3

K 1742 CLOSE CLAMP #2
DO 916 DO 76 CL
CLSCLMP2 S CLMP2
N00274 K0002.5 X1026.1 Y0114.4

L 1744 OPEN CLAMP 3
CLMP3OPN SI9 DO 917
AUTOMDSW OPNCLMP3
N00275 Y0114.4 Y0009.4

M 1747 OPEN CLAMP #3
DO 917 DO 77 OP
OPNCLMP3 N CLMP 3
N00276 K0002.4 X1026.1 Y0114.5

CLMP3CLS SI9 DO 918
AUTOMDSW CLSCLMP3
N00277 Y0114.5 Y0009.5

O 1752 CLOSE CLAMP #3
DO 918 DO 78 CL
CLSCLMP3 S CLMP3
Ladder Diagram 42
N00278 K0002.7 X1026.1 Y0114.6

A 1754 OPEN CLAMP 4
CLMP4OPN SI9 DO 919
AUTOMDSW OPNCLMP4
N00279 Y0114.6 Y0009.6

B 1757 OPEN CLAMP #4
DO 919 DO 79 OP
OPNCLMP4 N CLMP4
N00280 K0002.6 X1026.1 Y0114.7

CLMP4CLS SI9 DO 920
AUTOMDSW CLSCLMP4
N00281 Y0114.7 Y0009.7

D 1762 CLOSE CLAMP #4
DO 920 DO 80 CL
CLSCLMP4 S CLMP4
N00282 K0003.1 X1026.1 Y0115.0

E 1764 OPEN CLAMP 5
CLMP5OPN SI9 DO 921
AUTOMDSW OPNCLMP5
N00283 Y0115.0 Y0010.0

F 1767 OPEN CLAMP #5
DO 921 DO 81 OP
OPNCLMP5 N CLMP5
N00284 K0003.0 X1026.1 Y0115.1

CLMP5CLS SI9 DO 922
AUTOMDSW CLSCLMP5
N00285 Y0115.1 Y0010.1

H 1772 CLOSE CLAMP #5
DO 922 DO 82 CL
CLSCLMP5 S CLMP5
N00286 K0003.3 X1026.1 Y0115.2

I 1774 OPEN CLAMP 6
CLMP6OPN SI9 DO 923
AUTOMDSW OPNCLMP6
N00287 Y0115.2 Y0010.2

J 1777 OPEN CLAMP #6
DO 923 DO 83 OP
OPNCLMP6 N CLMP6
N00288 K0003.2 X1026.1 Y0115.3

K 1779 CLOSE CLAMP 6
CLMP6CLS SI9 DO 924
AUTOMDSW CLSCLMP6
N00289 Y0115.3 Y0010.3

L 1782 CLOSE CLAMP #6
DO 924 DO 84 CL
CLSCLMP6 S CLMP 6
N00290 K0003.5 X1026.1 Y0115.4

M 1784 OPEN CLAMP 7
CLMP7OPN SI9 DO 925
AUTOMDSW OPNCLMP7
N00291 Y0115.4 Y0010.4

N 1787 OPEN CLAMP #7
DO 925 DO 85 OP
OPNCLMP7 N CLMP 7
N00292 K0003.4 X1026.1 Y0115.5

O 1789 CLOSE CLAMP 7
CLMP7CLS SI9 DO 926
AUTOMDSW CLSCLMP7
Ladder Diagram 43
N00293 Y0115.5 Y0010.5

A 1792 CLOSE CLAMP #7
DO 926 DO 86 CL
CLSCLMP7 S CLAMP7
N00294 K0003.7 X1026.1 Y0115.6

B 1794 OPEN CLAMP 8
CLMP8OPN SI9 DO 927
AUTOMDSW OPNCLMP8
N00295 Y0115.6 Y0010.6

C 1797 OPEN CLAMP #8
DO 927 DO 87 OP
OPNCLMP8 N CLMP8
N00296 K0003.6 X1026.1 Y0115.7

CLMP8CLS SI9 DO 928
AUTOMDSW CLSCLMP8
N00297 Y0115.7 Y0010.7

E 1802 CLOSE CLAMP #8
DO 928 DO 88 CL
CLSCLMP8 S CLAMP8
N00298 K0004.1 X1026.1 Y0116.0

F 1804 OPEN CLAMP 9
CLMP9OPN SI9 DO 929
AUTOMDSW OPNCLMP9
N00299 Y0116.0 Y0011.0

G 1807 OPEN CLAMP #9
DO 929 DO 89 OP
OPNCLMP9 N CLMP9
N00300 K0004.0 X1026.1 Y0116.1

CLMP9CLS SI9 DO 930
AUTOMDSW CLSCLMP9
N00301 Y0116.1 Y0011.1

I 1812 CLOSE CLAMP #9
DO 930 DO 90 CL
CLSCLMP9 S CLMP9
N00302 K0004.3 X1026.1 Y0116.2

J 1814 OPEN CLAMP 10
CLP10OPN SI9 DO 931
AUTOMDSW OPNCLP10
N00303 Y0116.2 Y0011.2

K 1817 OPEN CLAMP #10
DO 931 DO 91 OP
OPNCLP10 N CLMP10
N00304 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9 DO 932
AUTOMDSW CLSCLP10
N00305 Y0116.3 Y0011.3

M 1822 CLOSE CLAMP #10
DO 932 DO 92 CL
CLSCLP10 S CLMP10
N00306 K0014.2 X1026.1 K0014.1 Y0127.2

N 1824 VACUUM 1 ON
VAC 1 ON SI9 VAC/BLOW DO1019 V
PB AUTOMDSW OFFTIMER AC1ON
N00307 Y0127.2 Y0008.0

O 1828
DO1019 V DO 65 VA
AC1ON C 1 ON
Ladder Diagram 44
N00308 K0014.5 X1026.1 K0014.1 Y0127.3

A 1830 BLOWOFF 1 ON
BLOWOFF SI9 VAC/BLOW DO1020 B
1 ON PB AUTOMDSW OFFTIMER LWOF1ON
N00309 Y0127.3 Y0008.1

B 1834
DO1020 B DO 66 BL
LWOF1ON WOFF1ON
N00310 K0014.3 X1026.1 K0014.1 Y0127.4

C 1836 VACUUM 2 ON
N00311 Y0127.4 Y0008.2

D 1840
DO1021 V DO 67 VA
AC2ON C 2 ON
N00312 K0014.6 X1026.1 K0014.1 Y0127.5

E 1842 BLOWOFF 2 ON
N00313 Y0127.5 Y0008.3

F 1846
DO1022 B DO 68 BL
LWOF2ON WOFF2ON
N00314 K0014.4 X1026.1 K0014.1 Y0127.6

G 1848 VACUUM 3 ON
N00315 Y0127.6 Y0008.4

H 1852
DO1023 V DO 69 VA
AC3ON C 3 ON
N00316 K0014.7 X1026.1 K0014.1 Y0127.7

I 1854 BLOWOFF 3 ON
N00317 Y0127.7 Y0008.5

J 1858
DO1024 B DO 70 BL
LWOF3ON WOFF3ON
N00318 K0016.1 X1026.1 K0014.1 Y0118.5

K 1860 VACUUM 4 ON
VAC 4 ON SI9 VAC/BLOW DO 950 V
N00319 Y0118.5 Y0008.6

L 1864
DO 950 V DO 71 VA
AC4ON C 4 ON
N00320 K0016.2 X1026.1 K0014.1 Y0118.6

M 1866 BLOWOFF 4 ON
BLOWOFF SI9 VAC/BLOW DO 951 B
N00321 Y0118.6 Y0008.7

N 1870
DO 951 B DO 72 BL
LWOF4ON WOFF4ON
N00322
O 1872 SUB30
JMPE
Ladder Diagram 45
N00323 Y0008.0 ACT K0014.1

A 1873 SUB 3 0032 VACUUM / BLOWOFF TIMER
DO 65 VA TMR VAC/BLOW
C 1 ON OFFTIMER
Y0008.1
B
DO 66 BL
WOFF1ON
Y0008.2
C
DO 67 VA
C 2 ON
Y0008.3
D
DO 68 BL
WOFF2ON
Y0008.4
E
DO 69 VA
C 3 ON
Y0008.5
F
DO 70 BL
WOFF3ON
Y0008.6
G
DO 71 VA
C 4 ON
Y0008.7
H
DO 72 BL
WOFF4ON
N00324 K0002.0 D0612.0 K0002.0

I 1884 CLMP1 CLOSE
CLMP1CLS ALL IF P CLMP1CLS
B TO
N00325 K0002.1 D0612.0 K0002.1

J 1887 CLMP1 OPEN
CLMP1OPN ALL IF P CLMP1OPN
B TO
N00326 K0002.2 D0612.0 K0002.2

K 1890 CLMP2 CLOSE
B TO
N00327 K0002.3 D0612.0 K0002.3

L 1893 CLMP2 OPEN
B TO
N00328 K0002.4 D0612.0 K0002.4

M 1896 CLMP3 CLOSE
B TO
N00329 K0002.5 D0612.0 K0002.5

N 1899 CLMP3 OPEN
B TO
N00330 K0002.6 D0612.0 K0002.6

O 1902 CLMP4 CLOSE
B TO
Ladder Diagram 46
N00331 K0002.7 D0612.0 K0002.7

A 1905 CLMP4 OPEN
B TO
N00332 K0003.0 D0612.0 K0003.0

B 1908 CLMP5 CLOSE
B TO
N00333 K0003.1 D0612.0 K0003.1

C 1911 CLMP5 OPEN
B TO
N00334 K0003.2 D0612.0 K0003.2

D 1914 CLMP6 CLOSE
B TO
N00335 K0003.3 D0612.0 K0003.3

E 1917 CLMP6 OPEN
B TO
N00336 K0003.4 D0612.0 K0003.4

F 1920 CLMP7 CLOSE
B TO
N00337 K0003.5 D0612.0 K0003.5

G 1923 CLMP7 OPEN
B TO
N00338 K0003.6 D0612.0 K0003.6

H 1926 CLMP8 CLOSE
B TO
N00339 K0003.7 D0612.0 K0003.7

I 1929 CLMP8 OPEN
B TO
N00340 K0004.0 D0612.0 K0004.0

J 1932 CLMP9 CLOSE
B TO
N00341 K0004.1 D0612.0 K0004.1

K 1935 CLMP9 OPEN
B TO
N00342 K0004.2 D0612.0 K0004.2

L 1938 CLMP10 CLOSE
CLP10CLS ALL IF P CLP10CLS
B TO
N00343 K0004.3 D0612.0 K0004.3

M 1941 CLMP10 OPEN
CLP10OPN ALL IF P CLP10OPN
B TO
N00344 K0014.2 D0612.0 K0014.2

N 1944
VAC 1 ON ALL IF P VAC 1 ON
PB B TO PB
N00345 K0014.3 D0612.0 K0014.3

O 1947
PB B TO PB
Ladder Diagram 47
N00346 K0014.4 D0612.0 K0014.4

A 1950
PB B TO PB
N00347 K0016.1 D0612.0 K0016.1

B 1953
PB B TO PB
N00348 K0014.5 D0612.0 K0014.5

C 1956
BLOWOFF ALL IF P BLOWOFF
1 ON PB B TO 1 ON PB
N00349 K0014.6 D0612.0 K0014.6

D 1959
N00350 K0014.7 D0612.0 K0014.7

E 1962
N00351 K0016.2 D0612.0 K0016.2

F 1965
N00352 K0000.4 Y0012.6

G 1968 RERUN PROCESS
RERUNPRC DO 103 R
PB ERUNPRC
N00353 K0000.5 Y0012.7

H 1970 ACCEPT PROCESS
ACCPTPRC DO 104 A
PB CCPTPRC
N00354 K0000.6 Y0013.0

I 1972 REJECT PROCESS
REJCTPRC DO 105 R
PB EJCTPRC
N00355 K0000.7 Y0013.1

J 1974 INSPECTION SELECTED
INSPCTSE DO 106 I
LPB NSP SEL
K0001.3 K0001.5
K
VISIONIN ABORTPRO
TERVENSS CESS
N00356 K0000.4 D0612.0 K0000.4

L 1979 S RERUN PROCESS PB
RERUNPRC ALL IF P RERUNPRC
PB B TO PB
N00357 K0000.4 D0612.0 K0000.4

M 1982 R RERUN PROCESS PB
PB B TO PB
N00358 K0000.5 D0612.0 K0000.5

N 1985 S ACCEPT PROCESS PB
ACCPTPRC ALL IF P ACCPTPRC
PB B TO PB
N00359 K0000.5 D0612.0 K0000.5

O 1988 R ACCEPT PROCESS PB
PB B TO PB
Ladder Diagram 48
N00360 K0000.6 D0612.0 K0000.6

A 1991 S REJECT PROCESS PB
REJCTPRC ALL IF P REJCTPRC
PB B TO PB
N00361 K0000.6 D0612.0 K0000.6

B 1994 R REJECT PROCESS PB
PB B TO PB
N00362 K0000.7 D0612.0 K0000.7

C 1997 S INSPECTION SELECTED PB
INSPCTSE ALL IF P INSPCTSE
LPB B TO LPB
N00363 K0000.7 D0612.0 K0000.7

D 2000 R INSPECTION SELECTED PB
LPB B TO LPB
N00364 X0008.2 R0000.7

E 2003 PART PRESENT ON EOAT
DI 67 PR PART PRE
T PRES1 SENT
X0008.3
F
DI 68 PR
T PRES2
X0008.4
G
DI 69 PR
T PRES3
X0008.5
H
DI 70 PR
T PRES4
X0008.6
I
DI 71 PR
T PRES5
X0008.7
J
DI 72 PR
T PRES6
N00365
K 2010 SUB72
SPE
N00366 ### APPLICATION ###

L 2011 SUB71 P0009
SP APPLICATION
N00367 D0000.0 Y0048.0

M 2013 MATERIAL HANLDING APPLICATION
MH APP DO 385 M
H APP
N00368 D0000.1 Y0048.1

N 2015 WELD 1 APPLICATION
WELD 1 A DO 386
PP WLD1 APP
N00369 D0000.2 Y0048.2

O 2017 WELD 2 APPLICATION
WELD 2 A DO 387 W
PP LD2 APP
Ladder Diagram 49
N00370 D0000.3 Y0048.3

A 2019 NUT FEED APPLICATION
NUT FEED DO 388 N
APP UTFD APP
N00371 D0000.4 Y0048.4

B 2021 SEALER 1 APPLICATION
SEAL 1 A DO 389 S
PP LR 1 APP
N00372 D0000.5 Y0048.5

C 2023 SEALER 2 APPLICATION
SEAL 2 DO 390 S
APP LR 2 APP
N00373 D0000.6 Y0048.6

D 2025 STUD WELD 1 APPLICATION
STUD 1 A DO 391 S
PP TDW 1APP
N00374 D0000.7 Y0048.7

E 2027 STUD WELD 2 APPLICATION
STUD 2 A DO 392 S
PP TDW 2APP
N00375 D0001.0 Y0049.0

F 2029 TOOL CHANGE APPLICATION
TOOL CHA DO 393 T
NGE APP C APP
N00376 D0001.1 Y0049.1

G 2031 RIVET 1 APPLICAYION
RIVET 1 DO 394 R
APP VT 1 APP
N00377 D0001.2 Y0049.2

H 2033 RIVET 2 APPLICATION
RIVET 2 DO 395 R
APP VT 2 APP
N00378 D0001.3 Y0049.3

I 2035 NUT RUNNER APPLICATION
NUT RUNN DO 396 N
ER APP UTR APP
N00379 D0001.4 Y0049.4

J 2037 MIG WELD APPLICATION
MIG WELD DO 397 M
APP IGW APP
N00380 D0001.5 Y0049.5

K 2039 ROLL HEMMER APPLICATION
ROLLER H DO 398 R
EMM APP LLHEM AP
N00381 D0001.6 Y0049.6

L 2041 LASER CUT APPLICATION
LASER CU DO 399 L
T APP SRCT APP
N00382 D0001.7 Y0049.7

M 2043 PLASMA CUT APPLICATION
PLASMA C DO 400 P
UT APP LSMA APP
N00383 D0002.0 Y0050.0

N 2045 LASER WELD APPLICATION
LASER WE DO 401 L
LD APP SRWLDAPP
N00384 D0002.1 Y0050.1

O 2047 OPERATOR LOAD APPLICATION
OPER LOA DO 402 O
D APP P LD APP
Ladder Diagram 50
N00385 D0002.2 Y0050.2

A 2049 VISION APPLICATION
VISION A DO 403 V
PP IS APP
N00386 D0002.3 Y0050.3

B 2051 PROGRAM LOCATOR APPLICATION
PROG LOC DO 404 P
APP RG LCAPP
N00387 D0002.4 Y0050.4

C 2053 INTERFACE DEFINITION BIT 21
IF DEF DO 405
21 INDEFB21
N00388 D0002.5 Y0050.5

D 2055 NUT FEEDER 2 APPLICATION
NUT FEED DO 406 N
ER 2 APP TFD 2APP
N00389 D0002.6 Y0050.6

E 2057 INTERFACE DEFINITION BIT 23
IF DEF DO 407 I
23 NDEF B23
N00390 D0002.7 Y0050.7

F 2059 INTERFACE DEFINITION BIT 24
IF DEF DO 408 I
24 NDEF B24
N00391 D0003.0 Y0051.0

G 2061 INTERFACE DEFINITION BIT 25
IF DEF DO 409 I
25 NDEF B25
N00392 D0003.1 Y0051.1

H 2063 INTERFACE DEFINITION BIT 26
IF DEF DO 410 I
26 NDEF B26
N00393 D0003.2 Y0051.2

I 2065 INTERFACE DEFINITION BIT 27
IF DEF DO 411 I
27 NDEF B27
N00394 D0003.3 Y0051.3

J 2067 INTERFACE DEFINITION BIT 28
IF DEF DO 412 I
28 NDEF B28
N00395 D0003.4 Y0051.4

K 2069 INTERFACE DEFINITION BIT 29
IF DEF DO 413 I
29 NDEF B29
N00396 D0003.5 Y0051.5

L 2071 INTERFACE DEFINITION BIT 30
IF DEF DO 414 I
30 NDEF B30
N00397 D0003.6 Y0051.6

M 2073 INTERFACE DEFINITION BIT 31
IF DEF DO 415 I
31 NDEF B31
N00398 D0003.7 Y0051.7

N 2075 INTERFACE DEFINITION BIT 32
IF DEF DO 416 I
32 NDEF B32
N00399
O 2077 SUB72
SPE
Ladder Diagram 51
N00400 ### P0012 ###

A 2078 SUB71 P0012
SP DISPENSE1
N00401 X0000.0 R0355.0

B 2080 INTERNAL EXTERNAL RUN ENABLE
DI 1 EXT INT EXT
RNENBL RUN ENAB
N00402 R0355.0 ACT D0601.0

C 2082 SUB 3 0016 EXTERNAL RUN ENABLE DELAY
INT EXT TMR EXT RUN
RUN ENAB ENBL DLY
N00403 Y0118.0 Y0118.0 Y0083.2 R0355.1

D 2086 START DISPENSE1
DO 945 S DO 945 S DO 667 R START DI
TRTDISP1 TRTDISP1 UN MODE SPENSE1
R0355.1 Y0000.3 X0000.0 D0601.0

E
START DI DO 4 RBT DI 1 EXT EXT RUN
SPENSE1 IN TCH RNENBL ENBL DLY
N00404 X0000.0 ACT D0602.0

F 2097 SUB 3 0023 E-STOP RECVER SLW REPEAT TIMER
DI 1 EXT TMR SLOW REP
RNENBL EAT TIMR
N00405 F1000.4 ACT D0605.0

G 2101 SUB 3 0024 E-STOP RECOVER START DELAY
HELD TMR ESTOP RE
C SDLY
N00406 D0602.0 ACT D0604.0

H 2105 SUB 3 0025 ESTOP RECOVERY DELAY
SLOW REP TMR ESTOP RE
EAT TIMR C DELAY
N00407 R0355.1 Y0083.2 X0001.1 Y0083.5

I 2109 START DISP CYCLE1
START DI DO 667 R DI 10 AU DO 670
SPENSE1 UN MODE TO REPT STRT DSP
N00408 K0009.6 X0001.1 Y0084.6

J 2113 FLOW / NO FLOW1
WET/DRY DI 10 AU DO 679
MODE TO REPT FLWNOFLW
Y0026.0
K
DO 209 F
LWSLSW
Y0092.6
L FLOW / NO FLOW2
DO 743 F
LWNOFLW
N00409 K0009.7 X0001.1 Y0092.6

M 2118 FLOW / NO FLOW2
WET/DRY DI 10 AU DO 743 F
MODE 2 TO REPT LWNOFLW
Y0026.0
N
DO 209 F
LWSLSW
N00410 K0009.4 Y0084.0

O 2122 MANUAL FLOW1
MAN FLOW DO 673 M
PB1 ANFLW
Ladder Diagram 52
N00411 K0008.4 Y0027.3 Y0027.2 K0008.4

A 2124 S ENABLE ACCEPT/REJECT 1
ENBACCEP DO 220 R DO 219 A ENBACCEP
TREJECT1 EJSEAL1 CCPTSL1 TREJECT1
N00412 K0008.2 Y0027.2 K0008.4

B 2128 R ENABLE ACCEPT/REJECT 1
ACCEPTSE DO 219 A ENBACCEP
ALER1 IF CCPTSL1 TREJECT1
K0008.3 Y0027.3
C
REJECTSE DO 220 R
ALER1 IF EJSEAL1
N00413 K0008.4 K0008.2 K0008.3 Y0027.2

D 2134
ENBACCEP ACCEPTSE REJECTSE DO 219 A
TREJECT1 ALER1 IF ALER1 IF CCPTSL1
N00414 K0008.4 K0008.2 K0008.3 Y0027.3

E 2138
ENBACCEP ACCEPTSE REJECTSE DO 220 R
TREJECT1 ALER1 IF ALER1 IF EJSEAL1
N00415 X0083.4 Y0026.1

F 2142
DI 669 S DO 210 S
LREADY1 EALRDY1
N00416 X0083.1 Y0026.2

G 2144
DI 666 I DO 211 S
NCYCLE1 EALCYCL1
N00417 X0083.3 Y0026.3

H 2146
DI 668 N DO 212 M
OFLT1 AJFLT1
N00418 X0083.7 Y0026.4

I 2148
DI 672 V DO 213 V
OLOK1 OL OK1
N00419 Y0086.1 Y0028.2

J 2150
DO 690 @ DO 227 A
PRGBUCK TPURGBC1
N00420 X0083.0 Y0028.4

K 2152
DI 665 C DO 229 S
OMM OK1 LCOMMOK1
N00421 X0083.6 Y0027.4

L 2154
DI 671 C DO 221 C
YCCMP1 YCCMP1
N00422 X0085.5 Y0027.5

M 2156
DI 686 2 DO 222 N
CINMIX1 O2CMIX1
N00423 X0084.2 Y0027.6

N 2158
DI 675 M DO 223 M
INFLT1 INORFLT1
N00424 X0086.2 Y0028.0

O 2160
DI 691 N DO 225 N
OZZCHG1 OZCHGRQ1
Ladder Diagram 53
N00425 X0084.0 Y0028.1

A 2162
DI 673 H DO 226 H
I/LO1 ILOWARN1
N00426 X0026.2 Y0086.3

B 2164 FAULT RESET1
DI 211 R DO 692 F
STSL FLT AULTRST
Y0094.3
C FAULT RESET2
DO 756 F
AULTRST2
N00427 Y0127.0 Y0086.1 Y0085.3

D 2167 PURGE1
DO 1017 DO 690 @ DO 684
PURGE1 PRGBUCK PURGE
X0026.4
E
DI 213 A
PRGESL 1
N00428 X0027.0 Y0084.7

F 2171 RESTART PULSE1
DI 217 R DO 680
STRTPLS1 RESTRT
N00429 K0008.7 Y0027.0

G 2173
RESEAL P DO 217 R
B1 ESEALPB1
N00430 K0011.2 Y0026.5

H 2175
AUTO PUR DO 214 A
GE PB1 UTPRGPB1
N00431 X0027.0 Y0084.7

I 2177 RESTART PULSE1
DI 217 R DO 680
STRTPLS1 RESTRT
N00432 X0084.0 Y0028.1

J 2179
DI 673 H DO 226 H
I/LO1 ILOWARN1
N00433 X0084.3 Y0028.3

K 2181
DI 676 D DO 228 S
EPRESSIZ EALDEPR1
N00434 X0084.4 Y0028.6

L 2183
DI 677 P DO 231 P
URGCOMP1 URGCOMP1
N00435 X0084.5 Y0028.7

M 2185
DI678 PU DO 232 P
RGEACTV1 URGACTV1
N00436 X0027.1 Y0086.2

N 2187 ACK NOZZLE CHANGED1
DI 218 A DO 691 A
CKNZCHG1 CKNOZCHG
N00437 X0084.6 Y0029.0

O 2189
DI 679 R DO 233 S
EFERREQ1 LRREFER1
Ladder Diagram 54
N00438 K0009.4 D0612.0 K0009.4

A 2191 MANUAL FLOW PB 1
MAN FLOW ALL IF P MAN FLOW
PB1 B TO PB1
N00439 K0008.7 D0612.0 K0008.7

B 2194 RESEAL PB1
RESEAL P ALL IF P RESEAL P
B1 B TO B1
N00440 K0011.2 D0612.0 K0011.2

C 2197 AUTO PURGE PB1
AUTO PUR ALL IF P AUTO PUR
GE PB1 B TO GE PB1
N00441 K0008.2 D0612.0 K0008.2

D 2200 ACCEPT SEALER 1
ACCEPTSE ALL IF P ACCEPTSE
ALER1 IF B TO ALER1 IF
N00442 K0008.3 D0612.0 K0008.3

E 2203 REJECT SEALER 1
REJECTSE ALL IF P REJECTSE
N00443 K0012.3 D0612.0 K0012.3

F 2206 INSPECTION PB 1
INSPECTI ALL IF P INSPECTI
ON PB 1 B TO ON PB 1
N00444 X0084.1 Y0029.1

G 2209
DI 674 D DO 234 D
OSRFIL1 OSRFILL1
N00445 K0012.3 Y0028.5

H 2211
INSPECTI DO 230 I
ON PB 1 NSPCSEL1
N00446
I 2213 SUB72
SPE
N00447 ### P0013 ###

J 2214 SUB71 P0013
SP DISPENSE2
N00448 Y0117.7 Y0117.7 Y0091.2 R0355.2

K 2216 START DISPENSE2
R0355.2 Y0000.3 X0000.0 D0601.0

L
N00449 R0355.2 Y0091.2 X0001.1 Y0091.5

M 2227 START DISP CYCLE2
START DI DO 731 R DI 10 AU DO 734 S
SPENSE2 UN MODE TO REPT TRT DSP
N00450 K0009.5 Y0092.0

N 2231 MANUAL FLOW2
MAN FLOW DO 737 M
PB2 ANFLW
N00451 K0013.7 Y0031.3 Y0031.2 K0013.7

O 2233 S ENABLE ACCEPT/REJECT 2
Ladder Diagram 55
N00452 K0013.5 Y0031.2 K0013.7

A 2237 R ENABLE ACCEPT/REJECT 2
K0013.6 Y0031.3
B
REJECTSE DO 252 R
ALER2 IF EJSEAL2
N00453 K0013.7 K0013.5 K0013.6 Y0031.2

C 2243
N00454 K0013.7 K0013.5 K0013.6 Y0031.3

D 2247
N00455 X0091.4 Y0030.1

E 2251
DI 733 S DO 242 S
LREADY2 EALRDY2
N00456 X0091.1 Y0030.2

F 2253
DI 730 I DO 243 S
NCYCLE2 EALCYCL2
N00457 X0091.3 Y0030.3

G 2255
DI 732 N DO 244 M
OFLT2 AJFLT2
N00458 X0091.7 Y0030.4

H 2257
DI 736 V DO 245 V
OLOK2 OL OK2
N00459 Y0094.1 Y0032.2

I 2259
DO 754 @ DO 259 A
PRGBUCK2 TPURGBC2
N00460 X0091.0 Y0032.4

J 2261
DI 729 C DO 261 S
OMM OK2 LCOMMOK2
N00461 X0091.6 Y0031.4

K 2263
DI 735 C DO 253 C
YCCMP2 YCCMP2
N00462 X0093.5 Y0031.5

L 2265
DI 750 2 DO 254 N
CINMIX2 O2CMIX2
N00463 X0092.2 Y0031.6

M 2267
DI 739 M DO 255 M
INFLT2 INORFLT2
N00464 X0094.2 Y0032.0

N 2269
DI 755 N DO 257 N
OZZCHG2 OZCHGRQ2
N00465 X0092.0 Y0032.1

O 2271
DI 737 H DO 258 H
I/LO2 ILOWARN2
Ladder Diagram 56
N00466 Y0127.1 Y0094.1 Y0093.3

A 2273 PURGE2
DO 1018 DO 754 @ DO 748 P
PURGE2 PRGBUCK2 URGE2
X0030.4
B
DI 245 A
PRGESL 2
N00467 X0031.0 Y0092.7

C 2277 RESTART PULSE2
DI 249 R DO 744 R
STRTPLS2 ESTRT
N00468 K0009.0 Y0031.0

D 2279
RESEAL P DO 249 R
B2 ESEALPB2
N00469 K0011.3 Y0030.5

E 2281
AUTO PUR DO 246 A
GE PB2 UTPRGPB2
N00470 X0031.0 Y0092.7

DI 249 R DO 744 R
STRTPLS2 ESTRT
N00471 X0092.0 Y0032.1

G 2285
DI 737 H DO 258 H
I/LO2 ILOWARN2
N00472 X0092.3 Y0032.3

H 2287
DI 740 D DO 260 S
EPRESIZ2 EALDEPR2
N00473 X0092.4 Y0032.6

I 2289
DI 741 P DO 263 P
URGCOMP2 URGCOMP2
N00474 X0092.5 Y0032.7

J 2291
DI742 PU DO 264 P
RGEACTV2 URGACTV2
N00475 X0031.1 Y0094.2

K 2293 ACK NOZZLE CHANGED2
DI 250 A DO 755 A
CKNZCHG2 CKNOZCH2
N00476 X0092.6 Y0033.0

L 2295
DI 743 R DO 265 S
EFERREQ2 LRREFER2
N00477 K0009.5 D0612.0 K0009.5

M 2297 MANUAL FLOW PB 2
PB2 B TO PB2
N00478 K0009.0 D0612.0 K0009.0

N 2300 RESEAL PB2
B2 B TO B2
N00479 K0011.3 D0612.0 K0011.3

O 2303 AUTO PURGE PB2
GE PB2 B TO GE PB2
Ladder Diagram 57
N00480 K0013.5 D0612.0 K0013.5

A 2306 ACCEPT SEALER 2
N00481 K0013.6 D0612.0 K0013.6

B 2309 REJECT SEALER 2
N00482 K0012.4 D0612.0 K0012.4

C 2312 INSPECTION PB 2
N00483 X0092.1 Y0033.1

D 2315
DI 738 D DO 266 D
OSRFIL2 OSRFILL2
N00484 K0012.4 Y0032.5

E 2317
INSPECTI DO 262 I
ON PB 2 NSPCSEL2
N00485
F 2319 SUB72
SPE
N00486 ### P0014 ###

G 2320 SUB71 P0014
SP STUD
N00487 K0004.7 Y0034.0

H 2322 STUD WELD WELD/ NO WELD MODE
WELD / N DO 273 W
O WELD1 LDN0WLD1
R0221.0
I REMOTE WELD / NO WELD MODE
DI 960 R
EM WELD
N00488 X0099.0 Y0034.6

J 2325 STUD WELDER #1 FAULT
DO 279 W
LDFLT1
X0099.5
K
DI 798 R
EADY
X0034.0 X0099.4
L
DI 273 S DI 797 C
W1 GUN1 OMMOK
X0034.1 X0100.1
M
DI 274 S DI 802 T
W1GUN2 RQSQEC2
N00489 X0099.1 X0099.0 X0099.2 X0034.0 Y0034.5

N 2334 STUD WELDER #1 WELD COMPLETE
DI 794 T DI 795 I DI 273 S DO 278 W
ORQUEOK NTORQSEQ W1 GUN1 LDCOMP1
X0099.6 X0099.5 X0099.7 X0034.1

O
DI 798 R DI 274 S
EADY W1GUN2
Ladder Diagram 58
N00490 X0099.2 Y0099.0 Y0034.4

A 2344 STUD IN WELD CYCLE
DI 795 I DO 277 W
NTORQSEQ LDCYC1
N00491 X0104.1 Y0034.2

B 2347 STUD COMMUNICATION OK
DI 834 T DO 275 S
RQNOKS10 TDCOMOK1
N00492 X0102.1 Y0035.0

C 2349 STUD MAINTENANCE REQUIRED
DO 281 M
AINTREQ1
N00493 K0004.7 Y0101.4

D 2351
WELD / N
O WELD1
N00494 K0004.7 Y0101.5

E 2353
WELD / N
O WELD1
K0004.7 X0001.1
F
WELD / N DI 10 AU
O WELD1 TO REPT
N00495 Y0100.2 Y0116.5 X0102.3 K0004.7 X0034.0 Y0099.0

G 2358
DO 803 T DO 934 WELD / N DI 273 S
RQSEQ4 RD SCHD1 O WELD1 W1 GUN1
Y0100.3 X0001.1
H
DO 804 T DI 10 AU
RQSEQ8 TO REPT
Y0100.4
I
DO 805 T
RQSEQ16
Y0100.5
J
DO 806 T
RQSEQ32
Y0100.6
K
DO 807 T
RQSEQ64
Y0100.7
L
Y0101.0
M
O
Ladder Diagram 59
N00496 Y0100.2 Y0116.6 X0102.3 K0004.7 X0034.1 Y0099.1

A 2372 START SEQUENCE
DO 803 T DO 935 WELD / N DI 274 S DO 794 S
RQSEQ4 RD SCHD2 O WELD1 W1GUN2 TRTSEQ
Y0100.3 X0001.1
B
DO 804 T DI 10 AU
RQSEQ8 TO REPT
Y0100.4
C
DO 805 T
RQSEQ16
Y0100.5
D
DO 806 T
RQSEQ32
Y0100.6
E
DO 807 T
RQSEQ64
Y0100.7
F
Y0101.0
G
N00497 X0102.3 Y0034.3

H 2386 STUD READY FOR AUTOMATION
DO 276 R
DY4AUTO1
N00498 X0102.2 Y0035.1

I 2388 STUD LOW STUD WARNING
DO 282 L
OWSTDWR1
N00499 K0011.6 Y0035.3 ACT D0614.0

J 2390 SUB 3 0029 STUD ENABLE SS TIMEOUT
STUDENAB DO 284 R TMR STUDENAB
LESS1 JCTPRT1 LESSTO
Y0035.4
K
DO 285 S
KPREMST1
Y0126.5
L
DO1014 M
ANWELD
Y0035.2
M
DO 283 N
ORECALP1
Y0101.2
N
N00500 K0011.6 D0614.0 K0011.6

O 2400 STUD ENABLE SS 1
STUDENAB STUDENAB STUDENAB
LESS1 LESSTO LESS1
Ladder Diagram 60
N00501 K0011.6 K0012.0 X0034.0 X0099.0 Y0035.3

A 2403 STUD REJECT PART
STUDENAB STUDREJE DI 273 S DO 284 R
LESS1 CTPB1 W1 GUN1 JCTPRT1
X0034.1 X0099.5
B
DI 274 S DI 798 R
W1GUN2 EADY
F1000.3
C
PAUSED
Y0035.3
D
DO 284 R
JCTPRT1
N00502 K0011.6 K0011.7 X0034.0 X0099.0 Y0035.4

E 2414 SKIP REMAINING STUDS
STUDENAB STUDSKPR DI 273 S DO 285 S
LESS1 EMSTDPB1 W1 GUN1 KPREMST1
X0034.1 X0099.5
F
DI 274 S DI 798 R
W1GUN2 EADY
F1000.3
G
PAUSED
Y0035.4
H
DO 285 S
KPREMST1
N00503 K0011.6 K0012.1 F1000.3 Y0126.5

I 2425 STUD MANUAL WELD
STUDENAB STUDMANU PAUSED DO1014 M
LESS1 ALPB1 ANWELD
Y0126.5
J
DO1014 M
ANWELD
N00504 K0011.6 K0013.2 X0034.0 X0099.0 Y0035.2

K 2431 STUD REJECT PART, DONT RECALL
STUDENAB REJECTNO DI 273 S DO 283 N
LESS1 PGRECLL1 W1 GUN1 ORECALP1
X0034.1 X0099.5
L
DI 274 S DI 798 R
W1GUN2 EADY
F1000.3
M
PAUSED
Y0035.2
N
DO 283 N
ORECALP1
O
Ladder Diagram 61
N00505 K0011.6 K0012.2 X0034.0 Y0099.0 Y0101.2

A 2442
STUDENAB STUDFAUL DI 273 S
LESS1 TRSTPB1 W1 GUN1
X0034.1 Y0099.1
B
DI 274 S DO 794 S
W1GUN2 TRTSEQ
F1000.3
C
PAUSED
Y0101.2
D
N00506 Y0035.3 Y0101.3

E 2453
DO 284 R
JCTPRT1
Y0035.4 Y0101.1
F
DO 285 S
KPREMST1
Y0126.5
G
DO1014 M
ANWELD
Y0035.2
H
DO 283 N
ORECALP1
Y0101.2
I
N00507 X0034.0 R0214.3

J 2460 STUD GUN WC 1 SELECTED
DI 273 S DI 907 S
W1 GUN1 TDGUN1SL
X0034.1
K
DI 274 S
W1GUN2
N00508 X0099.2 X0034.0 R0214.1

L 2463 STUD HEAD BACK WC 1
DI 795 I DI 273 S DI 905 S
NTORQSEQ W1 GUN1 TDHDBCK1
X0099.7 X0034.1
M
DI 274 S
W1GUN2
N00509 Y0035.2 Y0126.4

N 2469 S STUD ABORT FLAG
DO 283 N DO1013 S
ORECALP1 TUDABORT
N00510 Y0126.4 F1000.6 F1000.3 F1000.2 Y0126.4

O 2471 R STUD ABORT FLAG
DO1013 S AT HOME PAUSED PROGRAM DO1013 S
TUDABORT RUNNING TUDABORT
Ladder Diagram 62
N00511 K0012.0 D0612.0 K0012.0

A 2476 STUD REJECT PB 1
STUDREJE ALL IF P STUDREJE
CTPB1 B TO CTPB1
N00512 K0011.7 D0612.0 K0011.7

B 2479 STUD SKIP REMAINING STUDS PB 1
STUDSKPR ALL IF P STUDSKPR
EMSTDPB1 B TO EMSTDPB1
N00513 K0012.1 D0612.0 K0012.1

C 2482 STUD MANUAL PB 1
STUDMANU ALL IF P STUDMANU
ALPB1 B TO ALPB1
N00514 K0013.2 D0612.0 K0013.2

D 2485 REJECT - NO PG RECALL1
REJECTNO ALL IF P REJECTNO
PGRECLL1 B TO PGRECLL1
N00515 K0012.2 D0612.0 K0012.2

E 2488 STUD WELD FAULT RESET PB 1
STUDFAUL ALL IF P STUDFAUL
TRSTPB1 B TO TRSTPB1
N00516 X1025.1 Y0000.5 R0224.7

F 2491 STUD MOVE OUT OF MAINTENANCE
FAULT DO 6 RBT DI1024 S
RESET @ MAINT TUDOMAIN
Y0073.2
G
DO587_@M
INMAINT
N00517
H 2496 SUB72
SPE
N00518 ### P0026 ###

I 2497 SUB71 P0026
SP NUTRUNNER
N00519 X0099.1 Y0057.0

J 2499
DI 794 T DO 457 T
ORQUEOK ORQOK
N00520 X0099.2 Y0057.1

K 2501
DI 795 I DO 458 I
NTORQSEQ NTORSEQ
N00521 X0099.4 Y0057.5

L 2503
DI 797 C DO 462 N
OMMOK RCOMMOK
N00522 Y0099.1 Y0056.5

M 2505
DO 794 S DO 454 S
TRTSEQ TTRQSEQ
N00523 X0103.0 X0103.1 X0103.2 X0103.3 X0103.4 X0103.5 X0103.6 1

N 2507
DI 825 T DI 826 T DI 827 T DI 828 T DI 829 T DI 830 T DI 831 T
RQNOKS1 RQNOKS2 RQNOKS3 RQNOKS4 RQNOKS5 RQNOKS6 RQNOKS7
1 X0103.7 R0300.0
O TORQUE NOT OK SPINDLE 1-8
DI 832 T TORQUENO
RQNOKS8 K1-8
Ladder Diagram 63
N00524 X0104.0 X0104.1 X0104.2 X0104.3 X0104.4 X0104.5 X0104.6 1

A 2516
1 X0104.7 R0300.1
B TORQUE NOT OK SPINDLE 9-16
DI 840 T TORQUENO
RQNOKS16 K9-16
N00525 X0105.0 X0105.1 X0105.2 X0105.3 X0105.4 X0105.5 X0105.6 1

C 2525
1 X0105.7 R0300.2
D TORQUE NOT OK SPINDLE 17-24
DI 848 T TORQUENO
RQNOKS24 K17-24
N00526 X0106.0 X0106.1 X0106.2 X0106.3 X0106.4 X0106.5 X0106.6 1

E 2534
1 X0106.7 R0300.3
F TORQUE NOT OK SPINDLE 25-32
DI 856 T TORQUENO
RQNOKS32 K25-32
N00527 R0300.0 Y0057.4

G 2543
TORQUENO DO 461 T
K1-8 ORQNOK
R0300.1
H
TORQUENO
K9-16
R0300.2
I
TORQUENO
K17-24
R0300.3
J
TORQUENO
K25-32
N00528 F1000.1 Y0099.3

K 2548 RUN ENABLE
SYSTEM DO 796 R
READY UNENBL
N00529 X0099.5 Y0057.3

L 2550
DI 798 R DO 460 N
EADY UTRUNFLT
N00530 Y0099.1 K0015.5 X0099.2 X0099.5 Y0099.1

M 2552 START SEQUENCE
DO 794 S START RE DI 795 I DI 798 R DO 794 S
TRTSEQ SET PB NTORQSEQ EADY TRTSEQ
K0015.5
N
START RE
SET PB
N00531 K0015.5 D0612.0 X0099.2 K0015.5

O 2558 NUT RUNNER START RESET PB
START RE ALL IF P DI 795 I START RE
SET PB B TO NTORQSEQ SET PB
Ladder Diagram 64
N00532 K0016.3 D0612.0 K0016.3

A 2562 NUT RUNNER RETRY PB
NUTRUNN ALL IF P NUTRUNN
RETRY PB B TO RETRY PB
N00533 K0016.3 R0215.1

B 2565 NUTRUNNER RETRY
NUTRUNN DI 913 N
RETRY PB TRUNRTY
N00534 X0103.0 Y0074.0

C 2567 TORQUE NOT OK SPINDLE#1
DI 825 T DO 593 T
RQNOKS1 RQNOK1
N00535 X0103.1 Y0074.1

D 2569 TORQUE NOT OK SPINDLE#2
DI 826 T DO 594 T
RQNOKS2 RQNOK2
N00536 X0103.2 Y0074.2

E 2571 TORQUE NOT OK SPINDLE#3
DI 827 T DO 595 T
RQNOKS3 RQNOK3
N00537 X0103.3 Y0074.3

F 2573 TORQUE NOT OK SPINDLE#4
DI 828 T DO 596 T
RQNOKS4 RQNOK4
N00538 X0074.4 Y0103.0

G 2575 BYPASS SPINDLE 1 (WITH OK)
DI 597 S DO 825 B
PIN BYP1 YP SPIN1
N00539 X0074.5 Y0103.1

H 2577 BYPASS SPINDLE 2 (WITH OK)
DI 598 S DO 826 B
PIN BYP2 YP SPIN2
N00540 X0074.6 Y0103.2

I 2579 BYPASS SPINDLE 3 (WITH OK)
DI 599 S DO 827 B
PIN BYP3 YP SPIN3
N00541 X0074.7 Y0103.3

J 2581 BYPASS SPINDLE 4 (WITH OK)
DI 600 S DO 828 B
PIN BYP4 YP SPIN4
N00542
K 2583 SUB72
SPE
O
6 NutRunner PMC Logic (S-Logic) for R-30iB Controllers

[f3l1nr1] Ladder Diagram 1
N00001 R0000.0 R0000.0

A 1 ALWAYS ON
ALWAYS__ ALWAYS__
ON ON
R0000.0
B
ALWAYS__
ON
N00002 R0000.0 G1000.0

C 4 IMMEDIATE STOP
ALWAYS__ IMSTP
ON
N00003 X0000.0 R0100.5 G1000.1

D 6 *HOLD
DI_1_EXT BREAK_A_ *HOLD
_RNENBL NO_HOLD
N00004 X1026.4 R0100.5

SI12_HOL BREAK_A_
DSW NO_HOLD
N00005 X1026.5 R0100.5

SI13_RES BREAK_A_
ETSW NO_HOLD
X1026.4 X1025.6
G
SI12_HOL CYCLE___
DSW START
X0000.1 X1026.4
H
DI_2_EX_ SI12_HOL
RNEN_RST DSW
N00006 R0000.0 G1000.2

I 19 SAFE SPEED
ALWAYS__ SFSPD
ON
N00007 X1000.3 G1000.3

J 21
O
N00008 X1025.1 G1000.4

A 23 FAULT RESET
FAULT___ RB_FAULT
RESET _RESET
X0000.1 X0001.2
B
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
X1026.5
C
SI13_RES
ETSW
X0000.3
D
DI_4_EXT
_CY_STRT
X0000.2
E
DI_3_EXT
MTR_ON
Y0119.6
F
DO_959_F
LT_RESET
N00009 X1000.6 G1000.6

G 32 GO HOME
HOME
N00010 R0000.0 G1000.7

H 34 ENABLE
ALWAYS__ ENABLE
ON
N00011 F1000.0 Y1000.0

I 36
COMMAND_
ENABLE
N00012 F1000.1 Y1000.1

J 38
SYSTEM__
READY
Y1025.5
K MOTORS ENABLE
MOTORS__
ENABLE
N00013 F1000.2 Y1000.2

L 41
PROGRAM_
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

N 45
HELD
Y0000.0
DO_1_RUN
_ENB_ACK
N00016 F1000.5 ACT R0338.0

FAULT TMR INT_FLT_
__DELAY
N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

B 52
FAULT RB_FAULT FILTERED INT_FLT_
_RESET _FAULT __DELAY
Y0120.2 Y0000.4
DO_963__ DO_5_RBT
PRG_FLT _CNT_FLT
Y0001.6
D
DO_15_CO
LL_DTCT
N00018 F1000.6 Y1000.6

E 60
AT_HOME
Y0000.1
F ROBOT AT HOME
DO_2_RBT
_@_HOME
N00019 F1000.7 Y1000.7

G 63
TPENABLE
Y0119.7 Y0000.3
H ROBOT IN TEACH
DO_960__ DO_4_RBT
AUTO_KEY _IN_TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

I 67
ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___ ECO23___
1 R1402.7 R1405.0
J S
ECO24___ FACILITY
FC128 _CODE_11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

K 76
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

L
2 R1401.7 R1405.1
M
ECO16 ERROR_4
N00022 R1405.0 R1405.1 G1000.4 R1405.2

N 91 FENCE FAULT
FACILITY ERROR_4 RB_FAULT FENCE___
_CODE_11 _RESET FAULT
R1405.2
O
FENCE___
FAULT
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

INT_EXT_ FAULT BRK_PWR_ COMMAND_ SYSTEM__ PWR_FAIL
MTR_ON FL_RCVRY ENABLE READY _RECVRY
R0000.2
B
INT_EXT_
CYC_STRT
K0010.3
C
PWR_FAIL
_RECVRY
N00024 K0010.3 ACT R1466.0

PWR_FAIL TMR BRK_PWR_
_RECVRY FL_RCVRY
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

E 108
DO_4_RBT COMMAND_ DO_5_RBT INT_EXT_ INT_EXT_ SYSTEM__ STEP
_IN_TCH ENABLE _CNT_FLT MTR_ON CYC_STRT READY
R1404.5 Y0000.2
F
DRP_AUTO DO_3_RBT
_FAULT _IN_AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

TP______ FANUC___ FENCE___ TEACH___ DO_15_CO DO_3_RBT
E-STOP E-STOP FAULT MEMORY LL_DTCT _IN_AUTO
N00026 Y0119.5 Y0072.4

DO_958_I DO_581_I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

FC_AVAIL APPL____ FC_ZERO FAULT RB_FAULT DRP_AUTO
ALARMS _RESET _FAULT
N00028 F1000.5 R1404.5

FAULT DRP_AUTO
_FAULT
G1000.4
K
RB_FAULT
_RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

L 136
FAULT ECO33___ ECO_____ FC_AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 140
FC_AVAIL ECO17___ ECO18___ ECO19___ ECO20___ ECO21___ ECO22___
1 R1402.6 R1402.7 R1404.3

N S
ECO23___ ECO24___ SPOT____
FC64 FC128 ALARM
O
N00031 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 150
1 R1402.6 R1402.7 R0330.0

B S
ECO23___ ECO24___ ARC_____
FC64 FC128 ALARM
N00032 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

C 160
1 R1402.6 R1402.7 R0330.1

D S
ECO23___ ECO24___ SEALER__
FC64 FC128 ALARM
N00033 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 170
1 R1402.6 R1402.7 R0330.2

F S
ECO23___ ECO24___ SERVOGUN
FC64 FC128 _ALARM
N00034 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

G 180
1 R1402.6 R1402.7 R0330.3

H S
ECO23___ ECO24___ TOOLCHNG
FC64 FC128 __ALARM
N00035 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

I 190
1 R1402.6 R1402.7 R0330.4

J S
ECO23___ ECO24___ SYSTEM__
FC64 FC128 _ALARM
N00036 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

K 200
1 R1402.6 R1402.7 R1406.0

L S
ECO23___ ECO24___ FACILITY
FC64 FC128 _CODE_15
N00037 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 210
1 R1402.6 R1402.7 R1404.2

N
ECO23___ ECO24___ FC_ZERO
FC64 FC128
O
N00038 R1404.1 ACT R1404.3

A 220 SUB57 0001 R
ECO_____ DIFU SPOT____
RETRIEVE ALARM
R0330.0
B R
ARC_____
ALARM
R0330.1
C R
SEALER__
ALARM
R0330.2
D R
SERVOGUN
_ALARM
R0330.3
E R
TOOLCHNG
__ALARM
R0330.4
F R
SYSTEM__
_ALARM
R1405.0
G R
FACILITY
_CODE_11
R1406.0
H R
FACILITY
_CODE_15
N00039 R1404.4 ACT R1404.6

I 231 SUB 3 0006
FC_AVAIL TMR RETRIEVE
_DELAY
N00040 R1404.6 R1404.1

J 235 S
RETRIEVE ECO_____
_DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

K 237 SUB 3 0007 R
ECO_____ TMR ECO_____
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

FC_AVAIL SPOT____ FC_ZERO FAULT DO_126_W
ALARM LD_FLT_1
N00043 X0083.1 Y0015.5

DI_666_I DO_126_W
NCYCLE1 LD_FLT_1
N00044 K0010.1 K0010.0 R0000.1

N 248
EXT_MTR_ TEACH___ INT_EXT_
ON MEMORY MTR_ON
O
N00045 X0000.2 K0010.0 K0010.5 K0010.1

DI_3_EXT TEACH___ MAINT_ME EXT_MTR_
MTR_ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

B
SI13_RES DO_5_RBT FAULT
ETSW _CNT_FLT
X1025.1
C
FAULT___
RESET
X0000.1 X0001.2
D
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
K0010.3
E
PWR_FAIL
_RECVRY
N00046 Y0000.2 Y0000.4 G1000.4 K0010.1

DO_3_RBT DO_5_RBT RB_FAULT EXT_MTR_
_IN_AUTO _CNT_FLT _RESET ON
N00047 K0010.2 K0010.0 K0010.5 R0000.2

G 268
EXT_CYC_ TEACH___ MAINT_ME INT_EXT_
START MEMORY M CYC_STRT
N00048 X0000.3 K0010.0 K0010.2

DI_4_EXT TEACH___ EXT_CYC_
_CY_STRT MEMORY START
X1026.5 Y0000.4 F1000.5

I
ETSW _CNT_FLT
X1025.1
J
FAULT___
RESET
X0000.1 X0001.2
K
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
K0010.3
L
PWR_FAIL
_RECVRY
R0340.0
M
MANUAL__
WELD
N00049 Y0000.2 Y0000.4 G1000.4 K0010.2

DO_3_RBT DO_5_RBT RB_FAULT EXT_CYC_
_IN_AUTO _CNT_FLT _RESET START
O
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 289
DI_17_PG DI_18_PG DI_19_PG DI_20_PG DI_21_PG DI_22_PG DI_23_PG
_SLCT_1 _SLCT_2 _SLCT_4 _SLCT_8 _SLCT_16 _SLCT_32 _SLCT_64
1 X0002.7 R0507.0
B PROGRAM 1
DI_24_PG PROGRAM_
_SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 298
1 X0002.7 R0507.1
D PROGRAM 2
DI_24_PG PROGRAM_
_SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 307
1 X0002.7 R0507.2
F PROGRAM 3
DI_24_PG PROGRAM_
_SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 316
1 X0002.7 R0507.3
H PROGRAM 4
DI_24_PG PROGRAM_
_SLCT128 4
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 325
1 X0002.7 R0507.4
J PROGRAM 5
DI_24_PG PROGRAM_
_SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 334
1 X0002.7 R0507.5
L PROGRAM 6
DI_24_PG PROGRAM_
_SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 343
1 X0002.7 R0507.6
N PROGRAM 7
DI_24_PG PROGRAM_
_SLCT128 7
O
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 352
1 X0002.7 R0507.7
B PROGRAM 8
DI_24_PG PROGRAM_
_SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 361
1 X0002.7 R0508.0
D PROGRAM 9
DI_24_PG PROGRAM_
_SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 370
1 X0002.7 R0508.1
F PROGRAM 10
DI_24_PG PROGRAM_
_SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 379
1 X0002.7 R0508.2
H PROGRAM 11
DI_24_PG PROGRAM_
_SLCT128 11
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 388
1 X0002.7 R0508.3
J PROGRAM 12
DI_24_PG PROGRAM_
_SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 397
1 X0002.7 R0508.4
L PROGRAM 13
DI_24_PG PROGRAM_
_SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 406
1 X0002.7 R0508.5
N PROGRAM 14
DI_24_PG PROGRAM_
_SLCT128 14
O
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 415
1 X0002.7 R0508.6
B PROGRAM 15
DI_24_PG PROGRAM_
_SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 424
1 X0002.7 R0508.7
D PROGRAM 16
DI_24_PG PROGRAM_
_SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 433
1 X0002.7 R0509.0
F PROGRAM 17
DI_24_PG PROGRAM_
_SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 442
1 X0002.7 R0509.1
H PROGRAM 18
DI_24_PG PROGRAM_
_SLCT128 18
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 451
1 X0002.7 R0509.2
J PROGRAM 19
DI_24_PG PROGRAM_
_SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 460
1 X0002.7 R0509.3
L PROGRAM 20
DI_24_PG PROGRAM_
_SLCT128 20
O
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 469
DI_5_MV_ DO_3_RBT PROGRAM_ PAUSED AT_HOME DI_11___ *HOLD
TO_POUNC _IN_AUTO RUNNING PLC_AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

B
DO_3_RBT PAUSED PROGRAM_ DI_11___
_IN_AUTO RUNNING PLC_AUTO
F1000.6 R0507.0 F1000.2 F1000.3

C
AT_HOME PROGRAM_ PROGRAM_ PAUSED
1 RUNNING
R0507.1
D
PROGRAM_
2
R0507.2
E
PROGRAM_
3
R0507.3
F
PROGRAM_
4
R0507.4
G
PROGRAM_
5
R0507.5
H
PROGRAM_
6
R0507.6
I
PROGRAM_
7
R0507.7
J
PROGRAM_
8
R0508.0
K
PROGRAM_
9
R0508.1
L
PROGRAM_
10
R0508.2
M
PROGRAM_
11
R0508.3
N
PROGRAM_
12
R0508.4
O
PROGRAM_
13
R0508.5
A
PROGRAM_
14
R0508.6
B
PROGRAM_
15
R0508.7
C
PROGRAM_
16
R0509.0
D
PROGRAM_
17
R0509.1
E
PROGRAM_
18
R0509.2
F
PROGRAM_
19
R0509.3
G
PROGRAM_
20
Y0000.2 F1000.3 F1000.2 X0000.1 X0001.2

H
DO_3_RBT PAUSED PROGRAM_ DI_2_EX_ DI_11___
_IN_AUTO RUNNING RNEN_RST PLC_AUTO
X1025.6
I
CYCLE___
START
1 R0000.1 D0603.0 Y0000.4 R0100.5 F1000.5 G1000.5

J UOP CYCLE START
INT_EXT_ CYCLE___ DO_5_RBT BREAK_A_ FAULT UOP_CYC_
MTR_ON STRT_DLY _CNT_FLT NO_HOLD START
N00071 G1000.5 F1000.2 ACT D0603.0

UOP_CYC_ PROGRAM_ TMR CYCLE___
START RUNNING STRT_DLY
N00072 D0603.0 ACT D0603.0

CYCLE___ TMR CYCLE___
STRT_DLY STRT_DLY
N00073 F1000.2 D0603.0

PROGRAM_ CYCLE___
RUNNING STRT_DLY
N00074
N 531 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

DO_960__ TMR TEACH_ME
AUTO_KEY M_DELAY
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 536 TEACH MEMORY
DO_4_RBT SI13_RES FAULT___ CYCLE___ TEACH___
_IN_TCH ETSW RESET START MEMORY
K0010.4
B
TEACH_ME
M_DELAY
K0010.0
C
TEACH___
MEMORY
N00077 K0008.0 R0350.0

AUTO/MAI IN_MAINT
NT_SS
N00078 R0350.0 ACT D0610.0

IN_MAINT TMR MAINT___
DELAY
N00079 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

MAINT___ DO_3_RBT DO_2_RBT SI13_RES FAULT___ MAINT_ME
DELAY _IN_AUTO _@_HOME ETSW RESET M
K0010.5 X0000.6
G
MAINT_ME DI_7_MAI
M NT_PSCLR
N00080 X0000.2 X0000.3 Y0000.2 K0010.6

DI_3_EXT DI_4_EXT DO_3_RBT EXT_STRT
MTR_ON _CY_STRT _IN_AUTO _ANTI_TD
K0010.6
I
EXT_STRT
_ANTI_TD
N00081 X0002.0 G1001.0

J 563
DI_17_PG PNS_1
_SLCT_1
N00082 X0002.1 G1001.1

K 565
DI_18_PG PNS_2
_SLCT_2
N00083 X0002.2 G1001.2

L 567
DI_19_PG PNS_3
_SLCT_4
N00084 X0002.3 G1001.3

M 569
DI_20_PG PNS_4
_SLCT_8
N00085 X0002.4 G1001.4

N 571
DI_21_PG PNS_5
_SLCT_16
N00086 X0002.5 G1001.5

O 573
DI_22_PG PNS_6
_SLCT_32
N00087 X0002.6 G1001.6

A 575
DI_23_PG PNS_7
_SLCT_64
N00088 X0002.7 G1001.7

B 577
DI_24_PG PNS_8
_SLCT128
N00089 X0000.6 K0008.0 Y0120.5

DI_7_MAI AUTO/MAI DO_966_M
NT_PSCLR NT_SS ANTP_CLR
N00090 K0008.0 Y0001.4

AUTO/MAI DO_13_SN
NT_SS DRBT_MNT
N00091 Y0112.3 Y0003.0

DO_900__ DO_25_CL
CLR_ZN_1 R_ZON_1
N00092 Y0112.4 Y0003.1

DO_901__ DO_26_CL
CLR_ZN_2 R_ZON_2
N00093 Y0112.5 Y0003.2

DO_902__ DO_27_CL
CLR_ZN_3 R_ZON_3
N00094 Y0112.6 Y0003.3

DO_903__ DO_28_CL
CLR_ZN_4 R_ZON_4
N00095 Y0112.7 Y0003.4

DO_904__ DO_29_CL
CLR_ZN_5 R_ZON_5
N00096 Y0113.0 Y0003.5

DO_905__ DO_30_CL
CLR_ZN_6 R_ZON_6
N00097 Y0113.1 Y0003.6

DO_906__ DO_31_CL
CLR_ZN_7 R_ZON_7
N00098 Y0113.2 Y0003.7

DO_907__ DO_32_CL
CLR_ZN_8 R_ZON_8
N00099 Y0113.3 Y0004.0

DO_908__ DO_33_CL
CLR_ZN_9 R_ZON_9
N00100 Y0113.4 Y0004.1

DO_909_C DO_34_CL
LR_ZN_10 R_ZON_10
N00101 Y0113.5 Y0004.2

DO_910_C DO_35_CL
LR_ZN_11 R_ZON_11
N00102 Y0113.6 Y0004.3

DO_911_C DO_36_CL
LR_ZN_12 R_ZON_12
N00103 Y0113.7 Y0004.4

DO_912_C DO_37_CL
LR_ZN_13 R_ZON_13
N00104 Y0116.4 Y0004.5

DO_933_C DO_38_CL
LR_ZN_14 R_ZON_14
N00105 Y0118.7 Y0004.6

DO952_CL DO_39_CL
RMOTZN1 R_INDMOT
N00106 Y0119.0 Y0004.7

DO953_CL DO_40_CL
RMOTZN2 R_INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

DO_954_C DI_1_EXT DO_7_CLR
LRAV_XFR _RNENBL _ADV
N00108 Y0119.2 X0000.0 Y0000.7

LRET_XFR _RNENBL _RET_XFR
N00109 Y0119.3 X0000.0 Y0001.0

LR_UNCLP _RNENBL _2_UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 625 PROMPT BOX
DO_4_RBT DO_19001 DO_585__
_IN_TCH _PRPTBX PRMPT_BX
N00111 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

J 628
1 R1402.7 R1405.3
ECO24___ SYS_FCLY
FC128 CODE
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 637
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R0365.0

O
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 655
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0366.0

N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 673
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0367.0

N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 691
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0368.0

N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 709
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.0

N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 727
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.1

N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 745
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.3

N00119 R1406.3 X1025.1 Y0001.6

SRVO-50 FAULT___ DO_15_CO
RESET LL_DTCT
Y0001.6
E
DO_15_CO
LL_DTCT
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 767
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

G
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.2

ECO13 ECO14 ECO15 ECO16 SRVO-65_
LOW_BATT
N00121 F1001.0 Y0001.1

BATALM DO_10_RB
T_BAT_LW
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 787
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0371.0

N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 805
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.1

NCE_EXCE
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 823
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0373.0

_CONTROL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 841
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0374.0

_NTED_IN
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 859
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0375.0

_TP_OFF
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 877
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0376.0

_SVOFF_I
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 895
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.0

O SRVO-378 SFDIxx STATUS ABNOR
_SFDIxx
N00129 F1008.1 ACT R0388.1

A 913 SUB24 0001 F1008.1 SYSRST DELAY ON
SYSRST TMRB F1008.1_
DELAY ON
B 0000000124
N00130 R0387.0 R0388.1 R0388.0

C 918 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 F1008.1_ OPSFTY_F
_SFDIxx DELAY ON LT_LATCH
R0388.0 F1000.5
D
OPSFTY_F FAULT
LT_LATCH
N00131 R0388.0 Y0073.1

E 924 SAFETY CHAIN FAULT
OPSFTY_F DO_586_S
LT_LATCH FTY_CHN
N00132 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 926
SYS_FCLY EC01 EC02 ECO3 ECO4 ECO5 ECO6
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

G
2 R1401.4 R1401.5 R1401.6 R1401.7 R0377.0

H SYST-034 HOLD SIGNAL FROM SOP/
_HOLD_SI
N00133 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

I 944
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

J
2 R1401.4 R1401.5 R1401.6 R1401.7 R0378.0

K SYST-038 OPERATION MODE T1 SEL
_OPERATI
N00134 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 962
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R0379.0

N
O
N00135 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 980
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0380.0

C SYST-040 OPERATION MODE AUTO S
_OPERATI
N00136 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 998
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0381.0

F SYST-042 DEADMAN DEFEATED
_DEADMAN
N00137 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1016
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0382.0

I SYST-043 TP DISABLE IN T1/T2
_TP_DISA
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1034
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0383.0

L SYST-045 TP ENABLE IN AUTO MO
_TP_ENAB
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1052
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0384.0

O SYST-154 NO START IN ISOLATE/B
_NO_STAR
N00140 R0397.0 F1000.0 R0397.0

A 1070 FILTERED FAULT
FILTERED COMMAND_ FILTERED
_FAULT ENABLE _FAULT
R0398.0
B
FILTER__
FLT_GRP1
R0399.0
C
FILTER__
FLT_GRP2
O
N00141 R0365.0 R0398.0

SRVO-001 FILTER__
FLT_GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0__
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0__
RESERVED
R0373.0
I
SRVO-199
_CONTROL
R0374.0
J
SRVO-232
_NTED_IN
R0375.0
K
SRVO-233
_TP_OFF
R0376.0
L
SRVO-280
_SVOFF_I
R0370.1
M
SRVO-408
R1456.0
N
APPL____
ALARMS
O
N00142 R0377.0 R0399.0

SYST-034 FILTER__
_HOLD_SI FLT_GRP2
R0378.0
B
SYST-038
_OPERATI
R0379.0
C
SYST-039
R0380.0
D
SYST-040
_OPERATI
R0381.0
E
SYST-042
_DEADMAN
R0382.0
F
SYST-043
_TP_DISA
R0383.0
G
SYST-045
_TP_ENAB
R0384.0
H
SYST-154
_NO_STAR
X1025.0
I
FANUC___
E-STOP
F1008.2
J
TP______
E-STOP
X1026.1
K
SI9_____
AUTOMDSW
Y0000.3
L
DO_4_RBT
_IN_TCH
K0010.0
M
TEACH___
MEMORY
R1405.2
N
FENCE___
FAULT
O
N00143 R0330.0 F1000.5 R1456.0

A 1105
ARC_____ FAULT APPL____
ALARM ALARMS
R0330.1
B
SEALER__
ALARM
R0330.2
C
SERVOGUN
_ALARM
R0330.3
D
TOOLCHNG
__ALARM
R0330.4
E
SYSTEM__
_ALARM
R1404.3
F
SPOT____
ALARM
R1456.0
G
APPL____
ALARMS
N00144 D0001.0 ACT

H 1114 SUB10 0000
TOOL_CHA JMP
NGE_APP
N00145
I 1117 SUB66 P0001
CALLU TOOL_CHANGING
N00146
J 1119 SUB30
JMPE
N00147
K 1120 SUB66 P0004
CALLU AIR_SWITCH
N00148
L 1122 SUB66 P0006
CALLU UALM
N00149
M 1124 SUB66 P0007
CALLU INTERFACE
N00150
N 1126 SUB66 P0008
CALLU MH
N00151
O 1128 SUB66 P0026
CALLU NUTRUNNER
N00152
A 1130 SUB66 P0009
CALLU APPLICATION
N00153
B 1132 SUB 2
END2
N00154 ### TOOL_CHANGING ###

C 1133 SUB71 P0001
SP TOOL_CHANGING
N00155 X0080.0 R0347.0

D 1135 GUN ID NOT 0
DI_641__ GUN_ID__
TOOL_ID1 NOT_0
X0080.1
E
DI_642__
TOOL_ID2
X0080.2
F
DI_643__
TOOL_ID4
X0080.3
G
DI_644__
TOOL_ID8
N00156 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

H 1140
DI_641__ DI_642__ DI_643__ DI_644__ GUN_1_ON
TOOL_ID1 TOOL_ID2 TOOL_ID4 TOOL_ID8 _ARM
N00157 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

I 1145
DI_641__ DI_642__ DI_643__ DI_644__ GUN_2_ON
N00158 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

J 1150
DI_641__ DI_642__ DI_643__ DI_644__ GUN_3_ON
N00159 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

K 1155
DI_641__ DI_642__ DI_643__ DI_644__ GUN_4_ON
N00160 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

L 1160
DI_641__ DI_642__ DI_643__ DI_644__ GUN_5_ON
N00161 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

M 1165
DI_641__ DI_642__ DI_643__ DI_644__ GUN_6_ON
N00162 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

N 1170
DI_641__ DI_642__ DI_643__ DI_644__ GUN_7_ON
N00163 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

O 1175
DI_641__ DI_642__ DI_643__ DI_644__ GUN_8_ON
N00164 R0321.0 R0328.6

A 1180 TOOL ON ROBOT
GUN_1_ON TOOLONRO
_ARM BOT
R0322.0
B
GUN_2_ON
_ARM
R0323.0
C
GUN_3_ON
_ARM
R0324.0
D
GUN_4_ON
_ARM
R0325.0
E
GUN_5_ON
_ARM
R0326.0
F
GUN_6_ON
_ARM
R0326.1
G
GUN_7_ON
_ARM
R0326.2
H
GUN_8_ON
_ARM
N00165 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

I 1189
GUN_1_ON GUN_2_ON GUN_3_ON GUN_4_ON GUN_5_ON GUN_6_ON GUN_7_ON
_ARM _ARM _ARM _ARM _ARM _ARM _ARM
1 R0326.2 R0348.0
J ANY GEO TOOL PRESENT ON ROBOT
GUN_8_ON GEOTOOLP
_ARM RSNT
N00166 X0080.0 Y0038.0

K 1198
DI_641__ DO_305__
TOOL_ID1 TOOL_ID1
N00167 X0080.1 Y0038.1

L 1200
DI_642__ DO_306__
TOOL_ID2 TOOL_ID2
N00168 X0080.2 Y0038.2

M 1202
DI_643__ DO_307__
TOOL_ID4 TOOL_ID4
N00169 X0080.3 Y0038.3

N 1204
DI_644__ DO_308__
TOOL_ID8 TOOL_ID8
O
N00170 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

A 1206
DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__ DI_311__
1 X0038.7 R0327.0
DI_312__ GUN_1-8
TCSTND8
N00171 Y0117.4 K0011.1

DO_941__ TC______
TC_UNLCK RELEASED
N00172 Y0117.3 X0079.4 X0079.5 R0328.6 Y0079.0

DO_940__ DI_637__ DI_638__ TOOLONRO DO_633_T
TC_LOCK RDY2LCK1 RDY2LCK2 BOT C_LOCK
R0328.6
E
TOOLONRO
BOT
N00173 Y0117.4 Y0117.3 Y0079.0

F 1224 R TOOL CHANGER LOCK
DO_941__ DO_940__ DO_633_T
TC_UNLCK TC_LOCK C_LOCK
N00174 X0079.0 Y0040.6

G 1227
DI_633__ DO_327_T
TC_LOCKD CCOUPMON
N00175 K0011.1 Y0079.0 X0080.4 X0080.5 R0328.6 Y0079.1

TC______ DO_633_T DI_645_T DI_646_T TOOLONRO DO_634_T
RELEASED C_LOCK SIV SRV BOT C_UNLOCK
R0328.6
I
TOOLONRO
BOT
N00176 X0079.1 Y0040.7

J 1237
DI_634__ DO_328_T
TC_ULCKD CRELMON
N00177 R0328.6 K0008.0 R0218.4

TOOLONRO AUTO/MAI DI_940_T
BOT NT_SS C_NOTOOL
N00178 Y0117.5 Y0117.6 Y0000.2 Y0038.5

DO_942__ DO_943__ DO_3_RBT DO_310_T
TCOPNCVR TCCLSCVR _IN_AUTO C_OPNCVR
K0011.4 K0011.5 Y0000.3

M
TC_OPENG TC__CLOS DO_4_RBT
UNCOVER GUNCOVER _IN_TCH
N00179 Y0117.5 Y0117.6 Y0000.2 Y0038.6

DO_942__ DO_943__ DO_3_RBT DO_311_T
TCOPNCVR TCCLSCVR _IN_AUTO C_CLSCVR
K0011.5 K0011.4 Y0000.3

O
TC__CLOS TC_OPENG DO_4_RBT
GUNCOVER UNCOVER _IN_TCH
N00180 X0038.0 R0321.0 R0329.0

DI_305__ GUN_1_ON GUN1_POS
TCSTND1 _ARM ITION
X0038.0 X0039.3
B
DI_305__ DI_316_G
TCSTND1 EOTPDCK
N00181 X0038.1 R0322.0 R0329.1

TCSTND2 _ARM ITION
X0038.1 X0039.3
D
DI_306__ DI_316_G
TCSTND2 EOTPDCK
N00182 X0038.2 R0323.0 R0329.2

TCSTND3 _ARM ITION
X0038.2 X0039.3
F
DI_307__ DI_316_G
TCSTND3 EOTPDCK
N00183 X0038.3 R0324.0 R0329.3

TCSTND4 _ARM ITION
X0038.3 X0039.3
H
DI_308__ DI_316_G
TCSTND4 EOTPDCK
N00184 X0038.4 R0325.0 R0329.4

TCSTND5 _ARM ITION
X0038.4 X0039.3
J
DI_309__ DI_316_G
TCSTND5 EOTPDCK
N00185 X0038.5 R0326.0 R0329.5

TCSTND6 _ARM ITION
X0038.5 X0039.3
L
DI_310__ DI_316_G
TCSTND6 EOTPDCK
N00186 X0038.6 R0326.1 R0329.6

TCSTND7 _ARM ITION
X0038.6 X0039.3
N
DI_311__ DI_316_G
TCSTND7 EOTPDCK
O
N00187 X0038.7 R0326.2 R0329.7

TCSTND8 _ARM ITION
X0038.7 X0039.3
B
DI_312__ DI_316_G
TCSTND8 EOTPDCK
N00188 R0329.0 R0328.7

GUN1_POS GUN1-8_P
ITION OSITION
R0329.1
D
GUN2_POS
ITION
R0329.2
E
GUN3_POS
ITION
R0329.3
F
GUN4_POS
ITION
R0329.4
G
GUN5_POS
ITION
R0329.5
H
GUN6_POS
ITION
R0329.6
I
GUN7_POS
ITION
R0329.7
J
GUN8_POS
ITION
N00189 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1315
DI_316_G DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__
1 X0038.6 X0038.7 R0320.0

L TOOL 1 IN OPDOCK
DI_311__ DI_312__ TOOL1INO
N00190 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1325
1 X0038.6 X0038.7 R0320.1

N TOOL 2 IN OPDOCK
O
N00191 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1335
1 X0038.6 X0038.7 R0320.2

B TOOL 3 IN OPDOCK
N00192 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1345
1 X0038.6 X0038.7 R0320.3

D TOOL 4 IN OPDOCK
N00193 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1355
1 X0038.6 X0038.7 R0320.4

F TOOL 5 IN OPDOCK
N00194 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1365
1 X0038.6 X0038.7 R0320.5

H TOOL 6 IN OPDOCK
N00195 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1375
1 X0038.6 X0038.7 R0320.6

J TOOL 7 IN OPDOCK
N00196 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1385
1 X0038.6 X0038.7 R0320.7

L TOOL 8 IN OPDOCK
O
N00197 R0320.0 R0319.0

TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00198 X0082.6 Y0038.7

I 1404
DI_663_T DO_312_T
CCOMMOK CCOMMOK
N00199 X0082.7 Y0039.2

J 1406
DI_664_T DO_315_T
CTLSLDPW LSLIDPWR
N00200 X0079.4 X0079.5 G1008.4

K 1408 RTL1ANDL2SWITCHMISMATCH
DI_637__ DI_638__ UALM_5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI_637__ DI_638__
RDY2LCK1 RDY2LCK2
N00201 R0328.6 G1008.5

TOOLONRO UALM_6
BOT
N00202 K0013.1 R0000.7 Y0126.7

NOTOOLON PART_PRE DO_1016_
N00203 K0013.1 R0000.7 K0013.1

NOTOOLON PART_PRE NOTOOLON
EOATSS SENT EOATSS
N00204 Y0039.3 Y0039.3

DO_316_W DO_316_W
RNGTLSTD RNGTLSTD
N00205 Y0039.3 X1025.1 Y0000.1 Y0039.3

DO_316_W FAULT___ DO_2_RBT DO_316_W
RNGTLSTD RESET _@_HOME RNGTLSTD
N00206
C 1428 SUB72
SPE
N00207 ### AIR_SWITCH ###

D 1429 SUB71 P0004
SP AIR_SWITCH
N00208 X1020.6 Y0001.5

RI_7_AIR DO_14_EO
_FL_SW A_AIR_ON
N00209
F 1433 SUB72
SPE
N00210 ### UALM ###

G 1434 SUB71 P0006
SP UALM
N00211 Y0120.2 X1025.1 Y0120.2

DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00212 Y0120.2 G1008.0

DO_963__ UALM1
PRG_FLT
N00213 K0010.0 Y0119.7 Y0000.3 G1010.6

TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00214 R0000.0 G1011.0

ALWAYS__ UALM_25
ON
N00215 R0000.0 G1011.1

ALWAYS__ UALM_26
ON
N00216 Y0002.7 G1011.4

DO_24_RB UALM_29
T_LOOP
N00217 Y0039.3 G1009.7

DO_316_W UALM_16
RNGTLSTD
N00218
O 1453 SUB72
SPE

A 1454 SUB71 P0007
SP INTERFACE
N00220 D0612.1 ACT D0612.0

MH_IF_PB TMR ALL_IF_P
_TO B_TO
D0612.2
C
SEAL_IF_
PB_TO
D0612.3
D
STUD_IF_
PB_TO
D0612.4
E
NUTRUN_I
F_PB_TO
O
N00221 K0002.0 D0612.1

A 1463 MH IF PB TO
CLMP1CLS MH_IF_PB
_TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC_1_ON
_PB
K0014.3
G
VAC_2_ON
_PB
K0014.4
H
VAC_3_ON
_PB
K0014.5
I
BLOWOFF_
1_ON_PB
K0014.6
J
BLOWOFF_
2_ON_PB
K0014.7
K
BLOWOFF_
3_ON_PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
K0016.1
A
VAC_4_ON
_PB
K0016.2
B
BLOWOFF_
4_ON_PB
N00222 K0009.4 D0612.2

MAN_FLOW SEAL_IF_
_PB1 PB_TO
K0008.7
D
RESEAL_P
B1
K0011.2
E
AUTO_PUR
GE_PB1
K0008.2
F
ACCEPTSE
ALER1_IF
K0008.3
G
REJECTSE
ALER1_IF
K0012.3
H
INSPECTI
ON_PB_1
K0009.5
I
MAN_FLOW
_PB2
K0009.0
J
RESEAL_P
B2
K0011.3
K
AUTO_PUR
GE_PB2
K0012.4
L
INSPECTI
ON_PB_2
K0013.5
M
ACCEPTSE
ALER2_IF
K0013.6
N
REJECTSE
ALER2_IF
O
N00223 K0011.7 D0612.3

STUDSKPR STUD_IF_
EMSTDPB1 PB_TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
N00224 K0015.5 D0612.4

L 1521 NUT RUNNER IF PB TO
START_RE NUTRUN_I
SET_PB F_PB_TO
K0016.3
M
NUTRUNN_
RETRY_PB
N00225
N 1524 SUB72
SPE
N00226 ### MH ###

O 1525 SUB71 P0008
SP MH
N00227 Y0000.3 K0004.4 R1410.0

A 1527 MANUAL GRIP ENABLE
DO_4_RBT MAN_GRP_ MAN_GRP_
_IN_TCH ENBLE_SS ENABLE
N00228 R1410.0 ACT

B 1530 SUB10 0000
MAN_GRP_ JMP
ENABLE
N00229 R0000.0 Y0114.0

C 1533 OPEN CLAMP 1
ALWAYS__ DO_913__
ON OPNCLMP1
N00230 R0000.0 Y0114.1

ALWAYS__ DO_914__
ON CLSCLMP1
N00231 R0000.0 Y0114.2

E 1537 OPEN CLAMP 2
ALWAYS__ DO_915__
ON OPNCLMP2
N00232 R0000.0 Y0114.3

ALWAYS__ DO_916__
ON CLSCLMP2
N00233 R0000.0 Y0114.4

G 1541 OPEN CLAMP 3
ALWAYS__ DO_917__
ON OPNCLMP3
N00234 R0000.0 Y0114.5

ALWAYS__ DO_918__
ON CLSCLMP3
N00235 R0000.0 Y0114.6

I 1545 OPEN CLAMP 4
ALWAYS__ DO_919__
ON OPNCLMP4
N00236 R0000.0 Y0114.7

ALWAYS__ DO_920__
ON CLSCLMP4
N00237 R0000.0 Y0115.0

K 1549 OPEN CLAMP 5
ALWAYS__ DO_921__
ON OPNCLMP5
N00238 R0000.0 Y0115.1

ALWAYS__ DO_922__
ON CLSCLMP5
N00239 R0000.0 Y0115.2

M 1553 OPEN CLAMP 6
ALWAYS__ DO_923__
ON OPNCLMP6
N00240 R0000.0 Y0115.3

ALWAYS__ DO_924__
ON CLSCLMP6
N00241 R0000.0 Y0115.4

O 1557 OPEN CLAMP 7
ALWAYS__ DO_925__
ON OPNCLMP7
N00242 R0000.0 Y0115.5

ALWAYS__ DO_926__
ON CLSCLMP7
N00243 R0000.0 Y0115.6

B 1561 OPEN CLAMP 8
ALWAYS__ DO_927__
ON OPNCLMP8
N00244 R0000.0 Y0115.7

ALWAYS__ DO_928__
ON CLSCLMP8
N00245 R0000.0 Y0116.0

D 1565 OPEN CLAMP 9
ALWAYS__ DO_929__
ON OPNCLMP9
N00246 R0000.0 Y0116.1

ALWAYS__ DO_930__
ON CLSCLMP9
N00247 R0000.0 Y0116.2

F 1569 OPEN CLAMP 10
ALWAYS__ DO_931__
ON OPNCLP10
N00248 R0000.0 Y0116.3

ALWAYS__ DO_932__
ON CLSCLP10
N00249 R0000.0 Y0127.2

H 1573 VACUUM 1 ON
ALWAYS__ DO1019_V
ON AC1ON
N00250 R0000.0 Y0127.3

I 1575 BLOWOFF 1 ON
ALWAYS__ DO1020_B
ON LWOF1ON
N00251 R0000.0 Y0127.4

J 1577 VACUUM 2 ON
ALWAYS__ DO1021_V
ON AC2ON
N00252 R0000.0 Y0127.5

K 1579 BLOWOFF 2 ON
ALWAYS__ DO1022_B
ON LWOF2ON
N00253 R0000.0 Y0127.6

L 1581 VACUUM 3 ON
ALWAYS__ DO1023_V
ON AC3ON
N00254 R0000.0 Y0127.7

M 1583 BLOWOFF 3 ON
ALWAYS__ DO1024_B
ON LWOF3ON
N00255 R0000.0 Y0118.5

N 1585 VACUUM 4 ON
ALWAYS__ DO_950_V
ON AC4ON
N00256 R0000.0 Y0118.6

O 1587 BLOWOFF 4 ON
ALWAYS__ DO_951_B
ON LWOF4ON
N00257
A 1589 SUB30
JMPE
N00258 R1410.0 ACT R0001.1

B 1590 SUB 3 0038
MAN_GRP_ TMR MAN_GRP_
ENABLE TO
N00259 R0001.1 ACT

C 1594 SUB10 0000
MAN_GRP_ JMP
TO
N00260 K0002.1 X1026.1 Y0114.0

D 1597 OPEN CLAMP 1
CLMP1OPN SI9_____ DO_913__
AUTOMDSW OPNCLMP1
N00261 Y0114.0 Y0009.0

DO_913__ DO_73_OP
OPNCLMP1 N_CLMP1
N00262 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9_____ DO_914__
AUTOMDSW CLSCLMP1
N00263 Y0114.1 Y0009.1

DO_914__ DO_74_CL
CLSCLMP1 S_CLMP1
N00264 K0002.3 X1026.1 Y0114.2

H 1607 OPEN CLAMP 2
AUTOMDSW OPNCLMP2
N00265 Y0114.2 Y0009.2

I 1610 OPEN CLAMP #2
DO_915__ DO_75_OP
OPNCLMP2 N_CLMP2
N00266 K0002.2 X1026.1 Y0114.3

AUTOMDSW CLSCLMP2
N00267 Y0114.3 Y0009.3

K 1615 CLOSE CLAMP #2
DO_916__ DO_76_CL
CLSCLMP2 S_CLMP2
N00268 K0002.5 X1026.1 Y0114.4

L 1617 OPEN CLAMP 3
AUTOMDSW OPNCLMP3
N00269 Y0114.4 Y0009.4

M 1620 OPEN CLAMP #3
DO_917__ DO_77_OP
OPNCLMP3 N_CLMP_3
N00270 K0002.4 X1026.1 Y0114.5

AUTOMDSW CLSCLMP3
N00271 Y0114.5 Y0009.5

O 1625 CLOSE CLAMP #3
DO_918__ DO_78_CL
CLSCLMP3 S_CLMP3
N00272 K0002.7 X1026.1 Y0114.6

A 1627 OPEN CLAMP 4
AUTOMDSW OPNCLMP4
N00273 Y0114.6 Y0009.6

B 1630 OPEN CLAMP #4
DO_919__ DO_79_OP
OPNCLMP4 N_CLMP4
N00274 K0002.6 X1026.1 Y0114.7

AUTOMDSW CLSCLMP4
N00275 Y0114.7 Y0009.7

D 1635 CLOSE CLAMP #4
DO_920__ DO_80_CL
CLSCLMP4 S_CLMP4
N00276 K0003.1 X1026.1 Y0115.0

E 1637 OPEN CLAMP 5
AUTOMDSW OPNCLMP5
N00277 Y0115.0 Y0010.0

F 1640 OPEN CLAMP #5
DO_921__ DO_81_OP
OPNCLMP5 N_CLMP5
N00278 K0003.0 X1026.1 Y0115.1

AUTOMDSW CLSCLMP5
N00279 Y0115.1 Y0010.1

H 1645 CLOSE CLAMP #5
DO_922__ DO_82_CL
CLSCLMP5 S_CLMP5
N00280 K0003.3 X1026.1 Y0115.2

I 1647 OPEN CLAMP 6
AUTOMDSW OPNCLMP6
N00281 Y0115.2 Y0010.2

J 1650 OPEN CLAMP #6
DO_923__ DO_83_OP
OPNCLMP6 N_CLMP6
N00282 K0003.2 X1026.1 Y0115.3

K 1652 CLOSE CLAMP 6
AUTOMDSW CLSCLMP6
N00283 Y0115.3 Y0010.3

L 1655 CLOSE CLAMP #6
DO_924__ DO_84_CL
CLSCLMP6 S_CLMP_6
N00284 K0003.5 X1026.1 Y0115.4

M 1657 OPEN CLAMP 7
AUTOMDSW OPNCLMP7
N00285 Y0115.4 Y0010.4

DO_925__ DO_85_OP
OPNCLMP7 N_CLMP_7
N00286 K0003.4 X1026.1 Y0115.5

AUTOMDSW CLSCLMP7
N00287 Y0115.5 Y0010.5

DO_926__ DO_86_CL
CLSCLMP7 S_CLAMP7
N00288 K0003.7 X1026.1 Y0115.6

B 1667 OPEN CLAMP 8
AUTOMDSW OPNCLMP8
N00289 Y0115.6 Y0010.6

DO_927__ DO_87_OP
OPNCLMP8 N_CLMP8
N00290 K0003.6 X1026.1 Y0115.7

AUTOMDSW CLSCLMP8
N00291 Y0115.7 Y0010.7

DO_928__ DO_88_CL
CLSCLMP8 S_CLAMP8
N00292 K0004.1 X1026.1 Y0116.0

F 1677 OPEN CLAMP 9
AUTOMDSW OPNCLMP9
N00293 Y0116.0 Y0011.0

DO_929__ DO_89_OP
OPNCLMP9 N_CLMP9
N00294 K0004.0 X1026.1 Y0116.1

AUTOMDSW CLSCLMP9
N00295 Y0116.1 Y0011.1

DO_930__ DO_90_CL
CLSCLMP9 S_CLMP9
N00296 K0004.3 X1026.1 Y0116.2

J 1687 OPEN CLAMP 10
CLP10OPN SI9_____ DO_931__
AUTOMDSW OPNCLP10
N00297 Y0116.2 Y0011.2

DO_931__ DO_91_OP
OPNCLP10 N_CLMP10
N00298 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9_____ DO_932__
AUTOMDSW CLSCLP10
N00299 Y0116.3 Y0011.3

DO_932__ DO_92_CL
CLSCLP10 S_CLMP10
N00300 K0014.2 X1026.1 K0014.1 Y0127.2

N 1697 VACUUM 1 ON
VAC_1_ON SI9_____ VAC/BLOW DO1019_V
_PB AUTOMDSW OFFTIMER AC1ON
N00301 Y0127.2 Y0008.0

O 1701
DO1019_V DO_65_VA
AC1ON C_1_ON
N00302 K0014.5 X1026.1 K0014.1 Y0127.3

A 1703 BLOWOFF 1 ON
BLOWOFF_ SI9_____ VAC/BLOW DO1020_B
1_ON_PB AUTOMDSW OFFTIMER LWOF1ON
N00303 Y0127.3 Y0008.1

B 1707
DO1020_B DO_66_BL
LWOF1ON WOFF1ON
N00304 K0014.3 X1026.1 K0014.1 Y0127.4

C 1709 VACUUM 2 ON
N00305 Y0127.4 Y0008.2

D 1713
DO1021_V DO_67_VA
AC2ON C_2_ON
N00306 K0014.6 X1026.1 K0014.1 Y0127.5

E 1715 BLOWOFF 2 ON
N00307 Y0127.5 Y0008.3

F 1719
DO1022_B DO_68_BL
LWOF2ON WOFF2ON
N00308 K0014.4 X1026.1 K0014.1 Y0127.6

G 1721 VACUUM 3 ON
N00309 Y0127.6 Y0008.4

H 1725
DO1023_V DO_69_VA
AC3ON C_3_ON
N00310 K0014.7 X1026.1 K0014.1 Y0127.7

I 1727 BLOWOFF 3 ON
N00311 Y0127.7 Y0008.5

J 1731
DO1024_B DO_70_BL
LWOF3ON WOFF3ON
N00312 K0016.1 X1026.1 K0014.1 Y0118.5

K 1733 VACUUM 4 ON
VAC_4_ON SI9_____ VAC/BLOW DO_950_V
N00313 Y0118.5 Y0008.6

L 1737
DO_950_V DO_71_VA
AC4ON C_4_ON
N00314 K0016.2 X1026.1 K0014.1 Y0118.6

M 1739 BLOWOFF 4 ON
BLOWOFF_ SI9_____ VAC/BLOW DO_951_B
N00315 Y0118.6 Y0008.7

N 1743
DO_951_B DO_72_BL
LWOF4ON WOFF4ON
N00316
O 1745 SUB30
JMPE
N00317 Y0008.0 ACT K0014.1

DO_65_VA TMR VAC/BLOW
C_1_ON OFFTIMER
Y0008.1
B
DO_66_BL
WOFF1ON
Y0008.2
C
DO_67_VA
C_2_ON
Y0008.3
D
DO_68_BL
WOFF2ON
Y0008.4
E
DO_69_VA
C_3_ON
Y0008.5
F
DO_70_BL
WOFF3ON
Y0008.6
G
DO_71_VA
C_4_ON
Y0008.7
H
DO_72_BL
WOFF4ON
N00318 K0002.0 D0612.0 K0002.0

I 1757 CLMP1 CLOSE
CLMP1CLS ALL_IF_P CLMP1CLS
B_TO
N00319 K0002.1 D0612.0 K0002.1

J 1760 CLMP1 OPEN
CLMP1OPN ALL_IF_P CLMP1OPN
B_TO
N00320 K0002.2 D0612.0 K0002.2

K 1763 CLMP2 CLOSE
B_TO
N00321 K0002.3 D0612.0 K0002.3

L 1766 CLMP2 OPEN
B_TO
N00322 K0002.4 D0612.0 K0002.4

M 1769 CLMP3 CLOSE
B_TO
N00323 K0002.5 D0612.0 K0002.5

N 1772 CLMP3 OPEN
B_TO
N00324 K0002.6 D0612.0 K0002.6

O 1775 CLMP4 CLOSE
B_TO
N00325 K0002.7 D0612.0 K0002.7

A 1778 CLMP4 OPEN
B_TO
N00326 K0003.0 D0612.0 K0003.0

B 1781 CLMP5 CLOSE
B_TO
N00327 K0003.1 D0612.0 K0003.1

C 1784 CLMP5 OPEN
B_TO
N00328 K0003.2 D0612.0 K0003.2

D 1787 CLMP6 CLOSE
B_TO
N00329 K0003.3 D0612.0 K0003.3

E 1790 CLMP6 OPEN
B_TO
N00330 K0003.4 D0612.0 K0003.4

F 1793 CLMP7 CLOSE
B_TO
N00331 K0003.5 D0612.0 K0003.5

G 1796 CLMP7 OPEN
B_TO
N00332 K0003.6 D0612.0 K0003.6

H 1799 CLMP8 CLOSE
B_TO
N00333 K0003.7 D0612.0 K0003.7

I 1802 CLMP8 OPEN
B_TO
N00334 K0004.0 D0612.0 K0004.0

J 1805 CLMP9 CLOSE
B_TO
N00335 K0004.1 D0612.0 K0004.1

K 1808 CLMP9 OPEN
B_TO
N00336 K0004.2 D0612.0 K0004.2

L 1811 CLMP10 CLOSE
CLP10CLS ALL_IF_P CLP10CLS
B_TO
N00337 K0004.3 D0612.0 K0004.3

M 1814 CLMP10 OPEN
CLP10OPN ALL_IF_P CLP10OPN
B_TO
N00338 K0014.2 D0612.0 K0014.2

N 1817
VAC_1_ON ALL_IF_P VAC_1_ON
_PB B_TO _PB
N00339 K0014.3 D0612.0 K0014.3

O 1820
_PB B_TO _PB
N00340 K0014.4 D0612.0 K0014.4

A 1823
_PB B_TO _PB
N00341 K0016.1 D0612.0 K0016.1

B 1826
_PB B_TO _PB
N00342 K0014.5 D0612.0 K0014.5

C 1829
BLOWOFF_ ALL_IF_P BLOWOFF_
1_ON_PB B_TO 1_ON_PB
N00343 K0014.6 D0612.0 K0014.6

D 1832
N00344 K0014.7 D0612.0 K0014.7

E 1835
N00345 K0016.2 D0612.0 K0016.2

F 1838
N00346 K0000.4 Y0012.6

RERUNPRC DO_103_R
PB ERUNPRC
N00347 K0000.5 Y0012.7

ACCPTPRC DO_104_A
PB CCPTPRC
N00348 K0000.6 Y0013.0

REJCTPRC DO_105_R
PB EJCTPRC
N00349 K0000.7 Y0013.1

INSPCTSE DO_106_I
LPB NSP_SEL
K0001.3 K0001.5
K
VISIONIN ABORTPRO
TERVENSS CESS
N00350 K0000.4 D0612.0 K0000.4

L 1852 S RERUN PROCESS PB
RERUNPRC ALL_IF_P RERUNPRC
PB B_TO PB
N00351 K0000.4 D0612.0 K0000.4

M 1855 R RERUN PROCESS PB
PB B_TO PB
N00352 K0000.5 D0612.0 K0000.5

N 1858 S ACCEPT PROCESS PB
ACCPTPRC ALL_IF_P ACCPTPRC
PB B_TO PB
N00353 K0000.5 D0612.0 K0000.5

O 1861 R ACCEPT PROCESS PB
PB B_TO PB
N00354 K0000.6 D0612.0 K0000.6

A 1864 S REJECT PROCESS PB
REJCTPRC ALL_IF_P REJCTPRC
PB B_TO PB
N00355 K0000.6 D0612.0 K0000.6

B 1867 R REJECT PROCESS PB
PB B_TO PB
N00356 K0000.7 D0612.0 K0000.7

C 1870 S INSPECTION SELECTED PB
INSPCTSE ALL_IF_P INSPCTSE
LPB B_TO LPB
N00357 K0000.7 D0612.0 K0000.7

D 1873 R INSPECTION SELECTED PB
LPB B_TO LPB
N00358 X0008.2 R0000.7

E 1876 PART PRESENT ON EOAT
DI_67_PR PART_PRE
T_PRES1 SENT
X0008.3
F
DI_68_PR
T_PRES2
X0008.4
G
DI_69_PR
T_PRES3
X0008.5
H
DI_70_PR
T_PRES4
X0008.6
I
DI_71_PR
T_PRES5
X0008.7
J
DI_72_PR
T_PRES6
N00359
K 1883 SUB72
SPE

L 1884 SUB71 P0009
SP APPLICATION
N00361 D0000.0 Y0048.0

M 1886 MATERIAL HANLDING APPLICATION
MH_APP DO_385_M
H_APP
N00362 D0000.1 Y0048.1

N 1888 WELD 1 APPLICATION
WELD_1_A DO_386__
PP WLD1_APP
N00363 D0000.2 Y0048.2

WELD_2_A DO_387_W
PP LD2_APP
N00364 D0000.3 Y0048.3

A 1892 NUT FEED APPLICATION
NUT_FEED DO_388_N
_APP UTFD_APP
N00365 D0000.4 Y0048.4

B 1894 SEALER 1 APPLICATION
SEAL_1_A DO_389_S
PP LR_1_APP
N00366 D0000.5 Y0048.5

SEAL_2__ DO_390_S
APP LR_2_APP
N00367 D0000.6 Y0048.6

D 1898 STUD WELD 1 APPLICATION
STUD_1_A DO_391_S
PP TDW_1APP
N00368 D0000.7 Y0048.7

STUD_2_A DO_392_S
PP TDW_2APP
N00369 D0001.0 Y0049.0

F 1902 TOOL CHANGE APPLICATION
TOOL_CHA DO_393_T
NGE_APP C_APP
N00370 D0001.1 Y0049.1

G 1904 RIVET 1 APPLICAYION
RIVET_1_ DO_394_R
APP VT_1_APP
N00371 D0001.2 Y0049.2

H 1906 RIVET 2 APPLICATION
RIVET_2_ DO_395_R
APP VT_2_APP
N00372 D0001.3 Y0049.3

I 1908 NUT RUNNER APPLICATION
NUT_RUNN DO_396_N
ER_APP UTR_APP
N00373 D0001.4 Y0049.4

J 1910 MIG WELD APPLICATION
MIG_WELD DO_397_M
_APP IGW_APP
N00374 D0001.5 Y0049.5

K 1912 ROLL HEMMER APPLICATION
ROLLER_H DO_398_R
EMM_APP LLHEM_AP
N00375 D0001.6 Y0049.6

L 1914 LASER CUT APPLICATION
LASER_CU DO_399_L
T_APP SRCT_APP
N00376 D0001.7 Y0049.7

M 1916 PLASMA CUT APPLICATION
PLASMA_C DO_400_P
UT_APP LSMA_APP
N00377 D0002.0 Y0050.0

N 1918 LASER WELD APPLICATION
LASER_WE DO_401_L
LD_APP SRWLDAPP
N00378 D0002.1 Y0050.1

O 1920 OPERATOR LOAD APPLICATION
OPER_LOA DO_402_O
D_APP P_LD_APP
N00379 D0002.2 Y0050.2

A 1922 VISION APPLICATION
VISION_A DO_403_V
PP IS_APP
N00380 D0002.3 Y0050.3

B 1924 PROGRAM LOCATOR APPLICATION
PROG_LOC DO_404_P
_APP RG_LCAPP
N00381 D0002.4 Y0050.4

C 1926 INTERFACE DEFINITION BIT 21
IF_DEF__ DO_405__
21 INDEFB21
N00382 D0002.5 Y0050.5

D 1928 NUT FEEDER 2 APPLICATION
NUT_FEED DO_406_N
ER_2_APP TFD_2APP
N00383 D0002.6 Y0050.6

E 1930 INTERFACE DEFINITION BIT 23
IF_DEF__ DO_407_I
23 NDEF_B23
N00384 D0002.7 Y0050.7

IF_DEF__ DO_408_I
24 NDEF_B24
N00385 D0003.0 Y0051.0

IF_DEF__ DO_409_I
25 NDEF_B25
N00386 D0003.1 Y0051.1

IF_DEF__ DO_410_I
26 NDEF_B26
N00387 D0003.2 Y0051.2

IF_DEF__ DO_411_I
27 NDEF_B27
N00388 D0003.3 Y0051.3

IF_DEF__ DO_412_I
28 NDEF_B28
N00389 D0003.4 Y0051.4

IF_DEF__ DO_413_I
29 NDEF_B29
N00390 D0003.5 Y0051.5

IF_DEF__ DO_414_I
30 NDEF_B30
N00391 D0003.6 Y0051.6

IF_DEF__ DO_415_I
31 NDEF_B31
N00392 D0003.7 Y0051.7

IF_DEF__ DO_416_I
32 NDEF_B32
N00393
O 1950 SUB72
SPE
N00394 ### DISPENSE1 ###

A 1951 SUB71 P0012
SP DISPENSE1
N00395 X0000.0 R0355.0

B 1953 INTERNAL EXTERNAL RUN ENABLE
DI_1_EXT INT_EXT_
_RNENBL RUN_ENAB
N00396 R0355.0 ACT D0601.0

C 1955 SUB 3 0016 EXTERNAL RUN ENABLE DELAY
INT_EXT_ TMR EXT_RUN_
RUN_ENAB ENBL_DLY
N00397 Y0118.0 Y0118.0 Y0083.2 R0355.1

D 1959 START DISPENSE1
DO_945_S DO_945_S DO_667_R START_DI
TRTDISP1 TRTDISP1 UN_MODE SPENSE1
R0355.1 Y0000.3 X0000.0 D0601.0

E
START_DI DO_4_RBT DI_1_EXT EXT_RUN_
SPENSE1 _IN_TCH _RNENBL ENBL_DLY
N00398 X0000.0 ACT D0602.0

F 1970 SUB 3 0023 E-STOP RECVER SLW REPEAT TIMER
DI_1_EXT TMR SLOW_REP
_RNENBL EAT_TIMR
N00399 F1000.4 ACT D0605.0

G 1974 SUB 3 0024 E-STOP RECOVER START DELAY
HELD TMR ESTOP_RE
C_SDLY
N00400 D0602.0 ACT D0604.0

H 1978 SUB 3 0025 ESTOP RECOVERY DELAY
SLOW_REP TMR ESTOP_RE
EAT_TIMR C_DELAY
N00401 R0355.1 Y0083.2 X0001.1 Y0083.5

I 1982 START DISP CYCLE1
START_DI DO_667_R DI_10_AU DO_670__
SPENSE1 UN_MODE TO_REPT STRT_DSP
N00402 K0009.6 X0001.1 Y0084.6

J 1986 FLOW / NO FLOW1
WET/DRY_ DI_10_AU DO_679__
MODE TO_REPT FLWNOFLW
Y0026.0
K
DO_209_F
LWSLSW
Y0092.6
L FLOW / NO FLOW2
DO_743_F
LWNOFLW
N00403 K0009.7 X0001.1 Y0092.6

M 1991 FLOW / NO FLOW2
WET/DRY_ DI_10_AU DO_743_F
MODE_2 TO_REPT LWNOFLW
Y0026.0
N
DO_209_F
LWSLSW
N00404 K0009.4 Y0084.0

O 1995 MANUAL FLOW1
MAN_FLOW DO_673_M
_PB1 ANFLW
N00405 K0008.4 Y0027.3 Y0027.2 K0008.4

A 1997 S ENABLE ACCEPT/REJECT 1
ENBACCEP DO_220_R DO_219_A ENBACCEP
N00406 K0008.2 Y0027.2 K0008.4

B 2001 R ENABLE ACCEPT/REJECT 1
ACCEPTSE DO_219_A ENBACCEP
ALER1_IF CCPTSL1 TREJECT1
K0008.3 Y0027.3
C
REJECTSE DO_220_R
ALER1_IF EJSEAL1
N00407 K0008.4 K0008.2 K0008.3 Y0027.2

D 2007
ENBACCEP ACCEPTSE REJECTSE DO_219_A
TREJECT1 ALER1_IF ALER1_IF CCPTSL1
N00408 K0008.4 K0008.2 K0008.3 Y0027.3

E 2011
ENBACCEP ACCEPTSE REJECTSE DO_220_R
TREJECT1 ALER1_IF ALER1_IF EJSEAL1
N00409 X0083.4 Y0026.1

F 2015
DI_669_S DO_210_S
LREADY1 EALRDY1
N00410 X0083.1 Y0026.2

G 2017
DI_666_I DO_211_S
NCYCLE1 EALCYCL1
N00411 X0083.3 Y0026.3

H 2019
DI_668_N DO_212_M
OFLT1 AJFLT1
N00412 X0083.7 Y0026.4

I 2021
DI_672_V DO_213_V
OLOK1 OL_OK1
N00413 Y0086.1 Y0028.2

J 2023
DO_690_@ DO_227_A
PRGBUCK TPURGBC1
N00414 X0083.0 Y0028.4

K 2025
DI_665_C DO_229_S
OMM_OK1 LCOMMOK1
N00415 X0083.6 Y0027.4

L 2027
DI_671_C DO_221_C
YCCMP1 YCCMP1
N00416 X0085.5 Y0027.5

M 2029
DI_686_2 DO_222_N
CINMIX1 O2CMIX1
N00417 X0084.2 Y0027.6

N 2031
DI_675_M DO_223_M
INFLT1 INORFLT1
N00418 X0086.2 Y0028.0

O 2033
DI_691_N DO_225_N
OZZCHG1 OZCHGRQ1
N00419 X0084.0 Y0028.1

A 2035
DI_673_H DO_226_H
I/LO1 ILOWARN1
N00420 X0026.2 Y0086.3

B 2037 FAULT RESET1
DI_211_R DO_692_F
STSL_FLT AULTRST
Y0094.3
C FAULT RESET2
DO_756_F
AULTRST2
N00421 Y0127.0 Y0086.1 Y0085.3

D 2040 PURGE1
DO_1017_ DO_690_@ DO_684__
PURGE1 PRGBUCK PURGE
X0026.4
E
DI_213_A
PRGESL_1
N00422 X0027.0 Y0084.7

DI_217_R DO_680__
STRTPLS1 RESTRT
N00423 K0008.7 Y0027.0

G 2046
RESEAL_P DO_217_R
B1 ESEALPB1
N00424 K0011.2 Y0026.5

H 2048
AUTO_PUR DO_214_A
GE_PB1 UTPRGPB1
N00425 X0027.0 Y0084.7

I 2050 RESTART PULSE1
DI_217_R DO_680__
STRTPLS1 RESTRT
N00426 X0084.0 Y0028.1

J 2052
DI_673_H DO_226_H
I/LO1 ILOWARN1
N00427 X0084.3 Y0028.3

K 2054
DI_676_D DO_228_S
EPRESSIZ EALDEPR1
N00428 X0084.4 Y0028.6

L 2056
DI_677_P DO_231_P
URGCOMP1 URGCOMP1
N00429 X0084.5 Y0028.7

M 2058
DI678_PU DO_232_P
RGEACTV1 URGACTV1
N00430 X0027.1 Y0086.2

N 2060 ACK NOZZLE CHANGED1
DI_218_A DO_691_A
CKNZCHG1 CKNOZCHG
N00431 X0084.6 Y0029.0

O 2062
DI_679_R DO_233_S
EFERREQ1 LRREFER1
N00432 K0009.4 D0612.0 K0009.4

A 2064 MANUAL FLOW PB 1
MAN_FLOW ALL_IF_P MAN_FLOW
_PB1 B_TO _PB1
N00433 K0008.7 D0612.0 K0008.7

B 2067 RESEAL PB1
RESEAL_P ALL_IF_P RESEAL_P
B1 B_TO B1
N00434 K0011.2 D0612.0 K0011.2

C 2070 AUTO PURGE PB1
AUTO_PUR ALL_IF_P AUTO_PUR
GE_PB1 B_TO GE_PB1
N00435 K0008.2 D0612.0 K0008.2

D 2073 ACCEPT SEALER 1
ACCEPTSE ALL_IF_P ACCEPTSE
ALER1_IF B_TO ALER1_IF
N00436 K0008.3 D0612.0 K0008.3

E 2076 REJECT SEALER 1
REJECTSE ALL_IF_P REJECTSE
N00437 K0012.3 D0612.0 K0012.3

F 2079 INSPECTION PB 1
INSPECTI ALL_IF_P INSPECTI
ON_PB_1 B_TO ON_PB_1
N00438 X0084.1 Y0029.1

G 2082
DI_674_D DO_234_D
OSRFIL1 OSRFILL1
N00439 K0012.3 Y0028.5

H 2084
INSPECTI DO_230_I
ON_PB_1 NSPCSEL1
N00440
I 2086 SUB72
SPE
N00441 ### DISPENSE2 ###

J 2087 SUB71 P0013
SP DISPENSE2
N00442 Y0117.7 Y0117.7 Y0091.2 R0355.2

K 2089 START DISPENSE2
R0355.2 Y0000.3 X0000.0 D0601.0

L
N00443 R0355.2 Y0091.2 X0001.1 Y0091.5

M 2100 START DISP CYCLE2
START_DI DO_731_R DI_10_AU DO_734_S
SPENSE2 UN_MODE TO_REPT TRT_DSP
N00444 K0009.5 Y0092.0

N 2104 MANUAL FLOW2
MAN_FLOW DO_737_M
_PB2 ANFLW
N00445 K0013.7 Y0031.3 Y0031.2 K0013.7

O 2106 S ENABLE ACCEPT/REJECT 2
N00446 K0013.5 Y0031.2 K0013.7

A 2110 R ENABLE ACCEPT/REJECT 2
K0013.6 Y0031.3
B
REJECTSE DO_252_R
ALER2_IF EJSEAL2
N00447 K0013.7 K0013.5 K0013.6 Y0031.2

C 2116
N00448 K0013.7 K0013.5 K0013.6 Y0031.3

D 2120
N00449 X0091.4 Y0030.1

E 2124
DI_733_S DO_242_S
LREADY2 EALRDY2
N00450 X0091.1 Y0030.2

F 2126
DI_730_I DO_243_S
NCYCLE2 EALCYCL2
N00451 X0091.3 Y0030.3

G 2128
DI_732_N DO_244_M
OFLT2 AJFLT2
N00452 X0091.7 Y0030.4

H 2130
DI_736_V DO_245_V
OLOK2 OL_OK2
N00453 Y0094.1 Y0032.2

I 2132
DO_754_@ DO_259_A
PRGBUCK2 TPURGBC2
N00454 X0091.0 Y0032.4

J 2134
DI_729_C DO_261_S
OMM_OK2 LCOMMOK2
N00455 X0091.6 Y0031.4

K 2136
DI_735_C DO_253_C
YCCMP2 YCCMP2
N00456 X0093.5 Y0031.5

L 2138
DI_750_2 DO_254_N
CINMIX2 O2CMIX2
N00457 X0092.2 Y0031.6

M 2140
DI_739_M DO_255_M
INFLT2 INORFLT2
N00458 X0094.2 Y0032.0

N 2142
DI_755_N DO_257_N
OZZCHG2 OZCHGRQ2
N00459 X0092.0 Y0032.1

O 2144
DI_737_H DO_258_H
I/LO2 ILOWARN2
N00460 Y0127.1 Y0094.1 Y0093.3

A 2146 PURGE2
DO_1018_ DO_754_@ DO_748_P
X0030.4
B
DI_245_A
PRGESL_2
N00461 X0031.0 Y0092.7

C 2150 RESTART PULSE2
DI_249_R DO_744_R
STRTPLS2 ESTRT
N00462 K0009.0 Y0031.0

D 2152
RESEAL_P DO_249_R
B2 ESEALPB2
N00463 K0011.3 Y0030.5

E 2154
AUTO_PUR DO_246_A
GE_PB2 UTPRGPB2
N00464 X0031.0 Y0092.7

DI_249_R DO_744_R
STRTPLS2 ESTRT
N00465 X0092.0 Y0032.1

G 2158
DI_737_H DO_258_H
I/LO2 ILOWARN2
N00466 X0092.3 Y0032.3

H 2160
DI_740_D DO_260_S
EPRESIZ2 EALDEPR2
N00467 X0092.4 Y0032.6

I 2162
DI_741_P DO_263_P
URGCOMP2 URGCOMP2
N00468 X0092.5 Y0032.7

J 2164
DI742_PU DO_264_P
RGEACTV2 URGACTV2
N00469 X0031.1 Y0094.2

K 2166 ACK NOZZLE CHANGED2
DI_250_A DO_755_A
CKNZCHG2 CKNOZCH2
N00470 X0092.6 Y0033.0

L 2168
DI_743_R DO_265_S
EFERREQ2 LRREFER2
N00471 K0009.5 D0612.0 K0009.5

M 2170 MANUAL FLOW PB 2
_PB2 B_TO _PB2
N00472 K0009.0 D0612.0 K0009.0

N 2173 RESEAL PB2
B2 B_TO B2
N00473 K0011.3 D0612.0 K0011.3

O 2176 AUTO PURGE PB2
GE_PB2 B_TO GE_PB2
N00474 K0013.5 D0612.0 K0013.5

A 2179 ACCEPT SEALER 2
N00475 K0013.6 D0612.0 K0013.6

B 2182 REJECT SEALER 2
N00476 K0012.4 D0612.0 K0012.4

C 2185 INSPECTION PB 2
N00477 X0092.1 Y0033.1

D 2188
DI_738_D DO_266_D
OSRFIL2 OSRFILL2
N00478 K0012.4 Y0032.5

E 2190
INSPECTI DO_262_I
ON_PB_2 NSPCSEL2
N00479
F 2192 SUB72
SPE
N00480 ### STUD ###

G 2193 SUB71 P0014
SP STUD
N00481 K0004.7 Y0034.0

H 2195 STUD WELD WELD/ NO WELD MODE
WELD_/_N DO_273_W
O_WELD1 LDN0WLD1
R0221.0
I REMOTE WELD / NO WELD MODE
DI_960_R
EM_WELD
N00482 X0099.0 Y0034.6

J 2198 STUD WELDER #1 FAULT
DO_279_W
LDFLT1
X0099.5
K
DI_798_R
EADY
X0034.0 X0099.4
L
DI_273_S DI_797_C
W1_GUN1 OMMOK
X0034.1 X0100.1
M
DI_274_S DI_802_T
W1GUN2 RQSQEC2
N00483 X0099.1 X0099.0 X0099.2 X0034.0 Y0034.5

N 2207 STUD WELDER #1 WELD COMPLETE
DI_794_T DI_795_I DI_273_S DO_278_W
ORQUEOK NTORQSEQ W1_GUN1 LDCOMP1
X0099.6 X0099.5 X0099.7 X0034.1

O
DI_798_R DI_274_S
EADY W1GUN2
N00484 X0099.2 Y0099.0 Y0034.4

A 2217 STUD IN WELD CYCLE
DI_795_I DO_277_W
NTORQSEQ LDCYC1
N00485 X0104.1 Y0034.2

B 2220 STUD COMMUNICATION OK
DI_834_T DO_275_S
RQNOKS10 TDCOMOK1
N00486 X0102.1 Y0035.0

C 2222 STUD MAINTENANCE REQUIRED
DO_281_M
AINTREQ1
N00487 K0004.7 Y0101.4

D 2224
WELD_/_N
O_WELD1
N00488 K0004.7 Y0101.5

E 2226
WELD_/_N
O_WELD1
K0004.7 X0001.1
F
WELD_/_N DI_10_AU
O_WELD1 TO_REPT
N00489 Y0100.2 Y0116.5 X0102.3 K0004.7 X0034.0 Y0099.0

G 2231
DO_803_T DO_934__ WELD_/_N DI_273_S
RQSEQ4 RD_SCHD1 O_WELD1 W1_GUN1
Y0100.3 X0001.1
H
DO_804_T DI_10_AU
RQSEQ8 TO_REPT
Y0100.4
I
DO_805_T
RQSEQ16
Y0100.5
J
DO_806_T
RQSEQ32
Y0100.6
K
DO_807_T
RQSEQ64
Y0100.7
L
Y0101.0
M
O
N00490 Y0100.2 Y0116.6 X0102.3 K0004.7 X0034.1 Y0099.1

A 2245 START SEQUENCE
DO_803_T DO_935__ WELD_/_N DI_274_S DO_794_S
RQSEQ4 RD_SCHD2 O_WELD1 W1GUN2 TRTSEQ
Y0100.3 X0001.1
B
DO_804_T DI_10_AU
RQSEQ8 TO_REPT
Y0100.4
C
DO_805_T
RQSEQ16
Y0100.5
D
DO_806_T
RQSEQ32
Y0100.6
E
DO_807_T
RQSEQ64
Y0100.7
F
Y0101.0
G
N00491 X0102.3 Y0034.3

H 2259 STUD READY FOR AUTOMATION
DO_276_R
DY4AUTO1
N00492 X0102.2 Y0035.1

I 2261 STUD LOW STUD WARNING
DO_282_L
OWSTDWR1
N00493 K0011.6 Y0035.3 ACT D0614.0

J 2263 SUB 3 0029 STUD ENABLE SS TIMEOUT
STUDENAB DO_284_R TMR STUDENAB
LESS1 JCTPRT1 LESSTO
Y0035.4
K
DO_285_S
KPREMST1
Y0126.5
L
DO1014_M
ANWELD
Y0035.2
M
DO_283_N
ORECALP1
Y0101.2
N
N00494 K0011.6 D0614.0 K0011.6

O 2273 STUD ENABLE SS 1
STUDENAB STUDENAB STUDENAB
LESS1 LESSTO LESS1
N00495 K0011.6 K0012.0 X0034.0 X0099.0 Y0035.3

A 2276 STUD REJECT PART
STUDENAB STUDREJE DI_273_S DO_284_R
LESS1 CTPB1 W1_GUN1 JCTPRT1
X0034.1 X0099.5
B
DI_274_S DI_798_R
W1GUN2 EADY
F1000.3
C
PAUSED
Y0035.3
D
DO_284_R
JCTPRT1
N00496 K0011.6 K0011.7 X0034.0 X0099.0 Y0035.4

E 2287 SKIP REMAINING STUDS
STUDENAB STUDSKPR DI_273_S DO_285_S
LESS1 EMSTDPB1 W1_GUN1 KPREMST1
X0034.1 X0099.5
F
DI_274_S DI_798_R
W1GUN2 EADY
F1000.3
G
PAUSED
Y0035.4
H
DO_285_S
KPREMST1
N00497 K0011.6 K0012.1 F1000.3 Y0126.5

I 2298 STUD MANUAL WELD
STUDENAB STUDMANU PAUSED DO1014_M
LESS1 ALPB1 ANWELD
Y0126.5
J
DO1014_M
ANWELD
N00498 K0011.6 K0013.2 X0034.0 X0099.0 Y0035.2

K 2304 STUD REJECT PART, DONT RECALL
STUDENAB REJECTNO DI_273_S DO_283_N
LESS1 PGRECLL1 W1_GUN1 ORECALP1
X0034.1 X0099.5
L
DI_274_S DI_798_R
W1GUN2 EADY
F1000.3
M
PAUSED
Y0035.2
N
DO_283_N
ORECALP1
O
N00499 K0011.6 K0012.2 X0034.0 Y0099.0 Y0101.2

A 2315
STUDENAB STUDFAUL DI_273_S
LESS1 TRSTPB1 W1_GUN1
X0034.1 Y0099.1
B
DI_274_S DO_794_S
W1GUN2 TRTSEQ
F1000.3
C
PAUSED
Y0101.2
D
N00500 Y0035.3 Y0101.3

E 2326
DO_284_R
JCTPRT1
Y0035.4 Y0101.1
F
DO_285_S
KPREMST1
Y0126.5
G
DO1014_M
ANWELD
Y0035.2
H
DO_283_N
ORECALP1
Y0101.2
I
N00501 X0034.0 R0214.3

J 2333 STUD GUN WC 1 SELECTED
DI_273_S DI_907_S
W1_GUN1 TDGUN1SL
X0034.1
K
DI_274_S
W1GUN2
N00502 X0099.2 X0034.0 R0214.1

L 2336 STUD HEAD BACK WC 1
DI_795_I DI_273_S DI_905_S
NTORQSEQ W1_GUN1 TDHDBCK1
X0099.7 X0034.1
M
DI_274_S
W1GUN2
N00503 Y0035.2 Y0126.4

N 2342 S STUD ABORT FLAG
DO_283_N DO1013_S
ORECALP1 TUDABORT
N00504 Y0126.4 F1000.6 F1000.3 F1000.2 Y0126.4

O 2344 R STUD ABORT FLAG
DO1013_S AT_HOME PAUSED PROGRAM_ DO1013_S
TUDABORT RUNNING TUDABORT
N00505 K0012.0 D0612.0 K0012.0

A 2349 STUD REJECT PB 1
STUDREJE ALL_IF_P STUDREJE
CTPB1 B_TO CTPB1
N00506 K0011.7 D0612.0 K0011.7

B 2352 STUD SKIP REMAINING STUDS PB 1
STUDSKPR ALL_IF_P STUDSKPR
EMSTDPB1 B_TO EMSTDPB1
N00507 K0012.1 D0612.0 K0012.1

C 2355 STUD MANUAL PB 1
STUDMANU ALL_IF_P STUDMANU
ALPB1 B_TO ALPB1
N00508 K0013.2 D0612.0 K0013.2

D 2358 REJECT - NO PG RECALL1
REJECTNO ALL_IF_P REJECTNO
PGRECLL1 B_TO PGRECLL1
N00509 K0012.2 D0612.0 K0012.2

E 2361 STUD WELD FAULT RESET PB 1
STUDFAUL ALL_IF_P STUDFAUL
TRSTPB1 B_TO TRSTPB1
N00510 X1025.1 Y0000.5 R0224.7

F 2364 STUD MOVE OUT OF MAINTENANCE
FAULT___ DO_6_RBT DI1024_S
RESET _@_MAINT TUDOMAIN
Y0073.2
G
DO587_@M
INMAINT
N00511
H 2369 SUB72
SPE
N00512 ### NUTRUNNER ###

I 2370 SUB71 P0026
SP NUTRUNNER
N00513 X0099.1 Y0057.0

J 2372
DI_794_T DO_457_T
ORQUEOK ORQOK
N00514 X0099.2 Y0057.1

K 2374
DI_795_I DO_458_I
NTORQSEQ NTORSEQ
N00515 X0099.4 Y0057.5

L 2376
DI_797_C DO_462_N
OMMOK RCOMMOK
N00516 Y0099.1 Y0056.5

M 2378
DO_794_S DO_454_S
TRTSEQ TTRQSEQ
N00517 X0103.0 X0103.1 X0103.2 X0103.3 X0103.4 X0103.5 X0103.6 1

N 2380
DI_825_T DI_826_T DI_827_T DI_828_T DI_829_T DI_830_T DI_831_T
1 X0103.7 R0300.0
O
DI_832_T TORQUENO
RQNOKS8 K1-9
N00518 X0104.0 X0104.1 X0104.2 X0104.3 X0104.4 X0104.5 X0104.6 1

A 2389
1 X0104.7 R0300.1
B
DI_840_T TORQUENO
RQNOKS16 K9-16
N00519 X0105.0 X0105.1 X0105.2 X0105.3 X0105.4 X0105.5 X0105.6 1

C 2398
1 X0105.7 R0300.2
D
DI_848_T TORQUENO
RQNOKS24 K17-24
N00520 X0106.0 X0106.1 X0106.2 X0106.3 X0106.4 X0106.5 X0106.6 1

E 2407
1 X0106.7 R0300.3
F
DI_856_T TORQUENO
RQNOKS32 K25-32
N00521 R0300.0 Y0057.4

G 2416
TORQUENO DO_461_T
K1-9 ORQNOK
R0300.1
H
TORQUENO
K9-16
R0300.2
I
TORQUENO
K17-24
R0300.3
J
TORQUENO
K25-32
N00522 F1000.1 Y0099.3

K 2421 RUN ENABLE
SYSTEM__ DO_796_R
READY UNENBL
N00523 X0099.5 Y0057.3

L 2423
DI_798_R DO_460_N
EADY UTRUNFLT
N00524 Y0099.1 K0015.5 X0099.2 X0099.5 Y0099.1

M 2425 START SEQUENCE
DO_794_S START_RE DI_795_I DI_798_R DO_794_S
TRTSEQ SET_PB NTORQSEQ EADY TRTSEQ
K0015.5
N
START_RE
SET_PB
N00525 K0015.5 D0612.0 X0099.2 K0015.5

O 2431 NUT RUNNER START RESET PB
START_RE ALL_IF_P DI_795_I START_RE
SET_PB B_TO NTORQSEQ SET_PB
N00526 K0016.3 D0612.0 K0016.3

A 2435 NUT RUNNER RETRY PB
NUTRUNN_ ALL_IF_P NUTRUNN_
RETRY_PB B_TO RETRY_PB
N00527 K0016.3 R0215.1

B 2438 NUTRUNNER RETRY
NUTRUNN_ DI_913_N
RETRY_PB TRUNRTY
N00528 X0103.0 Y0074.0

C 2440 TORQUE NOT OK SPINDLE#1
DI_825_T DO_593_T
RQNOKS1 RQNOK1
N00529 X0103.1 Y0074.1

D 2442 TORQUE NOT OK SPINDLE#2
DI_826_T DO_594_T
RQNOKS2 RQNOK2
N00530 X0103.2 Y0074.2

E 2444 TORQUE NOT OK SPINDLE#3
DI_827_T DO_595_T
RQNOKS3 RQNOK3
N00531 X0103.3 Y0074.3

F 2446 TORQUE NOT OK SPINDLE#4
DI_828_T DO_596_T
RQNOKS4 RQNOK4
N00532 X0074.4 Y0103.0

G 2448 BYPASS SPINDLE 1 (WITH OK)
DI_597_S DO_825_B
PIN_BYP1 YP_SPIN1
N00533 X0074.5 Y0103.1

H 2450 BYPASS SPINDLE 2 (WITH OK)
DI_598_S DO_826_B
PIN_BYP2 YP_SPIN2
N00534 X0074.6 Y0103.2

I 2452 BYPASS SPINDLE 3 (WITH OK)
DI_599_S DO_827_B
PIN_BYP3 YP_SPIN3
N00535 X0074.7 Y0103.3

J 2454 BYPASS SPINDLE 4 (WITH OK)
DI_600_S DO_828_B
PIN_BYP4 YP_SPIN4
N00536
K 2456 SUB72
SPE
O
7 NutRunner and Vision PMC Logic (S-Logic) for R-30iA
Controllers

[FORD_NEXTGEN_ENETSafe_MH_NUTRUNNER_VISION_2014_08_15]
Ladder Diagram 1
N00001 R0000.0 R0000.0

A 1 ALWAYS ON
ALWAYS ALWAYS
ON ON
R0000.0
B
ALWAYS
ON
N00002 R0000.0 G1000.0

C 4 IMMEDIATE STOP
ALWAYS IMSTP
ON
N00003 X0000.0 R0100.5 G1000.1

D 6 *HOLD
DI 1 EXT BREAK A *HOLD
RNENBL NO HOLD
N00004 X1026.4 R0100.5

SI12 HOL BREAK A
DSW NO HOLD
N00005 X1026.5 R0100.5

SI13 RES BREAK A
ETSW NO HOLD
X1026.4 X1025.6
G
SI12 HOL CYCLE
DSW START
X0000.1 X1026.4
H
DI 2 EX SI12 HOL
RNEN RST DSW
N00006 R0000.0 G1000.2

I 19 SAFE SPEED
ALWAYS SFSPD
ON
N00007 X1000.3 G1000.3

J 21
O
Ladder Diagram 2
N00008 X1025.1 G1000.4

A 23 FAULT RESET
FAULT RB FAULT
RESET RESET
X0000.1 X0001.2
B
DI 2 EX DI 11
RNEN RST PLC AUTO
X1026.5
C
SI13 RES
ETSW
X0000.3
D
DI 4 EXT
CY STRT
X0000.2
E
DI 3 EXT
MTR ON
Y0119.6
F
DO 959 F
LT RESET
N00009 X1000.6 G1000.6

G 32 GO HOME
HOME
N00010 R0000.0 G1000.7

H 34 ENABLE
ALWAYS ENABLE
ON
N00011 F1000.0 Y1000.0

I 36
COMMAND
ENABLE
N00012 F1000.1 Y1000.1

J 38
SYSTEM
READY
Y1025.5
K MOTORS ENABLE
MOTORS
ENABLE
N00013 F1000.2 Y1000.2

L 41
PROGRAM
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

N 45
HELD
Y0000.0
DO 1 RUN
ENB ACK
Ladder Diagram 3
N00016 F1000.5 ACT R0338.0

FAULT TMR INT FLT
DELAY
N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

B 52
FAULT RB FAULT FILTERED INT FLT
RESET FAULT DELAY
Y0120.2 Y0000.4
DO 963 DO 5 RBT
PRG FLT CNT FLT
Y0001.6
D
DO 15 CO
LL DTCT
N00018 F1000.6 Y1000.6

E 60
AT HOME
Y0000.1
F ROBOT AT HOME
DO 2 RBT
@ HOME
N00019 F1000.7 Y1000.7

G 63
TPENABLE
Y0119.7 Y0000.3
H ROBOT IN TEACH
DO 960 DO 4 RBT
AUTO KEY IN TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

I 67
1 R1402.7 R1405.0
J S
ECO24 FACILITY
FC128 CODE 11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

K 76
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

L
2 R1401.7 R1405.1
M
ECO16 ERROR 4
N00022 R1405.0 R1405.1 G1000.4 R1405.2

N 91 FENCE FAULT
FACILITY ERROR 4 RB FAULT FENCE
CODE 11 RESET FAULT
R1405.2
O
FENCE
FAULT
Ladder Diagram 4
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

INT EXT FAULT BRK PWR COMMAND SYSTEM PWR FAIL
MTR ON FL RCVRY ENABLE READY RECVRY
R0000.2
B
INT EXT
CYC STRT
K0010.3
C
PWR FAIL
RECVRY
N00024 K0010.3 ACT R1466.0

PWR FAIL TMR BRK PWR
RECVRY FL RCVRY
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

E 108
DO 4 RBT COMMAND DO 5 RBT INT EXT INT EXT SYSTEM STEP
IN TCH ENABLE CNT FLT MTR ON CYC STRT READY
R1404.5 Y0000.2
F
DRP AUTO DO 3 RBT
FAULT IN AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

TP FANUC FENCE TEACH DO 15 CO DO 3 RBT
E-STOP E-STOP FAULT MEMORY LL DTCT IN AUTO
N00026 Y0119.5 Y0072.4

DO 958 I DO 581 I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

FC AVAIL APPL FC ZERO FAULT RB FAULT DRP AUTO
ALARMS RESET FAULT
N00028 F1000.5 R1404.5

FAULT DRP AUTO
FAULT
G1000.4
K
RB FAULT
RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

L 136
FAULT ECO33 ECO FC AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 140
1 R1402.6 R1402.7 R1404.3

N S
ECO23 ECO24 SPOT
FC64 FC128 ALARM
O
Ladder Diagram 5
N00031 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 150
1 R1402.6 R1402.7 R0330.0

B S
ECO23 ECO24 ARC
FC64 FC128 ALARM
N00032 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

C 160
1 R1402.6 R1402.7 R0330.1

D S
ECO23 ECO24 SEALER
FC64 FC128 ALARM
N00033 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 170
1 R1402.6 R1402.7 R0330.2

F S
ECO23 ECO24 SERVOGUN
FC64 FC128 ALARM
N00034 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

G 180
1 R1402.6 R1402.7 R0330.3

H S
ECO23 ECO24 TOOLCHNG
FC64 FC128 ALARM
N00035 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

I 190
1 R1402.6 R1402.7 R0330.4

J S
ECO23 ECO24 SYSTEM
FC64 FC128 ALARM
N00036 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

K 200
1 R1402.6 R1402.7 R1406.0

L S
ECO23 ECO24 FACILITY
FC64 FC128 CODE 15
N00037 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 210
1 R1402.6 R1402.7 R1404.2

N
ECO23 ECO24 FC ZERO
FC64 FC128
O
Ladder Diagram 6
N00038 R1404.1 ACT R1404.3

A 220 SUB57 0001 R
ECO DIFU SPOT
RETRIEVE ALARM
R0330.0
B R
ARC
ALARM
R0330.1
C R
SEALER
ALARM
R0330.2
D R
SERVOGUN
ALARM
R0330.3
E R
TOOLCHNG
ALARM
R0330.4
F R
SYSTEM
ALARM
R1405.0
G R
FACILITY
CODE 11
R1406.0
H R
FACILITY
CODE 15
N00039 R1404.4 ACT R1404.6

I 231 SUB 3 0006
FC AVAIL TMR RETRIEVE
DELAY
N00040 R1404.6 R1404.1

J 235 S
RETRIEVE ECO
DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

K 237 SUB 3 0007 R
ECO TMR ECO
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

FC AVAIL SPOT FC ZERO FAULT DO 126 W
ALARM LD FLT 1
N00043 X0083.1 Y0015.5

DI 666 T DO 126 W
ORQUEOK LD FLT 1
N00044 K0010.1 K0010.0 R0000.1

N 248
EXT MTR TEACH INT EXT
ON MEMORY MTR ON
O
Ladder Diagram 7
N00045 X0000.2 K0010.0 K0010.5 K0010.1

DI 3 EXT TEACH MAINT ME EXT MTR
MTR ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

B
ETSW CNT FLT
X1025.1
C
FAULT
RESET
X0000.1 X0001.2
D
DI 2 EX DI 11
RNEN RST PLC AUTO
K0010.3
E
PWR FAIL
RECVRY
N00046 Y0000.2 Y0000.4 G1000.4 K0010.1

DO 3 RBT DO 5 RBT RB FAULT EXT MTR
IN AUTO CNT FLT RESET ON
N00047 K0010.2 K0010.0 K0010.5 R0000.2

G 268
EXT CYC TEACH MAINT ME INT EXT
START MEMORY M CYC STRT
N00048 X0000.3 K0010.0 K0010.2

DI 4 EXT TEACH EXT CYC
CY STRT MEMORY START
X1026.5 Y0000.4 F1000.5

I
ETSW CNT FLT
X1025.1
J
FAULT
RESET
X0000.1 X0001.2
K
DI 2 EX DI 11
RNEN RST PLC AUTO
K0010.3
L
PWR FAIL
RECVRY
R0340.0
M
MANUAL
WELD
N00049 Y0000.2 Y0000.4 G1000.4 K0010.2

DO 3 RBT DO 5 RBT RB FAULT EXT CYC
IN AUTO CNT FLT RESET START
O
Ladder Diagram 8
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 289
1 X0002.7 R0507.0
B PROGRAM 1
DI 24 PG PROGRAM
SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 298
1 X0002.7 R0507.1
D PROGRAM 2
DI 24 PG PROGRAM
SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 307
1 X0002.7 R0507.2
F PROGRAM 3
DI 24 PG PROGRAM
SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 316
1 X0002.7 R0507.3
H PROGRAM 4
DI 24 PG PROGRAM
SLCT128 4
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 325
1 X0002.7 R0507.4
J PROGRAM 5
DI 24 PG PROGRAM
SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 334
1 X0002.7 R0507.5
L PROGRAM 6
DI 24 PG PROGRAM
SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 343
1 X0002.7 R0507.6
N PROGRAM 7
DI 24 PG PROGRAM
SLCT128 7
O
Ladder Diagram 9
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 352
1 X0002.7 R0507.7
B PROGRAM 8
DI 24 PG PROGRAM
SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 361
1 X0002.7 R0508.0
D PROGRAM 9
DI 24 PG PROGRAM
SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 370
1 X0002.7 R0508.1
F PROGRAM 10
DI 24 PG PROGRAM
SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 379
1 X0002.7 R0508.2
H PROGRAM 11
DI 24 PG PROGRAM
SLCT128 11
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 388
1 X0002.7 R0508.3
J PROGRAM 12
DI 24 PG PROGRAM
SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 397
1 X0002.7 R0508.4
L PROGRAM 13
DI 24 PG PROGRAM
SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 406
1 X0002.7 R0508.5
N PROGRAM 14
DI 24 PG PROGRAM
SLCT128 14
O
Ladder Diagram 10
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 415
1 X0002.7 R0508.6
B PROGRAM 15
DI 24 PG PROGRAM
SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 424
1 X0002.7 R0508.7
D PROGRAM 16
DI 24 PG PROGRAM
SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 433
1 X0002.7 R0509.0
F PROGRAM 17
DI 24 PG PROGRAM
SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 442
1 X0002.7 R0509.1
H PROGRAM 18
DI 24 PG PROGRAM
SLCT128 18
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 451
1 X0002.7 R0509.2
J PROGRAM 19
DI 24 PG PROGRAM
SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 460
1 X0002.7 R0509.3
L PROGRAM 20
DI 24 PG PROGRAM
SLCT128 20
O
Ladder Diagram 11
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 469
DI 5 MV DO 3 RBT PROGRAM PAUSED AT HOME DI 11 *HOLD
TO POUNC IN AUTO RUNNING PLC AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

B
DO 3 RBT PAUSED PROGRAM DI 11
IN AUTO RUNNING PLC AUTO
F1000.6 R0507.0 F1000.2 F1000.3

C
AT HOME PROGRAM PROGRAM PAUSED
1 RUNNING
R0507.1
D
PROGRAM
2
R0507.2
E
PROGRAM
3
R0507.3
F
PROGRAM
4
R0507.4
G
PROGRAM
5
R0507.5
H
PROGRAM
6
R0507.6
I
PROGRAM
7
R0507.7
J
PROGRAM
8
R0508.0
K
PROGRAM
9
R0508.1
L
PROGRAM
10
R0508.2
M
PROGRAM
11
R0508.3
N
PROGRAM
12
R0508.4
O
PROGRAM
13
Ladder Diagram 12
R0508.5
A
PROGRAM
14
R0508.6
B
PROGRAM
15
R0508.7
C
PROGRAM
16
R0509.0
D
PROGRAM
17
R0509.1
E
PROGRAM
18
R0509.2
F
PROGRAM
19
R0509.3
G
PROGRAM
20
Y0000.2 F1000.3 F1000.2 X0000.1 X0001.2

H
DO 3 RBT PAUSED PROGRAM DI 2 EX DI 11
IN AUTO RUNNING RNEN RST PLC AUTO
X1025.6
I
CYCLE
START
1 R0000.1 D0603.0 Y0000.4 R0100.5 F1000.5 G1000.5

J UOP CYCLE START
INT EXT CYCLE DO 5 RBT BREAK A FAULT UOP CYC
MTR ON STRT DLY CNT FLT NO HOLD START
N00071 G1000.5 F1000.2 ACT D0603.0

UOP CYC PROGRAM TMR CYCLE
START RUNNING STRT DLY
N00072 D0603.0 ACT D0603.0

CYCLE TMR CYCLE
STRT DLY STRT DLY
N00073 F1000.2 D0603.0

PROGRAM CYCLE
RUNNING STRT DLY
N00074
N 531 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

DO 960 TMR TEACH ME
AUTO KEY M DELAY
Ladder Diagram 13
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 536 TEACH MEMORY
DO 4 RBT SI13 RES FAULT CYCLE TEACH
IN TCH ETSW RESET START MEMORY
K0010.4
B
TEACH ME
M DELAY
K0010.0
C
TEACH
MEMORY
N00077 K0008.0 R0350.0

AUTO/MAI IN MAINT
NT SS
N00078 R0350.0 ACT D0610.0

IN MAINT TMR MAINT
DELAY
N00079 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

MAINT DO 3 RBT DO 2 RBT SI13 RES FAULT MAINT ME
DELAY IN AUTO @ HOME ETSW RESET M
K0010.5 X0000.6
G
MAINT ME DI 7 MAI
M NT PSCLR
N00080 X0000.2 X0000.3 Y0000.2 K0010.6

DI 3 EXT DI 4 EXT DO 3 RBT EXT STRT
MTR ON CY STRT IN AUTO ANTI TD
K0010.6
I
EXT STRT
ANTI TD
N00081 X0002.0 G1001.0

J 563
DI 17 PG PNS 1
SLCT 1
N00082 X0002.1 G1001.1

K 565
DI 18 PG PNS 2
SLCT 2
N00083 X0002.2 G1001.2

L 567
DI 19 PG PNS 3
SLCT 4
N00084 X0002.3 G1001.3

M 569
DI 20 PG PNS 4
SLCT 8
N00085 X0002.4 G1001.4

N 571
DI 21 PG PNS 5
SLCT 16
N00086 X0002.5 G1001.5

O 573
DI 22 PG PNS 6
SLCT 32
Ladder Diagram 14
N00087 X0002.6 G1001.6

A 575
DI 23 PG PNS 7
SLCT 64
N00088 X0002.7 G1001.7

B 577
DI 24 PG PNS 8
SLCT128
N00089 X0000.6 K0008.0 Y0120.5

DI 7 MAI AUTO/MAI DO 966 M
NT PSCLR NT SS ANTP CLR
N00090 K0008.0 Y0001.4

AUTO/MAI DO 13 SN
NT SS DRBT MNT
N00091 Y0112.3 Y0003.0

DO 900 DO 25 CL
CLR ZN 1 R ZON 1
N00092 Y0112.4 Y0003.1

DO 901 DO 26 CL
CLR ZN 2 R ZON 2
N00093 Y0112.5 Y0003.2

DO 902 DO 27 CL
CLR ZN 3 R ZON 3
N00094 Y0112.6 Y0003.3

DO 903 DO 28 CL
CLR ZN 4 R ZON 4
N00095 Y0112.7 Y0003.4

DO 904 DO 29 CL
CLR ZN 5 R ZON 5
N00096 Y0113.0 Y0003.5

DO 905 DO 30 CL
CLR ZN 6 R ZON 6
N00097 Y0113.1 Y0003.6

DO 906 DO 31 CL
CLR ZN 7 R ZON 7
N00098 Y0113.2 Y0003.7

DO 907 DO 32 CL
CLR ZN 8 R ZON 8
N00099 Y0113.3 Y0004.0

DO 908 DO 33 CL
CLR ZN 9 R ZON 9
N00100 Y0113.4 Y0004.1

DO 909 C DO 34 CL
LR ZN 10 R ZON 10
N00101 Y0113.5 Y0004.2

DO 910 C DO 35 CL
LR ZN 11 R ZON 11
Ladder Diagram 15
N00102 Y0113.6 Y0004.3

DO 911 C DO 36 CL
LR ZN 12 R ZON 12
N00103 Y0113.7 Y0004.4

DO 912 C DO 37 CL
LR ZN 13 R ZON 13
N00104 Y0116.4 Y0004.5

DO 933 C DO 38 CL
LR ZN 14 R ZON 14
N00105 Y0118.7 Y0004.6

DO952 CL DO 39 CL
RMOTZN1 R INDMOT
N00106 Y0119.0 Y0004.7

DO953 CL DO 40 CL
RMOTZN2 R INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

LRAV XFR RNENBL ADV
N00108 Y0119.2 X0000.0 Y0000.7

LRET XFR RNENBL RET XFR
N00109 Y0119.3 X0000.0 Y0001.0

LR UNCLP RNENBL 2 UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 625 PROMPT BOX
DO 4 RBT DO 19001 DO 585
IN TCH PRPTBX PRMPT BX
N00111 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

J 628
1 R1402.7 R1405.3
ECO24 SYS FCLY
FC128 CODE
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 637
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R0365.0

O
Ladder Diagram 16
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 655
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0366.0

N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 673
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0367.0

N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 691
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0368.0

N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 709
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.0

N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 727
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.1

Ladder Diagram 17
N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 745
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.3

N00119 R1406.3 X1025.1 Y0001.6

SRVO-50 FAULT DO 15 CO
RESET LL DTCT
Y0001.6
E
DO 15 CO
LL DTCT
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 767
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

G
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.2

LOW BATT
N00121 F1001.0 Y0001.1

BATALM DO 10 RB
T BAT LW
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 787
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0371.0

N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 805
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.1

NCE EXCE
Ladder Diagram 18
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 823
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0373.0

CONTROL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 841
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0374.0

NTED IN
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 859
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0375.0

TP OFF
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 877
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0376.0

SVOFF I
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 895
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.0

OPSFT11
Ladder Diagram 19
N00129 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 913
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.1

OPSFT12
N00130 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 931
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.2

OPSFT21
N00131 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 949
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.3

I SRVO-381 OPSFTY22 STATUS ABNOR
OPSFT22
N00132 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 967
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.4

L SRVO-382 OPSFTY31 STATUS ABNOR
OPSFT31
N00133 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 985
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.5

OPSFT32
Ladder Diagram 20
N00134 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1003
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.6

OPSFT41
N00135 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1021
CODE 11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.7

OPSFT42
N00136 R0387.0 R0388.0

G 1039 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 OPSFTY F
OPSFT11 LT LATCH
R0387.1
H
SRVO-379
OPSFT12
R0387.2
I
SRVO-380
OPSFT21
R0387.3
J
SRVO-381
OPSFT22
R0387.4
K
SRVO-382
OPSFT31
R0387.5
L
SRVO-383
OPSFT32
R0387.6
M
SRVO-384
OPSFT41
R0387.7
N
SRVO-385
OPSFT42
R0388.0 F1000.5
O
OPSFTY F FAULT
LT LATCH
Ladder Diagram 21
N00137 R0388.0 Y0073.1

A 1051 SAFETY CHAIN FAULT
OPSFTY F DO 586 S
LT LATCH FTY CHN
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

B 1053
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

C
2 R1401.4 R1401.5 R1401.6 R1401.7 R0377.0

D SYST-034 HOLD SIGNAL FROM SOP/
HOLD SI
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

E 1071
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

F
2 R1401.4 R1401.5 R1401.6 R1401.7 R0378.0

G SYST-038 OPERATION MODE T1 SEL
OPERATI
N00140 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

H 1089
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

I
2 R1401.4 R1401.5 R1401.6 R1401.7 R0379.0

J
N00141 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

K 1107
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

L
2 R1401.4 R1401.5 R1401.6 R1401.7 R0380.0

M SYST-040 OPERATION MODE AUTO S
OPERATI
O
Ladder Diagram 22
N00142 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 1125
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0381.0

C SYST-042 DEADMAN DEFEATED
DEADMAN
N00143 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 1143
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0382.0

F SYST-043 TP DISABLE IN T1/T2
TP DISA
N00144 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1161
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0383.0

I SYST-045 TP ENABLE IN AUTO MO
TP ENAB
N00145 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1179
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0384.0

L SYST-154 NO START IN ISOLATE/B
NO STAR
N00146 R0397.0 F1000.0 R0397.0

M 1197 FILTERED FAULT
FILTERED COMMAND FILTERED
FAULT ENABLE FAULT
R0398.0
N
FILTER
FLT GRP1
R0399.0
O
FILTER
FLT GRP2
Ladder Diagram 23
N00147 R0365.0 R0398.0

SRVO-001 FILTER
FLT GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0
RESERVED
R0373.0
I
SRVO-199
CONTROL
R0374.0
J
SRVO-232
NTED IN
R0375.0
K
SRVO-233
TP OFF
R0376.0
L
SRVO-280
SVOFF I
R0370.1
M
SRVO-408
R1456.0
N
APPL
ALARMS
O
Ladder Diagram 24
N00148 R0377.0 R0399.0

SYST-034 FILTER
HOLD SI FLT GRP2
R0378.0
B
SYST-038
OPERATI
R0379.0
C
SYST-039
R0380.0
D
SYST-040
OPERATI
R0381.0
E
SYST-042
DEADMAN
R0382.0
F
SYST-043
TP DISA
R0383.0
G
SYST-045
TP ENAB
R0384.0
H
SYST-154
NO STAR
X1025.0
I
FANUC
E-STOP
F1008.2
J
TP
E-STOP
X1026.1
K
SI9
AUTOMDSW
Y0000.3
L
DO 4 RBT
IN TCH
K0010.0
M
TEACH
MEMORY
R1405.2
N
FENCE
FAULT
O
Ladder Diagram 25
N00149 R0330.0 F1000.5 R1456.0

A 1232
ARC FAULT APPL
ALARM ALARMS
R0330.1
B
SEALER
ALARM
R0330.2
C
SERVOGUN
ALARM
R0330.3
D
TOOLCHNG
ALARM
R0330.4
E
SYSTEM
ALARM
R1404.3
F
SPOT
ALARM
R1456.0
G
APPL
ALARMS
N00150 D0001.0 ACT

H 1241 SUB10 0000
TOOL CHA JMP
NGE APP
N00151
I 1244 SUB66 P0001
CALLU TOOL CHANGING
N00152
J 1246 SUB30
JMPE
N00153
K 1247 SUB66 P0004
CALLU AIR SWITCH
N00154
L 1249 SUB66 P0006
CALLU UALM
N00155
M 1251 SUB66 P0007
CALLU INTERFACE
N00156
N 1253 SUB66 P0008
CALLU MH
N00157
O 1255 SUB66 P0009
CALLU APPLICATION
Ladder Diagram 26
N00158
A 1257 SUB66 P0024
CALLU VISION
N00159
B 1259 SUB66 P0026
CALLU NUTRUNNER
N00160
C 1261 SUB 2
END2
N00161 ### P0001 ###

D 1262 SUB71 P0001
SP TOOL CHANGING
N00162 X0080.0 R0347.0

E 1264 GUN ID NOT 0
DI 641 GUN ID
TOOL ID1 NOT 0
X0080.1
F
DI 642
TOOL ID2
X0080.2
G
DI 643
TOOL ID4
X0080.3
H
DI 644
TOOL ID8
N00163 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

I 1269
DI 641 DI 642 DI 643 DI 644 GUN 1 ON
N00164 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

J 1274
DI 641 DI 642 DI 643 DI 644 GUN 2 ON
N00165 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

K 1279
DI 641 DI 642 DI 643 DI 644 GUN 3 ON
N00166 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

L 1284
DI 641 DI 642 DI 643 DI 644 GUN 4 ON
N00167 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

M 1289
DI 641 DI 642 DI 643 DI 644 GUN 5 ON
N00168 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

N 1294
DI 641 DI 642 DI 643 DI 644 GUN 6 ON
N00169 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

O 1299
DI 641 DI 642 DI 643 DI 644 GUN 7 ON
Ladder Diagram 27
N00170 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

A 1304
DI 641 DI 642 DI 643 DI 644 GUN 8 ON
N00171 R0321.0 R0328.6

B 1309 TOOL ON ROBOT
GUN 1 ON TOOLONRO
ARM BOT
R0322.0
C
GUN 2 ON
ARM
R0323.0
D
GUN 3 ON
ARM
R0324.0
E
GUN 4 ON
ARM
R0325.0
F
GUN 5 ON
ARM
R0326.0
G
GUN 6 ON
ARM
R0326.1
H
GUN 7 ON
ARM
R0326.2
I
GUN 8 ON
ARM
N00172 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

J 1318
GUN 1 ON GUN 2 ON GUN 3 ON GUN 4 ON GUN 5 ON GUN 6 ON GUN 7 ON
ARM ARM ARM ARM ARM ARM ARM
1 R0326.2 R0348.0
K ANY GEO TOOL PRESENT ON ROBOT
GUN 8 ON GEOTOOLP
ARM RSNT
N00173 X0080.0 Y0038.0

L 1327
DI 641 DO 305
TOOL ID1 TOOL ID1
N00174 X0080.1 Y0038.1

M 1329
DI 642 DO 306
TOOL ID2 TOOL ID2
N00175 X0080.2 Y0038.2

N 1331
DI 643 DO 307
TOOL ID4 TOOL ID4
N00176 X0080.3 Y0038.3

O 1333
DI 644 DO 308
TOOL ID8 TOOL ID8
Ladder Diagram 28
N00177 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

A 1335
DI 305 DI 306 DI 307 DI 308 DI 309 DI 310 DI 311
1 X0038.7 R0327.0
DI 312 GUN 1-8
TCSTND8
N00178 Y0117.4 K0011.1

DO 941 TC
TC UNLCK RELEASED
N00179 Y0117.3 X0079.4 X0079.5 R0328.6 Y0079.0

DO 940 DI 637 DI 638 TOOLONRO DO 633 T
TC LOCK RDY2LCK1 RDY2LCK2 BOT C LOCK
R0328.6
E
TOOLONRO
BOT
N00180 X0079.0 Y0040.6

F 1353
DI 633 DO 327 T
TC LOCKD CCOUPMON
N00181 Y0117.4 Y0117.3 Y0079.0

G 1355 R TOOL CHANGER LOCK
DO 941 DO 940 DO 633 T
TC UNLCK TC LOCK C LOCK
N00182 K0011.1 Y0079.0 X0080.4 X0080.5 R0328.6 Y0079.1

TC DO 633 T DI 645 T DI 646 T TOOLONRO DO 634 T
RELEASED C LOCK SIV SRV BOT C UNLOCK
R0328.6
I
TOOLONRO
BOT
N00183 X0079.1 Y0040.7

J 1366
DI 634 DO 328 T
TC ULCKD CRELMON
N00184 R0328.6 K0008.0 R0218.4

TOOLONRO AUTO/MAI DI 940 T
BOT NT SS C NOTOOL
N00185 Y0117.5 Y0117.6 Y0000.2 Y0038.5

DO 942 DO 943 DO 3 RBT DO 310 T
TCOPNCVR TCCLSCVR IN AUTO C OPNCVR
K0011.4 K0011.5 Y0000.3

M
TC OPENG TC CLOS DO 4 RBT
UNCOVER GUNCOVER IN TCH
N00186 Y0117.5 Y0117.6 Y0000.2 Y0038.6

DO 942 DO 943 DO 3 RBT DO 311 T
TCOPNCVR TCCLSCVR IN AUTO C CLSCVR
K0011.5 K0011.4 Y0000.3

O
TC CLOS TC OPENG DO 4 RBT
GUNCOVER UNCOVER IN TCH
Ladder Diagram 29
N00187 X0038.0 R0321.0 R0329.0

TCSTND1 ARM ITION
X0038.0 X0039.3
B
DI 305 DI 316 G
TCSTND1 EOTPDCK
N00188 X0038.1 R0322.0 R0329.1

TCSTND2 ARM ITION
X0038.1 X0039.3
D
DI 306 DI 316 G
TCSTND2 EOTPDCK
N00189 X0038.2 R0323.0 R0329.2

TCSTND3 ARM ITION
X0038.2 X0039.3
F
DI 307 DI 316 G
TCSTND3 EOTPDCK
N00190 X0038.3 R0324.0 R0329.3

TCSTND4 ARM ITION
X0038.3 X0039.3
H
DI 308 DI 316 G
TCSTND4 EOTPDCK
N00191 X0038.4 R0325.0 R0329.4

TCSTND5 ARM ITION
X0038.4 X0039.3
J
DI 309 DI 316 G
TCSTND5 EOTPDCK
N00192 X0038.5 R0326.0 R0329.5

TCSTND6 ARM ITION
X0038.5 X0039.3
L
DI 310 DI 316 G
TCSTND6 EOTPDCK
N00193 X0038.6 R0326.1 R0329.6

TCSTND7 ARM ITION
X0038.6 X0039.3
N
DI 311 DI 316 G
TCSTND7 EOTPDCK
O
Ladder Diagram 30
N00194 X0038.7 R0326.2 R0329.7

TCSTND8 ARM ITION
X0038.7 X0039.3
B
DI 312 DI 316 G
TCSTND8 EOTPDCK
N00195 R0329.0 R0328.7

GUN1 POS GUN1-8 P
ITION OSITION
R0329.1
D
GUN2 POS
ITION
R0329.2
E
GUN3 POS
ITION
R0329.3
F
GUN4 POS
ITION
R0329.4
G
GUN5 POS
ITION
R0329.5
H
GUN6 POS
ITION
R0329.6
I
GUN7 POS
ITION
R0329.7
J
GUN8 POS
ITION
N00196 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1444
1 X0038.6 X0038.7 R0320.0

L TOOL 1 IN OPDOCK
N00197 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1454
1 X0038.6 X0038.7 R0320.1

N TOOL 2 IN OPDOCK
O
Ladder Diagram 31
N00198 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1464
1 X0038.6 X0038.7 R0320.2

B TOOL 3 IN OPDOCK
N00199 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1474
1 X0038.6 X0038.7 R0320.3

D TOOL 4 IN OPDOCK
N00200 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1484
1 X0038.6 X0038.7 R0320.4

F TOOL 5 IN OPDOCK
N00201 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1494
1 X0038.6 X0038.7 R0320.5

H TOOL 6 IN OPDOCK
N00202 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1504
1 X0038.6 X0038.7 R0320.6

J TOOL 7 IN OPDOCK
N00203 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1514
1 X0038.6 X0038.7 R0320.7

L TOOL 8 IN OPDOCK
O
Ladder Diagram 32
N00204 R0320.0 R0319.0

TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00205 X0082.6 Y0038.7

I 1533
DI 663 T DO 312 T
CCOMMOK CCOMMOK
N00206 X0082.7 Y0039.2

J 1535
DI 664 T DO 315 T
CTLSLDPW LSLIDPWR
N00207 X0079.4 X0079.5 G1008.4

K 1537 RTL1&L2SWITCHMISMATCH
DI 637 DI 638 UALM 5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI 637 DI 638
RDY2LCK1 RDY2LCK2
N00208 R0328.6 G1008.5

TOOLONRO UALM 6
BOT
N00209 K0013.1 R0000.7 Y0126.7

NOTOOLON PART PRE DO 1016
N00210 K0013.1 R0000.7 K0013.1

NOTOOLON PART PRE NOTOOLON
EOATSS SENT EOATSS
Ladder Diagram 33
N00211 Y0039.3 Y0039.3

DO 316 W DO 316 W
RNGTLSTD RNGTLSTD
N00212 Y0039.3 X1025.1 Y0000.1 Y0039.3

DO 316 W FAULT DO 2 RBT DO 316 W
RNGTLSTD RESET @ HOME RNGTLSTD
N00213
C 1557 SUB72
SPE
N00214 ### AIR SWITCH ###

D 1558 SUB71 P0004
SP AIR SWITCH
N00215 X1020.6 Y0001.5

RI 7 AIR DO 14 EO
FL SW A AIR ON
N00216
F 1562 SUB72
SPE
N00217 ### UALM ###

G 1563 SUB71 P0006
SP UALM
N00218 Y0120.2 X1025.1 Y0120.2

DO 963 FAULT DO 963
PRG FLT RESET PRG FLT
N00219 Y0120.2 G1008.0

DO 963 UALM1
PRG FLT
N00220 K0010.0 Y0119.7 Y0000.3 G1010.6

TEACH DO 960 DO 4 RBT UALM23
MEMORY AUTO KEY IN TCH
N00221 R0000.0 G1011.0

ALWAYS UALM 25
ON
N00222 R0000.0 G1011.1

ALWAYS UALM 26
ON
N00223 Y0002.7 G1011.4

DO 24 RB UALM 29
T LOOP
N00224 Y0039.3 G1009.7

DO 316 W UALM 16
RNGTLSTD
N00225
O 1582 SUB72
SPE
Ladder Diagram 34

A 1583 SUB71 P0007
SP INTERFACE
N00227 D0612.1 ACT D0612.0

MH IF PB TMR ALL IF P
TO B TO
D0612.2
C
SEAL IF
PB TO
D0612.3
D
STUD IF
PB TO
D0612.4
E
VISION I
F PB TO
D0612.5
F
NUTRUN I
F PB TO
O
Ladder Diagram 35
N00228 K0002.0 D0612.1

A 1593 MH IF PB TO
CLMP1CLS MH IF PB
TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
Ladder Diagram 36
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC 1 ON
PB
K0014.3
G
VAC 2 ON
PB
K0014.4
H
VAC 3 ON
PB
K0014.5
I
BLOWOFF
1 ON PB
K0014.6
J
BLOWOFF
2 ON PB
K0014.7
K
BLOWOFF
3 ON PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
Ladder Diagram 37
K0016.1
A
VAC 4 ON
PB
K0016.2
B
BLOWOFF
4 ON PB
N00229 K0009.4 D0612.2

MAN FLOW SEAL IF
PB1 PB TO
K0008.7
D
RESEAL P
B1
K0011.2
E
AUTO PUR
GE PB1
K0008.2
F
ACCEPTSE
ALER1 IF
K0008.3
G
REJECTSE
ALER1 IF
K0012.3
H
INSPECTI
ON PB 1
K0009.5
I
MAN FLOW
PB2
K0009.0
J
RESEAL P
B2
K0011.3
K
AUTO PUR
GE PB2
K0012.4
L
INSPECTI
ON PB 2
K0013.5
M
ACCEPTSE
ALER2 IF
K0013.6
N
REJECTSE
ALER2 IF
O
Ladder Diagram 38
N00230 K0011.7 D0612.3

STUDSKPR STUD IF
EMSTDPB1 PB TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
O
Ladder Diagram 39
N00231 K0001.4 D0612.4

A 1651 VISION IF PB TO
LOAD2AVE VISION I
RAGE F PB TO
K0001.5
B
ABORTPRO
CESS
K0001.6
C
CALIBREQ
UEST
K0001.7
D
RETRYOPE
RATION
K0001.0
E
LIGHTTES
TPB
N00232 K0015.5 D0612.5

F 1657 NUTRUNNER IF PB TO
START RE NUTRUN I
SET PB F PB TO
K0016.3
G
NUTRUNN
RETRY PB
N00233
H 1660 SUB72
SPE
N00234 ### MH ###

I 1661 SUB71 P0008
SP MH
N00235 Y0000.3 K0004.4 R1410.0

J 1663 MANUAL GRIP ENABLE
DO 4 RBT MAN GRP MAN GRP
IN TCH ENBLE SS ENABLE
N00236 R1410.0 ACT

K 1666 SUB10 0000
MAN GRP JMP
ENABLE
N00237 R0000.0 Y0114.0

L 1669 OPEN CLAMP 1
ALWAYS DO 913
ON OPNCLMP1
N00238 R0000.0 Y0114.1

M 1671 CLOSE CLAMP 1
ALWAYS DO 914
ON CLSCLMP1
N00239 R0000.0 Y0114.2

N 1673 OPEN CLAMP 2
ALWAYS DO 915
ON OPNCLMP2
N00240 R0000.0 Y0114.3

ALWAYS DO 916
ON CLSCLMP2
Ladder Diagram 40
N00241 R0000.0 Y0114.4

A 1677 OPEN CLAMP 3
ALWAYS DO 917
ON OPNCLMP3
N00242 R0000.0 Y0114.5

B 1679 CLOSE CLAMP 3
ALWAYS DO 918
ON CLSCLMP3
N00243 R0000.0 Y0114.6

C 1681 OPEN CLAMP 4
ALWAYS DO 919
ON OPNCLMP4
N00244 R0000.0 Y0114.7

ALWAYS DO 920
ON CLSCLMP4
N00245 R0000.0 Y0115.0

E 1685 OPEN CLAMP 5
ALWAYS DO 921
ON OPNCLMP5
N00246 R0000.0 Y0115.1

ALWAYS DO 922
ON CLSCLMP5
N00247 R0000.0 Y0115.2

G 1689 OPEN CLAMP 6
ALWAYS DO 923
ON OPNCLMP6
N00248 R0000.0 Y0115.3

ALWAYS DO 924
ON CLSCLMP6
N00249 R0000.0 Y0115.4

I 1693 OPEN CLAMP 7
ALWAYS DO 925
ON OPNCLMP7
N00250 R0000.0 Y0115.5

ALWAYS DO 926
ON CLSCLMP7
N00251 R0000.0 Y0115.6

K 1697 OPEN CLAMP 8
ALWAYS DO 927
ON OPNCLMP8
N00252 R0000.0 Y0115.7

ALWAYS DO 928
ON CLSCLMP8
N00253 R0000.0 Y0116.0

M 1701 OPEN CLAMP 9
ALWAYS DO 929
ON OPNCLMP9
N00254 R0000.0 Y0116.1

ALWAYS DO 930
ON CLSCLMP9
N00255 R0000.0 Y0116.2

O 1705 OPEN CLAMP 10
ALWAYS DO 931
ON OPNCLP10
Ladder Diagram 41
N00256 R0000.0 Y0116.3

ALWAYS DO 932
ON CLSCLP10
N00257 R0000.0 Y0127.2

B 1709 VACUUM 1 ON
ALWAYS DO1019 V
ON AC1ON
N00258 R0000.0 Y0127.3

C 1711 BLOWOFF 1 ON
ALWAYS DO1020 B
ON LWOF1ON
N00259 R0000.0 Y0127.4

D 1713 VACUUM 2 ON
ALWAYS DO1021 V
ON AC2ON
N00260 R0000.0 Y0127.5

E 1715 BLOWOFF 2 ON
ALWAYS DO1022 B
ON LWOF2ON
N00261 R0000.0 Y0127.6

F 1717 VACUUM 3 ON
ALWAYS DO1023 V
ON AC3ON
N00262 R0000.0 Y0127.7

G 1719 BLOWOFF 3 ON
ALWAYS DO1024 B
ON LWOF3ON
N00263 R0000.0 Y0118.5

H 1721 VACUUM 4 ON
ALWAYS DO 950 V
ON AC4ON
N00264 R0000.0 Y0118.6

I 1723 BLOWOFF 4 ON
ALWAYS DO 951 B
ON LWOF4ON
N00265
J 1725 SUB30
JMPE
N00266 R1410.0 ACT R0001.1

K 1726 SUB 3 0038
MAN GRP TMR MAN GRP
ENABLE TO
N00267 R0001.1 ACT

L 1730 SUB10 0000
MAN GRP JMP
TO
N00268 K0002.1 X1026.1 Y0114.0

M 1733 OPEN CLAMP 1
CLMP1OPN SI9 DO 913
AUTOMDSW OPNCLMP1
N00269 Y0114.0 Y0009.0

DO 913 DO 73 OP
OPNCLMP1 N CLMP1
N00270 K0002.0 X1026.1 Y0114.1

CLMP1CLS SI9 DO 914
AUTOMDSW CLSCLMP1
Ladder Diagram 42
N00271 Y0114.1 Y0009.1

DO 914 DO 74 CL
CLSCLMP1 S CLMP1
N00272 K0002.3 X1026.1 Y0114.2

B 1743 OPEN CLAMP 2
CLMP2OPN SI9 DO 915
AUTOMDSW OPNCLMP2
N00273 Y0114.2 Y0009.2

DO 915 DO 75 OP
OPNCLMP2 N CLMP2
N00274 K0002.2 X1026.1 Y0114.3

CLMP2CLS SI9 DO 916
AUTOMDSW CLSCLMP2
N00275 Y0114.3 Y0009.3

DO 916 DO 76 CL
CLSCLMP2 S CLMP2
N00276 K0002.5 X1026.1 Y0114.4

F 1753 OPEN CLAMP 3
CLMP3OPN SI9 DO 917
AUTOMDSW OPNCLMP3
N00277 Y0114.4 Y0009.4

DO 917 DO 77 OP
OPNCLMP3 N CLMP 3
N00278 K0002.4 X1026.1 Y0114.5

CLMP3CLS SI9 DO 918
AUTOMDSW CLSCLMP3
N00279 Y0114.5 Y0009.5

DO 918 DO 78 CL
CLSCLMP3 S CLMP3
N00280 K0002.7 X1026.1 Y0114.6

J 1763 OPEN CLAMP 4
CLMP4OPN SI9 DO 919
AUTOMDSW OPNCLMP4
N00281 Y0114.6 Y0009.6

DO 919 DO 79 OP
OPNCLMP4 N CLMP4
N00282 K0002.6 X1026.1 Y0114.7

CLMP4CLS SI9 DO 920
AUTOMDSW CLSCLMP4
N00283 Y0114.7 Y0009.7

DO 920 DO 80 CL
CLSCLMP4 S CLMP4
N00284 K0003.1 X1026.1 Y0115.0

N 1773 OPEN CLAMP 5
CLMP5OPN SI9 DO 921
AUTOMDSW OPNCLMP5
N00285 Y0115.0 Y0010.0

O 1776 OPEN CLAMP #5
DO 921 DO 81 OP
OPNCLMP5 N CLMP5
Ladder Diagram 43
N00286 K0003.0 X1026.1 Y0115.1

CLMP5CLS SI9 DO 922
AUTOMDSW CLSCLMP5
N00287 Y0115.1 Y0010.1

B 1781 CLOSE CLAMP #5
DO 922 DO 82 CL
CLSCLMP5 S CLMP5
N00288 K0003.3 X1026.1 Y0115.2

C 1783 OPEN CLAMP 6
CLMP6OPN SI9 DO 923
AUTOMDSW OPNCLMP6
N00289 Y0115.2 Y0010.2

D 1786 OPEN CLAMP #6
DO 923 DO 83 OP
OPNCLMP6 N CLMP6
N00290 K0003.2 X1026.1 Y0115.3

CLMP6CLS SI9 DO 924
AUTOMDSW CLSCLMP6
N00291 Y0115.3 Y0010.3

F 1791 CLOSE CLAMP #6
DO 924 DO 84 CL
CLSCLMP6 S CLMP 6
N00292 K0003.5 X1026.1 Y0115.4

G 1793 OPEN CLAMP 7
CLMP7OPN SI9 DO 925
AUTOMDSW OPNCLMP7
N00293 Y0115.4 Y0010.4

H 1796 OPEN CLAMP #7
DO 925 DO 85 OP
OPNCLMP7 N CLMP 7
N00294 K0003.4 X1026.1 Y0115.5

I 1798 CLOSE CLAMP 7
CLMP7CLS SI9 DO 926
AUTOMDSW CLSCLMP7
N00295 Y0115.5 Y0010.5

J 1801 CLOSE CLAMP #7
DO 926 DO 86 CL
CLSCLMP7 S CLAMP7
N00296 K0003.7 X1026.1 Y0115.6

K 1803 OPEN CLAMP 8
CLMP8OPN SI9 DO 927
AUTOMDSW OPNCLMP8
N00297 Y0115.6 Y0010.6

L 1806 OPEN CLAMP #8
DO 927 DO 87 OP
OPNCLMP8 N CLMP8
N00298 K0003.6 X1026.1 Y0115.7

CLMP8CLS SI9 DO 928
AUTOMDSW CLSCLMP8
N00299 Y0115.7 Y0010.7

N 1811 CLOSE CLAMP #8
DO 928 DO 88 CL
CLSCLMP8 S CLAMP8
N00300 K0004.1 X1026.1 Y0116.0

O 1813 OPEN CLAMP 9
CLMP9OPN SI9 DO 929
AUTOMDSW OPNCLMP9
Ladder Diagram 44
N00301 Y0116.0 Y0011.0

A 1816 OPEN CLAMP #9
DO 929 DO 89 OP
OPNCLMP9 N CLMP9
N00302 K0004.0 X1026.1 Y0116.1

CLMP9CLS SI9 DO 930
AUTOMDSW CLSCLMP9
N00303 Y0116.1 Y0011.1

C 1821 CLOSE CLAMP #9
DO 930 DO 90 CL
CLSCLMP9 S CLMP9
N00304 K0004.3 X1026.1 Y0116.2

D 1823 OPEN CLAMP 10
CLP10OPN SI9 DO 931
AUTOMDSW OPNCLP10
N00305 Y0116.2 Y0011.2

DO 931 DO 91 OP
OPNCLP10 N CLMP10
N00306 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9 DO 932
AUTOMDSW CLSCLP10
N00307 Y0116.3 Y0011.3

DO 932 DO 92 CL
CLSCLP10 S CLMP10
N00308 K0014.2 X1026.1 K0014.1 Y0127.2

H 1833 VACUUM 1 ON
N00309 Y0127.2 Y0008.0

I 1837
DO1019 V DO 65 VA
AC1ON C 1 ON
N00310 K0014.5 X1026.1 K0014.1 Y0127.3

J 1839 BLOWOFF 1 ON
N00311 Y0127.3 Y0008.1

K 1843
DO1020 B DO 66 BL
LWOF1ON WOFF1ON
N00312 K0014.3 X1026.1 K0014.1 Y0127.4

L 1845 VACUUM 2 ON
N00313 Y0127.4 Y0008.2

M 1849
DO1021 V DO 67 VA
AC2ON C 2 ON
N00314 K0014.6 X1026.1 K0014.1 Y0127.5

N 1851 BLOWOFF 2 ON
N00315 Y0127.5 Y0008.3

O 1855
DO1022 B DO 68 BL
LWOF2ON WOFF2ON
Ladder Diagram 45
N00316 K0014.4 X1026.1 K0014.1 Y0127.6

A 1857 VACUUM 3 ON
N00317 Y0127.6 Y0008.4

B 1861
DO1023 V DO 69 VA
AC3ON C 3 ON
N00318 K0014.7 X1026.1 K0014.1 Y0127.7

C 1863 BLOWOFF 3 ON
N00319 Y0127.7 Y0008.5

D 1867
DO1024 B DO 70 BL
LWOF3ON WOFF3ON
N00320 K0016.1 X1026.1 K0014.1 Y0118.5

E 1869 VACUUM 4 ON
VAC 4 ON SI9 VAC/BLOW DO 950 V
N00321 Y0118.5 Y0008.6

F 1873
DO 950 V DO 71 VA
AC4ON C 4 ON
N00322 K0016.2 X1026.1 K0014.1 Y0118.6

G 1875 BLOWOFF 4 ON
BLOWOFF SI9 VAC/BLOW DO 951 B
N00323 Y0118.6 Y0008.7

H 1879
DO 951 B DO 72 BL
LWOF4ON WOFF4ON
N00324
I 1881 SUB30
JMPE
O
Ladder Diagram 46
N00325 Y0008.0 ACT K0014.1

DO 65 VA TMR VAC/BLOW
C 1 ON OFFTIMER
Y0008.1
B
DO 66 BL
WOFF1ON
Y0008.2
C
DO 67 VA
C 2 ON
Y0008.3
D
DO 68 BL
WOFF2ON
Y0008.4
E
DO 69 VA
C 3 ON
Y0008.5
F
DO 70 BL
WOFF3ON
Y0008.6
G
DO 71 VA
C 4 ON
Y0008.7
H
DO 72 BL
WOFF4ON
N00326 K0002.0 D0612.0 K0002.0

I 1893 CLMP1 CLOSE
B TO
N00327 K0002.1 D0612.0 K0002.1

J 1896 CLMP1 OPEN
B TO
N00328 K0002.2 D0612.0 K0002.2

K 1899 CLMP2 CLOSE
B TO
N00329 K0002.3 D0612.0 K0002.3

L 1902 CLMP2 OPEN
B TO
N00330 K0002.4 D0612.0 K0002.4

M 1905 CLMP3 CLOSE
B TO
N00331 K0002.5 D0612.0 K0002.5

N 1908 CLMP3 OPEN
B TO
N00332 K0002.6 D0612.0 K0002.6

O 1911 CLMP4 CLOSE
B TO
Ladder Diagram 47
N00333 K0002.7 D0612.0 K0002.7

A 1914 CLMP4 OPEN
B TO
N00334 K0003.0 D0612.0 K0003.0

B 1917 CLMP5 CLOSE
B TO
N00335 K0003.1 D0612.0 K0003.1

C 1920 CLMP5 OPEN
B TO
N00336 K0003.2 D0612.0 K0003.2

D 1923 CLMP6 CLOSE
B TO
N00337 K0003.3 D0612.0 K0003.3

E 1926 CLMP6 OPEN
B TO
N00338 K0003.4 D0612.0 K0003.4

F 1929 CLMP7 CLOSE
B TO
N00339 K0003.5 D0612.0 K0003.5

G 1932 CLMP7 OPEN
B TO
N00340 K0003.6 D0612.0 K0003.6

H 1935 CLMP8 CLOSE
B TO
N00341 K0003.7 D0612.0 K0003.7

I 1938 CLMP8 OPEN
B TO
N00342 K0004.0 D0612.0 K0004.0

J 1941 CLMP9 CLOSE
B TO
N00343 K0004.1 D0612.0 K0004.1

K 1944 CLMP9 OPEN
B TO
N00344 K0004.2 D0612.0 K0004.2

L 1947 CLMP10 CLOSE
CLP10CLS ALL IF P CLP10CLS
B TO
N00345 K0004.3 D0612.0 K0004.3

M 1950 CLMP10 OPEN
CLP10OPN ALL IF P CLP10OPN
B TO
N00346 K0014.2 D0612.0 K0014.2

N 1953
PB B TO PB
N00347 K0014.3 D0612.0 K0014.3

O 1956
PB B TO PB
Ladder Diagram 48
N00348 K0014.4 D0612.0 K0014.4

A 1959
PB B TO PB
N00349 K0016.1 D0612.0 K0016.1

B 1962
PB B TO PB
N00350 K0014.5 D0612.0 K0014.5

C 1965
N00351 K0014.6 D0612.0 K0014.6

D 1968
N00352 K0014.7 D0612.0 K0014.7

E 1971
N00353 K0016.2 D0612.0 K0016.2

F 1974
N00354 K0000.4 Y0012.6

RERUNPRC DO 103 R
PB ERUNPRC
N00355 K0000.5 Y0012.7

ACCPTPRC DO 104 A
PB CCPTPRC
N00356 K0000.6 Y0013.0

REJCTPRC DO 105 R
PB EJCTPRC
N00357 K0000.7 Y0013.1

INSPCTSE DO 106 I
LPB NSP SEL
K0001.3 K0001.5
K
VISIONIN ABORTPRO
TERVENSS CESS
Y0013.1 K0001.5
L
DO 106 I ABORTPRO
NSP SEL CESS
N00358 K0000.4 D0612.0 K0000.4

M 1991 S RERUN PROCESS PB
PB B TO PB
N00359 K0000.4 D0612.0 K0000.4

N 1994 R RERUN PROCESS PB
PB B TO PB
N00360 K0000.5 D0612.0 K0000.5

O 1997 S ACCEPT PROCESS PB
PB B TO PB
Ladder Diagram 49
N00361 K0000.5 D0612.0 K0000.5

A 2000 R ACCEPT PROCESS PB
PB B TO PB
N00362 K0000.6 D0612.0 K0000.6

B 2003 S REJECT PROCESS PB
PB B TO PB
N00363 K0000.6 D0612.0 K0000.6

C 2006 R REJECT PROCESS PB
PB B TO PB
N00364 K0000.7 D0612.0 K0000.7

D 2009 S INSPECTION SELECTED PB
LPB B TO LPB
N00365 K0000.7 D0612.0 K0000.7

E 2012 R INSPECTION SELECTED PB
LPB B TO LPB
N00366 X0008.2 R0000.7

F 2015 PART PRESENT ON EOAT
DI 67 PR PART PRE
T PRES1 SENT
X0008.3
G
DI 68 PR
T PRES2
X0008.4
H
DI 69 PR
T PRES3
X0008.5
I
DI 70 PR
T PRES4
X0008.6
J
DI 71 PR
T PRES5
X0008.7
K
DI 72 PR
T PRES6
N00367
L 2022 SUB72
SPE

M 2023 SUB71 P0009
SP APPLICATION
N00369 D0000.0 Y0048.0

N 2025 MATERIAL HANLDING APPLICATION
MH APP DO 385 M
H APP
N00370 D0000.1 Y0048.1

WELD 1 A DO 386
PP WLD1 APP
Ladder Diagram 50
N00371 D0000.2 Y0048.2

A 2029 WELD 2 APPLICATION
WELD 2 A DO 387 W
PP LD2 APP
N00372 D0000.3 Y0048.3

B 2031 NUT FEED APPLICATION
NUT FEED DO 388 N
APP UTFD APP
N00373 D0000.4 Y0048.4

SEAL 1 A DO 389 S
PP LR 1 APP
N00374 D0000.5 Y0048.5

D 2035 SEALER 2 APPLICATION
SEAL 2 DO 390 S
APP LR 2 APP
N00375 D0000.6 Y0048.6

STUD 1 A DO 391 S
PP TDW 1APP
N00376 D0000.7 Y0048.7

F 2039 STUD WELD 2 APPLICATION
STUD 2 A DO 392 S
PP TDW 2APP
N00377 D0001.0 Y0049.0

G 2041 TOOL CHANGE APPLICATION
TOOL CHA DO 393 T
NGE APP C APP
N00378 D0001.1 Y0049.1

H 2043 RIVET 1 APPLICAYION
RIVET 1 DO 394 R
APP VT 1 APP
N00379 D0001.2 Y0049.2

I 2045 RIVET 2 APPLICATION
RIVET 2 DO 395 R
APP VT 2 APP
N00380 D0001.3 Y0049.3

J 2047 NUT RUNNER APPLICATION
NUT RUNN DO 396 N
ER APP UTR APP
N00381 D0001.4 Y0049.4

K 2049 MIG WELD APPLICATION
MIG WELD DO 397 M
APP IGW APP
N00382 D0001.5 Y0049.5

L 2051 ROLL HEMMER APPLICATION
ROLLER H DO 398 R
EMM APP LLHEM AP
N00383 D0001.6 Y0049.6

M 2053 LASER CUT APPLICATION
LASER CU DO 399 L
T APP SRCT APP
N00384 D0001.7 Y0049.7

N 2055 PLASMA CUT APPLICATION
PLASMA C DO 400 P
UT APP LSMA APP
N00385 D0002.0 Y0050.0

O 2057 LASER WELD APPLICATION
LASER WE DO 401 L
LD APP SRWLDAPP
Ladder Diagram 51
N00386 D0002.1 Y0050.1

A 2059 OPERATOR LOAD APPLICATION
OPER LOA DO 402 O
D APP P LD APP
N00387 D0002.2 Y0050.2

B 2061 VISION APPLICATION
VISION A DO 403 V
PP IS APP
N00388 D0002.3 Y0050.3

C 2063 PROGRAM LOCATOR APPLICATION
PROG LOC DO 404 P
APP RG LCAPP
N00389 D0002.4 Y0050.4

D 2065 INTERFACE DEFINITION BIT 21
IF DEF DO 405
21 INDEFB21
N00390 D0002.5 Y0050.5

E 2067 NUT FEEDER 2 APPLICATION
NUT FEED DO 406 N
ER 2 APP TFD 2APP
N00391 D0002.6 Y0050.6

IF DEF DO 407 I
23 NDEF B23
N00392 D0002.7 Y0050.7

IF DEF DO 408 I
24 NDEF B24
N00393 D0003.0 Y0051.0

IF DEF DO 409 I
25 NDEF B25
N00394 D0003.1 Y0051.1

IF DEF DO 410 I
26 NDEF B26
N00395 D0003.2 Y0051.2

IF DEF DO 411 I
27 NDEF B27
N00396 D0003.3 Y0051.3

IF DEF DO 412 I
28 NDEF B28
N00397 D0003.4 Y0051.4

IF DEF DO 413 I
29 NDEF B29
N00398 D0003.5 Y0051.5

IF DEF DO 414 I
30 NDEF B30
N00399 D0003.6 Y0051.6

IF DEF DO 415 I
31 NDEF B31
N00400 D0003.7 Y0051.7

O 2087 INTERFACE DEFINITION BIT 32
IF DEF DO 416 I
32 NDEF B32
Ladder Diagram 52
N00401
A 2089 SUB72
SPE
N00402 ### P0012 ###

B 2090 SUB71 P0012
SP DISPENSE1
N00403 X0000.0 R0355.0

C 2092 INTERNAL EXTERNAL RUN ENABLE
DI 1 EXT INT EXT
RNENBL RUN ENAB
N00404 R0355.0 ACT D0601.0

D 2094 SUB 3 0016 EXTERNAL RUN ENABLE DELAY
INT EXT TMR EXT RUN
RUN ENAB ENBL DLY
N00405 Y0118.0 Y0118.0 Y0083.2 R0355.1

E 2098 START DISPENSE1
DO 945 S DO 945 S DO 667 START DI
TRTDISP1 TRTDISP1 SPENSE1
R0355.1 Y0000.3 X0000.0 D0601.0

F
N00406 X0000.0 ACT D0602.0

G 2109 SUB 3 0023 E-STOP RECVER SLW REPEAT TIMER
DI 1 EXT TMR SLOW REP
RNENBL EAT TIMR
N00407 F1000.4 ACT D0605.0

H 2113 SUB 3 0024 E-STOP RECOVER START DELAY
HELD TMR ESTOP RE
C SDLY
N00408 D0602.0 ACT D0604.0

I 2117 SUB 3 0025 ESTOP RECOVERY DELAY
SLOW REP TMR ESTOP RE
EAT TIMR C DELAY
N00409 R0355.1 Y0083.2 X0001.1 Y0083.5

J 2121
START DI DO 667 DI 10 AU DO 670
SPENSE1 TO REPT
N00410 K0009.6 X0001.1 Y0084.6

K 2125 TORQUE SEQ BIN 64
WET/DRY DI 10 AU DO 679 T
MODE TO REPT RQSEQ64
Y0092.6
L FLOW / NO FLOW2
DO 743 F
LWNOFLW
N00411 Y0084.6 Y0048.4 D0005.1

M 2129 WET MODE SEALER 1
DO 679 T DO 389 S WETMODES
RQSEQ64 LR 1 APP EALER1
N00412 Y0092.6 Y0048.5 D0005.2

N 2132 WET MODE SEALER 2
DO 743 F DO 390 S WETMODES
LWNOFLW LR 2 APP EALER2
Y0048.5
O
DO 390 S
LR 2 APP
Ladder Diagram 53
N00413 D0005.1 D0005.2 Y0026.0

A 2136
WETMODES WETMODES DO 209 F
EALER1 EALER2 LWSLSW
N00414 K0009.4 Y0084.0

B 2139 TORQUE SEQ BIN 1
MAN FLOW DO 673 T
PB1 RQSEQ1
N00415 K0008.4 Y0027.3 Y0027.2 K0008.4

C 2141 S ENABLE ACCEPT/REJECT 1
N00416 K0008.2 Y0027.2 K0008.4

D 2145 R ENABLE ACCEPT/REJECT 1
K0008.3 Y0027.3
E
REJECTSE DO 220 R
ALER1 IF EJSEAL1
N00417 K0008.4 K0008.2 K0008.3 Y0027.2

F 2151
N00418 K0008.4 K0008.2 K0008.3 Y0027.3

G 2155
N00419 X0083.4 Y0026.1

H 2159
DI 669 C DO 210 S
OMMOK EALRDY1
N00420 X0083.1 Y0026.2

I 2161
DI 666 T DO 211 S
ORQUEOK EALCYCL1
N00421 X0083.3 Y0026.3

J 2163
DI 668 T DO 212 M
ORQFLT AJFLT1
N00422 X0083.7 Y0026.4

K 2165
DI 672 DO 213 V
OL OK1
N00423 Y0086.1 Y0028.2

L 2167
DO 690 DO 227 A
TPURGBC1
N00424 X0083.0 Y0028.4

M 2169
DI 665 DO 229 S
LCOMMOK1
N00425 X0083.6 Y0027.4

N 2171
DI 671 DO 221 C
YCCMP1
N00426 X0085.5 Y0027.5

O 2173
DI 686 DO 222 N
O2CMIX1
Ladder Diagram 54
N00427 X0084.2 Y0027.6

A 2175
DI 675 T DO 223 M
RQSQEC4 INORFLT1
N00428 X0086.2 Y0028.0

B 2177
DI 691 DO 225 N
OZCHGRQ1
N00429 X0084.0 Y0028.1

C 2179
DI 673 T DO 226 H
RQSQEC1 ILOWARN1
N00430 X0026.2 Y0086.3

D 2181
DI 211 R DO 692
STSL FLT
Y0094.3
E FAULT RESET2
DO 756 F
AULTRST2
N00431 Y0127.0 Y0086.1 Y0085.3

F 2184
DO 1017 DO 690 DO 684
PURGE1
X0026.4
G
DI 213 A
PRGESL 1
N00432 X0027.0 Y0084.7

H 2188 TORQUE SEQ BIN 128
DI 217 R DO 680 T
STRTPLS1 RQSEQ128
N00433 K0008.7 Y0027.0

I 2190
RESEAL P DO 217 R
B1 ESEALPB1
N00434 K0011.2 Y0026.5

J 2192
AUTO PUR DO 214 A
GE PB1 UTPRGPB1
N00435 X0027.0 Y0084.7

DI 217 R DO 680 T
STRTPLS1 RQSEQ128
N00436 X0084.0 Y0028.1

L 2196
DI 673 T DO 226 H
RQSQEC1 ILOWARN1
N00437 X0084.3 Y0028.3

M 2198
DI 676 T DO 228 S
RQSQEC8 EALDEPR1
N00438 X0084.4 Y0028.6

N 2200
DI 677 T DO 231 P
RQSQEC16 URGCOMP1
N00439 X0084.5 Y0028.7

O 2202
DI 678 T DO 232 P
RQSQEC32 URGACTV1
Ladder Diagram 55
N00440 X0027.1 Y0086.2

A 2204
DI 218 A DO 691
CKNZCHG1
N00441 X0084.6 Y0029.0

B 2206
DI 679 T DO 233 S
RQSQEC64 LRREFER1
N00442 K0009.4 D0612.0 K0009.4

C 2208 MANUAL FLOW PB 1
PB1 B TO PB1
N00443 K0008.7 D0612.0 K0008.7

D 2211 RESEAL PB1
B1 B TO B1
N00444 K0011.2 D0612.0 K0011.2

E 2214 AUTO PURGE PB1
GE PB1 B TO GE PB1
N00445 K0008.2 D0612.0 K0008.2

F 2217 ACCEPT SEALER 1
N00446 K0008.3 D0612.0 K0008.3

G 2220 REJECT SEALER 1
N00447 K0012.3 D0612.0 K0012.3

H 2223 INSPECTION PB 1
N00448 X0084.1 Y0029.1

I 2226
DI 674 T DO 234 D
RQSQEC2 OSRFILL1
N00449 K0012.3 Y0028.5

J 2228
INSPECTI DO 230 I
ON PB 1 NSPCSEL1
N00450
K 2230 SUB72
SPE
N00451 ### P0013 ###

L 2231 SUB71 P0013
SP DISPENSE2
N00452 Y0117.7 Y0117.7 Y0091.2 R0355.2

M 2233 START DISPENSE2
R0355.2 Y0000.3 X0000.0 D0601.0

N
N00453 R0355.2 Y0091.2 X0001.1 Y0091.5

O 2244 START DISP CYCLE2
START DI DO 731 R DI 10 AU DO 734 S
SPENSE2 UN MODE TO REPT TRT DSP
Ladder Diagram 56
N00454 K0009.5 Y0092.0

A 2248 MANUAL FLOW2
MAN FLOW DO 737 M
PB2 ANFLW
N00455 K0013.7 Y0031.3 Y0031.2 K0013.7

B 2250 S ENABLE ACCEPT/REJECT 2
N00456 K0013.5 Y0031.2 K0013.7

C 2254 R ENABLE ACCEPT/REJECT 2
K0013.6 Y0031.3
D
REJECTSE DO 252 R
ALER2 IF EJSEAL2
N00457 K0013.7 K0013.5 K0013.6 Y0031.2

E 2260
N00458 K0013.7 K0013.5 K0013.6 Y0031.3

F 2264
N00459 X0091.4 Y0030.1

G 2268
DO 242 S
EALRDY2
N00460 X0091.1 Y0030.2

H 2270
DO 243 S
EALCYCL2
N00461 X0091.3 Y0030.3

I 2272
DO 244 M
AJFLT2
N00462 X0091.7 Y0030.4

J 2274
DO 245 V
OL OK2
N00463 Y0094.1 Y0032.2

K 2276
DO 754 @ DO 259 A
PRGBUCK2 TPURGBC2
N00464 X0091.0 Y0032.4

L 2278
DO 261 S
LCOMMOK2
N00465 X0091.6 Y0031.4

M 2280
DO 253 C
YCCMP2
N00466 X0093.5 Y0031.5

N 2282
DI 750 2 DO 254 N
CINMIX2 O2CMIX2
N00467 X0092.2 Y0031.6

O 2284
DO 255 M
INORFLT2
Ladder Diagram 57
N00468 X0094.2 Y0032.0

A 2286
DI 755 N DO 257 N
OZZCHG2 OZCHGRQ2
N00469 X0092.0 Y0032.1

B 2288
DO 258 H
ILOWARN2
N00470 Y0127.1 Y0094.1 Y0093.3

C 2290 PURGE2
DO 1018 DO 754 @ DO 748 P
X0030.4
D
DI 245 A
PRGESL 2
N00471 X0031.0 Y0092.7

E 2294 RESTART PULSE2
DI 249 R DO 744 R
STRTPLS2 ESTRT
N00472 K0009.0 Y0031.0

F 2296
RESEAL P DO 249 R
B2 ESEALPB2
N00473 K0011.3 Y0030.5

G 2298
AUTO PUR DO 246 A
GE PB2 UTPRGPB2
N00474 X0031.0 Y0092.7

H 2300 RESTART PULSE2
DI 249 R DO 744 R
STRTPLS2 ESTRT
N00475 X0092.0 Y0032.1

I 2302
DO 258 H
ILOWARN2
N00476 X0092.3 Y0032.3

J 2304
DO 260 S
EALDEPR2
N00477 X0092.4 Y0032.6

K 2306
DO 263 P
URGCOMP2
N00478 X0092.5 Y0032.7

L 2308
DO 264 P
URGACTV2
N00479 X0031.1 Y0094.2

M 2310 ACK NOZZLE CHANGED2
DI 250 A DO 755 A
CKNZCHG2 CKNOZCH2
N00480 X0092.6 Y0033.0

N 2312
DO 265 S
LRREFER2
N00481 K0009.5 D0612.0 K0009.5

O 2314 MANUAL FLOW PB 2
PB2 B TO PB2
Ladder Diagram 58
N00482 K0009.0 D0612.0 K0009.0

A 2317 RESEAL PB2
B2 B TO B2
N00483 K0011.3 D0612.0 K0011.3

B 2320 AUTO PURGE PB2
GE PB2 B TO GE PB2
N00484 K0013.5 D0612.0 K0013.5

C 2323 ACCEPT SEALER 2
N00485 K0013.6 D0612.0 K0013.6

D 2326 REJECT SEALER 2
N00486 K0012.4 D0612.0 K0012.4

E 2329 INSPECTION PB 2
N00487 X0092.1 Y0033.1

F 2332
DO 266 D
OSRFILL2
N00488 K0012.4 Y0032.5

G 2334
INSPECTI DO 262 I
ON PB 2 NSPCSEL2
N00489
H 2336 SUB72
SPE
N00490 ### P0024 ###

I 2337 SUB71 P0024
SP VISION
N00491 X0099.0 Y0043.1

J 2339
DI 793 DO 346 V
COMMOK ISCOMMOK
N00492 X0099.1 Y0042.1

K 2341
DI 794 DO 338
SYSERR VISSYSER
Y0109.5
L
DO 878 S
YSERROR
N00493 X0099.2 Y0042.2

M 2344
DI 795 DO 339 V
CALERR ISCALIER
N00494 X0099.3 Y0043.0

N 2346
DI 796 DO 345 N
MEASERR OMEASERR
N00495 X0099.6 Y0043.2

O 2348
DI 799 DO 347 R
RCKOUTTL CKOUTTOL
Ladder Diagram 59
N00496 X0099.5 Y0043.4

A 2350
DI 798 DO 349 O
OUTOFTOL UTOFTOL
Y0109.6
B
DO 879 O
UTOFTOL
N00497 X0099.7 Y0043.6

C 2353
DI 800 DO 351 S
SYSWARN YSWARN
N00498 X0042.4 Y0099.2

D 2355 VSION SYSTEM LIGHT TEST
DI 341 V DO 795
ISLIGHT LIGHTTST
K0001.3 K0001.0
E
VISIONIN LIGHTTES
TERVENSS TPB
Y0099.2 K0001.0
F
DO 795 LIGHTTES
LIGHTTST TPB
N00499 K0001.3 K0001.4 R0224.5

G 2363 VISION LOAD TO AVERAGE
VISIONIN LOAD2AVE DI 1022
TERVENSS RAGE LOAD2AVG
R0224.5 K0001.4
H
DI 1022 LOAD2AVE
LOAD2AVG RAGE
N00500 K0001.0 D0612.0 K0001.0

I 2369 S VISION LIGHT TEST PB
LIGHTTES ALL IF P LIGHTTES
TPB B TO TPB
N00501 K0001.0 D0612.0 K0001.0

J 2372 R VISION LIGHT TEST PB
LIGHTTES ALL IF P LIGHTTES
TPB B TO TPB
N00502 K0001.4 D0612.0 K0001.4

K 2375 S VISION LOAD TO AVERAGE
LOAD2AVE ALL IF P LOAD2AVE
RAGE B TO RAGE
N00503 K0001.4 D0612.0 K0001.4

L 2378 R VISION LOAD TO AVERAGE
LOAD2AVE ALL IF P LOAD2AVE
RAGE B TO RAGE
N00504 K0001.3 K0001.5 Y0100.0

M 2381 ABORT VISION OPERATION
VISIONIN ABORTPRO DO 801
TERVENSS CESS VISABRT
X0042.7
N
DI 344 A
BRTVISOP
Y0100.0 K0001.5
O
DO 801 ABORTPRO
VISABRT CESS
Ladder Diagram 60
N00505 K0001.5 D0612.0 K0001.5

A 2388 S VISION ABORT VISION PROCESS
ABORTPRO ALL IF P ABORTPRO
CESS B TO CESS
N00506 K0001.5 D0612.0 K0001.5

B 2391 R VISION ABORT VISION PROCESS
ABORTPRO ALL IF P ABORTPRO
CESS B TO CESS
N00507 K0001.3 K0001.6 Y0043.3

C 2394
VISIONIN CALIBREQ DO 348 R
TERVENSS UEST UNCALIB
Y0043.3 K0001.6
D
DO 348 R CALIBREQ
UNCALIB UEST
N00508 K0001.6 D0612.0 K0001.6

E 2400 S VISION CALIB REQUEST
CALIBREQ ALL IF P CALIBREQ
UEST B TO UEST
N00509 K0001.6 D0612.0 K0001.6

F 2403 R VISION CALIB REQUEST
CALIBREQ ALL IF P CALIBREQ
UEST B TO UEST
N00510 K0001.3 K0001.7 Y0100.1

G 2406 RETRY VISION OPERATION
VISIONIN RETRYOPE DO 802
TERVENSS RATION VISRETRY
X0043.0
H
DI 345 R
TRYVISOP
Y0100.1 K0001.7
I
DO 802 RETRYOPE
VISRETRY RATION
N00511 K0001.7 D0612.0 K0001.7

J 2413 S VISION RETRY OPERATION
RETRYOPE ALL IF P RETRYOPE
RATION B TO RATION
N00512 K0001.7 D0612.0 K0001.7

K 2416 R VISION RETRY OPERATION
RETRYOPE ALL IF P RETRYOPE
RATION B TO RATION
N00513 X0099.1 R0224.4

L 2419 ALL VISION ERRORS
DI 794 DI1021 V
SYSERR ISIONERR
X0099.2
M
DI 795
CALERR
X0099.3
N
DI 796
MEASERR
X0099.4
O
DI 797
COMMERR
Ladder Diagram 61
N00514 K0001.3 K0001.3

A 2424 S VISION INTERVENTION ENABLE SS
VISIONIN VISIONIN
TERVENSS TERVENSS
N00515 K0001.3 X1025.1 K0001.3

B 2426 R VISION INTERVENTION ENABLE SS
VISIONIN FAULT VISIONIN
TERVENSS RESET TERVENSS
K0001.3 R0224.5
C
VISIONIN DI 1022
TERVENSS LOAD2AVG
K0001.3 Y0100.0
D
VISIONIN DO 801
TERVENSS VISABRT
K0001.3 Y0100.1
E
VISIONIN DO 802
TERVENSS VISRETRY
K0001.3 Y0043.3
F
VISIONIN DO 348 R
TERVENSS UNCALIB
K0001.3 Y0099.2
G
VISIONIN DO 795
TERVENSS LIGHTTST
K0001.3 Y0013.1
H
VISIONIN DO 106 I
TERVENSS NSP SEL
N00516 K0001.1 Y0000.5 Y0072.2

I 2443 ROBOT BYPASS SELECTOR SWITCH
ROBOTBYP DO 6 RBT DO 579 R
ASS SS @ MAINT BTBYP_SS
N00517 Y0101.5 Y0099.2 Y0101.5

J 2446 START VISION CYCLE
DO 814 S DO 795 DO 814 S
TARTCYC LIGHTTST TARTCYC
N00518 X0106.2 Y0042.4

K 2449
DI 851 V DO 341 V
ISPASS1 ISPASSED
X0106.3
L
DI 852 V
ISPASS2
X0106.4
M
DI 853 V
ISPASS4
N00519 X0100.3 Y0042.5

N 2453
DI 804 M DO 342 M
STRNDWRN STRNDWRN
N00520 X0100.4 Y0042.6

O 2455
DI 805 M DO 343 M
S REJECT S REJECT
Ladder Diagram 62
N00521 X0103.0 Y0072.7

A 2457 VISION EDIT OCCURRED
DI 825 E DO 584 E
DITOCCUR DITOCCUR
N00522
B 2459 SUB72
SPE
N00523 ### P0026 ###

C 2460 SUB71 P0026
SP NUTRUNNER
N00524 X0083.1 Y0057.0

D 2462
DI 666 T DO 457 T
ORQUEOK ORQOK
N00525 X0083.2 Y0057.1

E 2464
DI 667 I DO 458 I
NTORQSEQ NTORSEQ
N00526 X0083.4 Y0057.5

F 2466
DI 669 C DO 462 N
OMMOK RCOMMOK
N00527 Y0083.1 Y0056.5

G 2468
DO 666 S DO 454 S
TRTSEQ TTRQSEQ
N00528 X0087.0 X0087.1 X0087.2 X0087.3 X0087.4 X0087.5 X0087.6 1

H 2470
1 X0087.7 R0300.0
I TORQUE NOT OK SPINDLE 1-8
DI 704 T TORQUENO
RQNOKS8 K1-8
N00529 X0088.0 X0088.1 X0088.2 X0088.3 X0088.4 X0088.5 X0088.6 1

J 2479
1 X0088.7 R0300.1
K TORQUE NOT OK SPINDLE 9-16
DI 712 T TORQUENO
RQNOKS16 K9-16
N00530 X0089.0 X0089.1 X0089.2 X0089.3 X0089.4 X0089.5 X0089.6 1

L 2488
1 X0089.7 R0300.2
M TORQUE NOT OK SPINDLE 17-24
DI 720 T TORQUENO
RQNOKS24 K17-24
N00531 X0090.0 X0090.1 X0090.2 X0090.3 X0090.4 X0090.5 X0090.6 1

N 2497
1 X0090.7 R0300.3
O TORQUE NOT OK SPINDLE 25-32
DI 728 T TORQUENO
RQNOKS32 K25-32
Ladder Diagram 63
N00532 R0300.0 Y0057.4

A 2506
TORQUENO DO 461 T
K1-8 ORQNOK
R0300.1
B
TORQUENO
K9-16
R0300.2
C
TORQUENO
K17-24
R0300.3
D
TORQUENO
K25-32
N00533 F1000.1 Y0083.3

E 2511 RUN ENABLE
SYSTEM DO 668 R
READY UNENBL
N00534 X0083.5 Y0057.3

F 2513
DI 670 R DO 460 N
EADY UTRUNFLT
N00535 Y0083.1 K0015.5 X0083.2 X0083.5 Y0083.1

G 2515 START SEQUENCE
DO 666 S START RE DI 667 I DI 670 R DO 666 S
TRTSEQ SET PB NTORQSEQ EADY TRTSEQ
K0015.5
H
START RE
SET PB
N00536 K0015.5 D0612.0 X0083.2 K0015.5

I 2521 NUT RUNNER START RESET PB
START RE ALL IF P DI 667 I START RE
SET PB B TO NTORQSEQ SET PB
N00537 K0016.3 D0612.0 K0016.3

J 2525 NUT RUNNER RETRY PB
NUTRUNN ALL IF P NUTRUNN
RETRY PB B TO RETRY PB
N00538 K0016.3 R0215.1

K 2528 NUTRUNNER RETRY
NUTRUNN DI 913 N
RETRY PB TRUNRTY
N00539 X0087.0 Y0074.0

L 2530 TORQUE NOT OK SPINDLE#1
DI 697 T DO 593 T
RQNOKS1 RQNOK1
N00540 X0087.1 Y0074.1

M 2532 TORQUE NOT OK SPINDLE#2
DI 698 T DO 594 T
RQNOKS2 RQNOK2
N00541 X0087.2 Y0074.2

N 2534 TORQUE NOT OK SPINDLE#3
DI 699 T DO 595 T
RQNOKS3 RQNOK3
N00542 X0087.3 Y0074.3

O 2536 TORQUE NOT OK SPINDLE#4
DI 700 T DO 596 T
RQNOKS4 RQNOK4
Ladder Diagram 64
N00543 X0074.4 Y0087.0

A 2538 BYPASS SPINDLE 1 (WITH OK)
DI 597 S DO 697 B
PIN BYP1 YP SPIN1
N00544 X0074.5 Y0087.1

B 2540 BYPASS SPINDLE 2 (WITH OK)
DI 598 S DO 698 B
PIN BYP2 YP SPIN2
N00545 X0074.6 Y0087.2

C 2542 BYPASS SPINDLE 3 (WITH OK)
DI 599 S DO 699 B
PIN BYP3 YP SPIN3
N00546 X0074.7 Y0087.3

D 2544 BYPASS SPINDLE 4 (WITH OK)
DI 600 S DO 700 B
PIN BYP4 YP SPIN4
N00547
E 2546 SUB72
SPE
O
8 NutRunner and Vision PMC Logic (S-Logic) for R-30iB
Controllers

[f3l1vsnr1] Ladder Diagram 1
N00001 R0000.0 R0000.0

A 1 ALWAYS ON
ALWAYS__ ALWAYS__
ON ON
R0000.0
B
ALWAYS__
ON
N00002 R0000.0 G1000.0

C 4 IMMEDIATE STOP
ALWAYS__ IMSTP
ON
N00003 X0000.0 R0100.5 G1000.1

D 6 *HOLD
DI_1_EXT BREAK_A_ *HOLD
_RNENBL NO_HOLD
N00004 X1026.4 R0100.5

SI12_HOL BREAK_A_
DSW NO_HOLD
N00005 X1026.5 R0100.5

SI13_RES BREAK_A_
ETSW NO_HOLD
X1026.4 X1025.6
G
SI12_HOL CYCLE___
DSW START
X0000.1 X1026.4
H
DI_2_EX_ SI12_HOL
RNEN_RST DSW
N00006 R0000.0 G1000.2

I 19 SAFE SPEED
ALWAYS__ SFSPD
ON
N00007 X1000.3 G1000.3

J 21
O
N00008 X1025.1 G1000.4

A 23 FAULT RESET
FAULT___ RB_FAULT
RESET _RESET
X0000.1 X0001.2
B
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
X1026.5
C
SI13_RES
ETSW
X0000.3
D
DI_4_EXT
_CY_STRT
X0000.2
E
DI_3_EXT
MTR_ON
Y0119.6
F
DO_959_F
LT_RESET
N00009 X1000.6 G1000.6

G 32 GO HOME
HOME
N00010 R0000.0 G1000.7

H 34 ENABLE
ALWAYS__ ENABLE
ON
N00011 F1000.0 Y1000.0

I 36
COMMAND_
ENABLE
N00012 F1000.1 Y1000.1

J 38
SYSTEM__
READY
Y1025.5
K MOTORS ENABLE
MOTORS__
ENABLE
N00013 F1000.2 Y1000.2

L 41
PROGRAM_
RUNNING
N00014 F1000.3 Y1000.3

M 43
PAUSED
N00015 F1000.4 Y1000.4

N 45
HELD
Y0000.0
DO_1_RUN
_ENB_ACK
N00016 F1000.5 ACT R0338.0

FAULT TMR INT_FLT_
__DELAY
N00017 F1000.5 G1000.4 R0397.0 R0338.0 Y1000.5

B 52
FAULT RB_FAULT FILTERED INT_FLT_
_RESET _FAULT __DELAY
Y0120.2 Y0000.4
DO_963__ DO_5_RBT
PRG_FLT _CNT_FLT
Y0001.6
D
DO_15_CO
LL_DTCT
N00018 F1000.6 Y1000.6

E 60
AT_HOME
Y0000.1
F ROBOT AT HOME
DO_2_RBT
_@_HOME
N00019 F1000.7 Y1000.7

G 63
TPENABLE
Y0119.7 Y0000.3
H ROBOT IN TEACH
DO_960__ DO_4_RBT
AUTO_KEY _IN_TCH
N00020 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

I 67
1 R1402.7 R1405.0
J S
ECO24___ FACILITY
FC128 _CODE_11
N00021 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 R1400.6 1

K 76
1 R1400.7 R1401.1 R1401.2 R1401.3 R1401.5 R1401.6 2

L
2 R1401.7 R1405.1
M
ECO16 ERROR_4
N00022 R1405.0 R1405.1 G1000.4 R1405.2

N 91 FENCE FAULT
FACILITY ERROR_4 RB_FAULT FENCE___
_CODE_11 _RESET FAULT
R1405.2
O
FENCE___
FAULT
N00023 R0000.1 F1000.5 R1466.0 F1000.0 F1000.1 K0010.3

INT_EXT_ FAULT BRK_PWR_ COMMAND_ SYSTEM__ PWR_FAIL
MTR_ON FL_RCVRY ENABLE READY _RECVRY
R0000.2
B
INT_EXT_
CYC_STRT
K0010.3
C
PWR_FAIL
_RECVRY
N00024 K0010.3 ACT R1466.0

PWR_FAIL TMR BRK_PWR_
_RECVRY FL_RCVRY
N00025 Y0000.3 F1000.0 Y0000.4 R0000.1 R0000.2 F1000.1 F1008.0 1

E 108
DO_4_RBT COMMAND_ DO_5_RBT INT_EXT_ INT_EXT_ SYSTEM__ STEP
_IN_TCH ENABLE _CNT_FLT MTR_ON CYC_STRT READY
R1404.5 Y0000.2
F
DRP_AUTO DO_3_RBT
_FAULT _IN_AUTO
1 F1008.2 X1025.0 R1405.2 K0010.0 Y0001.6 Y0000.2

TP______ FANUC___ FENCE___ TEACH___ DO_15_CO DO_3_RBT
E-STOP E-STOP FAULT MEMORY LL_DTCT _IN_AUTO
N00026 Y0119.5 Y0072.4

DO_958_I DO_581_I
NPUTSIM NPUTSIM
N00027 R1404.4 R1456.0 R1404.2 F1000.5 G1000.4 R1404.5

FC_AVAIL APPL____ FC_ZERO FAULT RB_FAULT DRP_AUTO
ALARMS _RESET _FAULT
N00028 F1000.5 R1404.5

FAULT DRP_AUTO
_FAULT
G1000.4
K
RB_FAULT
_RESET
N00029 F1000.5 R1404.0 R1404.1 R1404.4

L 136
FAULT ECO33___ ECO_____ FC_AVAIL
STROBE RETRIEVE
N00030 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 140
1 R1402.6 R1402.7 R1404.3

N S
ECO23___ ECO24___ SPOT____
FC64 FC128 ALARM
O
N00031 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

A 150
1 R1402.6 R1402.7 R0330.0

B S
ECO23___ ECO24___ ARC_____
FC64 FC128 ALARM
N00032 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

C 160
1 R1402.6 R1402.7 R0330.1

D S
ECO23___ ECO24___ SEALER__
FC64 FC128 ALARM
N00033 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

E 170
1 R1402.6 R1402.7 R0330.2

F S
ECO23___ ECO24___ SERVOGUN
FC64 FC128 _ALARM
N00034 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

G 180
1 R1402.6 R1402.7 R0330.3

H S
ECO23___ ECO24___ TOOLCHNG
FC64 FC128 __ALARM
N00035 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

I 190
1 R1402.6 R1402.7 R0330.4

J S
ECO23___ ECO24___ SYSTEM__
FC64 FC128 _ALARM
N00036 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

K 200
1 R1402.6 R1402.7 R1406.0

L S
ECO23___ ECO24___ FACILITY
FC64 FC128 _CODE_15
N00037 R1404.4 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 1

M 210
1 R1402.6 R1402.7 R1404.2

N
ECO23___ ECO24___ FC_ZERO
FC64 FC128
O
N00038 R1404.1 ACT R1404.3

A 220 SUB57 0001 R
ECO_____ DIFU SPOT____
RETRIEVE ALARM
R0330.0
B R
ARC_____
ALARM
R0330.1
C R
SEALER__
ALARM
R0330.2
D R
SERVOGUN
_ALARM
R0330.3
E R
TOOLCHNG
__ALARM
R0330.4
F R
SYSTEM__
_ALARM
R1405.0
G R
FACILITY
_CODE_11
R1406.0
H R
FACILITY
_CODE_15
N00039 R1404.4 ACT R1404.6

I 231 SUB 3 0006
FC_AVAIL TMR RETRIEVE
_DELAY
N00040 R1404.6 R1404.1

J 235 S
RETRIEVE ECO_____
_DELAY RETRIEVE
N00041 R1404.1 ACT R1404.1

K 237 SUB 3 0007 R
ECO_____ TMR ECO_____
RETRIEVE RETRIEVE
N00042 R1404.4 R1404.3 R1404.2 F1000.5 Y0015.5

FC_AVAIL SPOT____ FC_ZERO FAULT DO_126_W
ALARM LD_FLT_1
N00043 X0083.1 Y0015.5

DI_666_T DO_126_W
ORQUEOK LD_FLT_1
N00044 K0010.1 K0010.0 R0000.1

N 248
EXT_MTR_ TEACH___ INT_EXT_
ON MEMORY MTR_ON
O
N00045 X0000.2 K0010.0 K0010.5 K0010.1

DI_3_EXT TEACH___ MAINT_ME EXT_MTR_
MTR_ON MEMORY M ON
X1026.5 Y0000.4 F1000.5

B
ETSW _CNT_FLT
X1025.1
C
FAULT___
RESET
X0000.1 X0001.2
D
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
K0010.3
E
PWR_FAIL
_RECVRY
N00046 Y0000.2 Y0000.4 G1000.4 K0010.1

DO_3_RBT DO_5_RBT RB_FAULT EXT_MTR_
_IN_AUTO _CNT_FLT _RESET ON
N00047 K0010.2 K0010.0 K0010.5 R0000.2

G 268
EXT_CYC_ TEACH___ MAINT_ME INT_EXT_
START MEMORY M CYC_STRT
N00048 X0000.3 K0010.0 K0010.2

DI_4_EXT TEACH___ EXT_CYC_
_CY_STRT MEMORY START
X1026.5 Y0000.4 F1000.5

I
ETSW _CNT_FLT
X1025.1
J
FAULT___
RESET
X0000.1 X0001.2
K
DI_2_EX_ DI_11___
RNEN_RST PLC_AUTO
K0010.3
L
PWR_FAIL
_RECVRY
R0340.0
M
MANUAL__
WELD
N00049 Y0000.2 Y0000.4 G1000.4 K0010.2

DO_3_RBT DO_5_RBT RB_FAULT EXT_CYC_
_IN_AUTO _CNT_FLT _RESET START
O
N00050 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 289
1 X0002.7 R0507.0
B PROGRAM 1
DI_24_PG PROGRAM_
_SLCT128 1
N00051 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 298
1 X0002.7 R0507.1
D PROGRAM 2
DI_24_PG PROGRAM_
_SLCT128 2
N00052 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 307
1 X0002.7 R0507.2
F PROGRAM 3
DI_24_PG PROGRAM_
_SLCT128 3
N00053 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 316
1 X0002.7 R0507.3
H PROGRAM 4
DI_24_PG PROGRAM_
_SLCT128 4
N00054 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 325
1 X0002.7 R0507.4
J PROGRAM 5
DI_24_PG PROGRAM_
_SLCT128 5
N00055 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 334
1 X0002.7 R0507.5
L PROGRAM 6
DI_24_PG PROGRAM_
_SLCT128 6
N00056 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 343
1 X0002.7 R0507.6
N PROGRAM 7
DI_24_PG PROGRAM_
_SLCT128 7
O
N00057 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 352
1 X0002.7 R0507.7
B PROGRAM 8
DI_24_PG PROGRAM_
_SLCT128 8
N00058 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 361
1 X0002.7 R0508.0
D PROGRAM 9
DI_24_PG PROGRAM_
_SLCT128 9
N00059 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 370
1 X0002.7 R0508.1
F PROGRAM 10
DI_24_PG PROGRAM_
_SLCT128 10
N00060 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 379
1 X0002.7 R0508.2
H PROGRAM 11
DI_24_PG PROGRAM_
_SLCT128 11
N00061 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 388
1 X0002.7 R0508.3
J PROGRAM 12
DI_24_PG PROGRAM_
_SLCT128 12
N00062 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 397
1 X0002.7 R0508.4
L PROGRAM 13
DI_24_PG PROGRAM_
_SLCT128 13
N00063 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

M 406
1 X0002.7 R0508.5
N PROGRAM 14
DI_24_PG PROGRAM_
_SLCT128 14
O
N00064 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

A 415
1 X0002.7 R0508.6
B PROGRAM 15
DI_24_PG PROGRAM_
_SLCT128 15
N00065 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

C 424
1 X0002.7 R0508.7
D PROGRAM 16
DI_24_PG PROGRAM_
_SLCT128 16
N00066 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

E 433
1 X0002.7 R0509.0
F PROGRAM 17
DI_24_PG PROGRAM_
_SLCT128 17
N00067 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

G 442
1 X0002.7 R0509.1
H PROGRAM 18
DI_24_PG PROGRAM_
_SLCT128 18
N00068 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

I 451
1 X0002.7 R0509.2
J PROGRAM 19
DI_24_PG PROGRAM_
_SLCT128 19
N00069 X0002.0 X0002.1 X0002.2 X0002.3 X0002.4 X0002.5 X0002.6 1

K 460
1 X0002.7 R0509.3
L PROGRAM 20
DI_24_PG PROGRAM_
_SLCT128 20
O
N00070 X0000.4 Y0000.2 F1000.2 F1000.3 F1000.6 X0001.2 G1000.1 1

A 469
DI_5_MV_ DO_3_RBT PROGRAM_ PAUSED AT_HOME DI_11___ *HOLD
TO_POUNC _IN_AUTO RUNNING PLC_AUTO
Y0000.2 F1000.3 F1000.2 X0001.2

B
DO_3_RBT PAUSED PROGRAM_ DI_11___
_IN_AUTO RUNNING PLC_AUTO
F1000.6 R0507.0 F1000.2 F1000.3

C
AT_HOME PROGRAM_ PROGRAM_ PAUSED
1 RUNNING
R0507.1
D
PROGRAM_
2
R0507.2
E
PROGRAM_
3
R0507.3
F
PROGRAM_
4
R0507.4
G
PROGRAM_
5
R0507.5
H
PROGRAM_
6
R0507.6
I
PROGRAM_
7
R0507.7
J
PROGRAM_
8
R0508.0
K
PROGRAM_
9
R0508.1
L
PROGRAM_
10
R0508.2
M
PROGRAM_
11
R0508.3
N
PROGRAM_
12
R0508.4
O
PROGRAM_
13
R0508.5
A
PROGRAM_
14
R0508.6
B
PROGRAM_
15
R0508.7
C
PROGRAM_
16
R0509.0
D
PROGRAM_
17
R0509.1
E
PROGRAM_
18
R0509.2
F
PROGRAM_
19
R0509.3
G
PROGRAM_
20
Y0000.2 F1000.3 F1000.2 X0000.1 X0001.2

H
DO_3_RBT PAUSED PROGRAM_ DI_2_EX_ DI_11___
_IN_AUTO RUNNING RNEN_RST PLC_AUTO
X1025.6
I
CYCLE___
START
1 R0000.1 D0603.0 Y0000.4 R0100.5 F1000.5 G1000.5

J UOP CYCLE START
INT_EXT_ CYCLE___ DO_5_RBT BREAK_A_ FAULT UOP_CYC_
MTR_ON STRT_DLY _CNT_FLT NO_HOLD START
N00071 G1000.5 F1000.2 ACT D0603.0

UOP_CYC_ PROGRAM_ TMR CYCLE___
START RUNNING STRT_DLY
N00072 D0603.0 ACT D0603.0

CYCLE___ TMR CYCLE___
STRT_DLY STRT_DLY
N00073 F1000.2 D0603.0

PROGRAM_ CYCLE___
RUNNING STRT_DLY
N00074
N 531 SUB 1
END1
N00075 Y0119.7 ACT K0010.4

DO_960__ TMR TEACH_ME
AUTO_KEY M_DELAY
N00076 Y0000.3 X1026.5 X1025.1 X1025.6 K0010.0

A 536 TEACH MEMORY
DO_4_RBT SI13_RES FAULT___ CYCLE___ TEACH___
_IN_TCH ETSW RESET START MEMORY
K0010.4
B
TEACH_ME
M_DELAY
K0010.0
C
TEACH___
MEMORY
N00077 K0008.0 R0350.0

AUTO/MAI IN_MAINT
NT_SS
N00078 R0350.0 ACT D0610.0

IN_MAINT TMR MAINT___
DELAY
N00079 D0610.0 Y0000.2 Y0000.1 X1026.5 X1025.1 K0010.5

MAINT___ DO_3_RBT DO_2_RBT SI13_RES FAULT___ MAINT_ME
DELAY _IN_AUTO _@_HOME ETSW RESET M
K0010.5 X0000.6
G
MAINT_ME DI_7_MAI
M NT_PSCLR
N00080 X0000.2 X0000.3 Y0000.2 K0010.6

DI_3_EXT DI_4_EXT DO_3_RBT EXT_STRT
MTR_ON _CY_STRT _IN_AUTO _ANTI_TD
K0010.6
I
EXT_STRT
_ANTI_TD
N00081 X0002.0 G1001.0

J 563
DI_17_PG PNS_1
_SLCT_1
N00082 X0002.1 G1001.1

K 565
DI_18_PG PNS_2
_SLCT_2
N00083 X0002.2 G1001.2

L 567
DI_19_PG PNS_3
_SLCT_4
N00084 X0002.3 G1001.3

M 569
DI_20_PG PNS_4
_SLCT_8
N00085 X0002.4 G1001.4

N 571
DI_21_PG PNS_5
_SLCT_16
N00086 X0002.5 G1001.5

O 573
DI_22_PG PNS_6
_SLCT_32
N00087 X0002.6 G1001.6

A 575
DI_23_PG PNS_7
_SLCT_64
N00088 X0002.7 G1001.7

B 577
DI_24_PG PNS_8
_SLCT128
N00089 X0000.6 K0008.0 Y0120.5

DI_7_MAI AUTO/MAI DO_966_M
NT_PSCLR NT_SS ANTP_CLR
N00090 K0008.0 Y0001.4

AUTO/MAI DO_13_SN
NT_SS DRBT_MNT
N00091 Y0112.3 Y0003.0

DO_900__ DO_25_CL
CLR_ZN_1 R_ZON_1
N00092 Y0112.4 Y0003.1

DO_901__ DO_26_CL
CLR_ZN_2 R_ZON_2
N00093 Y0112.5 Y0003.2

DO_902__ DO_27_CL
CLR_ZN_3 R_ZON_3
N00094 Y0112.6 Y0003.3

DO_903__ DO_28_CL
CLR_ZN_4 R_ZON_4
N00095 Y0112.7 Y0003.4

DO_904__ DO_29_CL
CLR_ZN_5 R_ZON_5
N00096 Y0113.0 Y0003.5

DO_905__ DO_30_CL
CLR_ZN_6 R_ZON_6
N00097 Y0113.1 Y0003.6

DO_906__ DO_31_CL
CLR_ZN_7 R_ZON_7
N00098 Y0113.2 Y0003.7

DO_907__ DO_32_CL
CLR_ZN_8 R_ZON_8
N00099 Y0113.3 Y0004.0

DO_908__ DO_33_CL
CLR_ZN_9 R_ZON_9
N00100 Y0113.4 Y0004.1

DO_909_C DO_34_CL
LR_ZN_10 R_ZON_10
N00101 Y0113.5 Y0004.2

DO_910_C DO_35_CL
LR_ZN_11 R_ZON_11
N00102 Y0113.6 Y0004.3

DO_911_C DO_36_CL
LR_ZN_12 R_ZON_12
N00103 Y0113.7 Y0004.4

DO_912_C DO_37_CL
LR_ZN_13 R_ZON_13
N00104 Y0116.4 Y0004.5

DO_933_C DO_38_CL
LR_ZN_14 R_ZON_14
N00105 Y0118.7 Y0004.6

DO952_CL DO_39_CL
RMOTZN1 R_INDMOT
N00106 Y0119.0 Y0004.7

DO953_CL DO_40_CL
RMOTZN2 R_INDMT2
N00107 Y0119.1 X0000.0 Y0000.6

LRAV_XFR _RNENBL _ADV
N00108 Y0119.2 X0000.0 Y0000.7

LRET_XFR _RNENBL _RET_XFR
N00109 Y0119.3 X0000.0 Y0001.0

LR_UNCLP _RNENBL _2_UNCLP
N00110 Y0000.3 R1000.0 Y0073.0

I 625 PROMPT BOX
DO_4_RBT DO_19001 DO_585__
_IN_TCH _PRPTBX PRMPT_BX
N00111 R1402.0 R1402.1 R1402.2 R1402.3 R1402.4 R1402.5 R1402.6 1

J 628
1 R1402.7 R1405.3
ECO24___ SYS_FCLY
FC128 CODE
N00112 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 637
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R0365.0

O
N00113 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 655
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0366.0

N00114 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 673
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0367.0

N00115 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 691
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0368.0

N00116 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 709
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.0

N00117 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 727
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0370.1

N00118 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 745
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.3

N00119 R1406.3 X1025.1 Y0001.6

SRVO-50 FAULT___ DO_15_CO
RESET LL_DTCT
Y0001.6
E
DO_15_CO
LL_DTCT
N00120 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 767
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

G
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.2

ECO13 ECO14 ECO15 ECO16 SRVO-65_
LOW_BATT
N00121 F1001.0 Y0001.1

BATALM DO_10_RB
T_BAT_LW
N00122 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 787
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0371.0

N00123 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 805
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R1406.1

NCE_EXCE
N00124 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 823
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0373.0

_CONTROL
N00125 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 841
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0374.0

_NTED_IN
N00126 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 859
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0375.0

_TP_OFF
N00127 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 877
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0376.0

_SVOFF_I
N00128 R1405.0 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 895
_CODE_11
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0387.0

O SRVO-378 SFDIxx STATUS ABNOR
_SFDIxx
N00129 F1008.1 ACT R0388.1

A 913 SUB24 0001 F1008.1 SYSRST DELAY ON
SYSRST TMRB F1008.1_
DELAY ON
B 0000000124
N00130 R0387.0 R0388.1 R0388.0

C 918 SRVO OPSFTY ABNORM FAULT LATCH
SRVO-378 F1008.1_ OPSFTY_F
_SFDIxx DELAY ON LT_LATCH
R0388.0 F1000.5
D
OPSFTY_F FAULT
LT_LATCH
N00131 R0388.0 Y0073.1

E 924 SAFETY CHAIN FAULT
OPSFTY_F DO_586_S
LT_LATCH FTY_CHN
N00132 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

F 926
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

G
2 R1401.4 R1401.5 R1401.6 R1401.7 R0377.0

H SYST-034 HOLD SIGNAL FROM SOP/
_HOLD_SI
N00133 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

I 944
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

J
2 R1401.4 R1401.5 R1401.6 R1401.7 R0378.0

K SYST-038 OPERATION MODE T1 SEL
_OPERATI
N00134 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

L 962
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

M
2 R1401.4 R1401.5 R1401.6 R1401.7 R0379.0

N
O
N00135 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

A 980
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

B
2 R1401.4 R1401.5 R1401.6 R1401.7 R0380.0

C SYST-040 OPERATION MODE AUTO S
_OPERATI
N00136 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

D 998
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

E
2 R1401.4 R1401.5 R1401.6 R1401.7 R0381.0

F SYST-042 DEADMAN DEFEATED
_DEADMAN
N00137 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

G 1016
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

H
2 R1401.4 R1401.5 R1401.6 R1401.7 R0382.0

I SYST-043 TP DISABLE IN T1/T2
_TP_DISA
N00138 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

J 1034
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

K
2 R1401.4 R1401.5 R1401.6 R1401.7 R0383.0

L SYST-045 TP ENABLE IN AUTO MO
_TP_ENAB
N00139 R1405.3 R1400.0 R1400.1 R1400.2 R1400.3 R1400.4 R1400.5 1

M 1052
CODE
1 R1400.6 R1400.7 R1401.0 R1401.1 R1401.2 R1401.3 2

N
2 R1401.4 R1401.5 R1401.6 R1401.7 R0384.0

O SYST-154 NO START IN ISOLATE/B
_NO_STAR
N00140 R0397.0 F1000.0 R0397.0

A 1070 FILTERED FAULT
FILTERED COMMAND_ FILTERED
_FAULT ENABLE _FAULT
R0398.0
B
FILTER__
FLT_GRP1
R0399.0
C
FILTER__
FLT_GRP2
O
N00141 R0365.0 R0398.0

SRVO-001 FILTER__
FLT_GRP1
R0366.0
B
SRVO-002
R0367.0
C
SRVO-003
R0368.0
D
SRVO-005
R0369.0
E
R369.0__
RESERVED
R0370.0
F
SRVO-007
R0371.0
G
SRVO-101
R0372.0
H
R372.0__
RESERVED
R0373.0
I
SRVO-199
_CONTROL
R0374.0
J
SRVO-232
_NTED_IN
R0375.0
K
SRVO-233
_TP_OFF
R0376.0
L
SRVO-280
_SVOFF_I
R0370.1
M
SRVO-408
R1456.0
N
APPL____
ALARMS
O
N00142 R0377.0 R0399.0

SYST-034 FILTER__
_HOLD_SI FLT_GRP2
R0378.0
B
SYST-038
_OPERATI
R0379.0
C
SYST-039
R0380.0
D
SYST-040
_OPERATI
R0381.0
E
SYST-042
_DEADMAN
R0382.0
F
SYST-043
_TP_DISA
R0383.0
G
SYST-045
_TP_ENAB
R0384.0
H
SYST-154
_NO_STAR
X1025.0
I
FANUC___
E-STOP
F1008.2
J
TP______
E-STOP
X1026.1
K
SI9_____
AUTOMDSW
Y0000.3
L
DO_4_RBT
_IN_TCH
K0010.0
M
TEACH___
MEMORY
R1405.2
N
FENCE___
FAULT
O
N00143 R0330.0 F1000.5 R1456.0

A 1105
ARC_____ FAULT APPL____
ALARM ALARMS
R0330.1
B
SEALER__
ALARM
R0330.2
C
SERVOGUN
_ALARM
R0330.3
D
TOOLCHNG
__ALARM
R0330.4
E
SYSTEM__
_ALARM
R1404.3
F
SPOT____
ALARM
R1456.0
G
APPL____
ALARMS
N00144 D0001.0 ACT

H 1114 SUB10 0000
TOOL_CHA JMP
NGE_APP
N00145
I 1117 SUB66 P0001
CALLU TOOL_CHANGING
N00146
J 1119 SUB30
JMPE
N00147
K 1120 SUB66 P0004
CALLU AIR_SWITCH
N00148
L 1122 SUB66 P0006
CALLU UALM
N00149
M 1124 SUB66 P0007
CALLU INTERFACE
N00150
N 1126 SUB66 P0008
CALLU MH
N00151
O 1128 SUB66 P0009
CALLU APPLICATION
N00152
A 1130 SUB66 P0024
CALLU VISION
N00153
B 1132 SUB66 P0026
CALLU NUTRUNNER
N00154
C 1134 SUB 2
END2
N00155 ### TOOL_CHANGING ###

D 1135 SUB71 P0001
SP TOOL_CHANGING
N00156 X0080.0 R0347.0

E 1137 GUN ID NOT 0
DI_641__ GUN_ID__
TOOL_ID1 NOT_0
X0080.1
F
DI_642__
TOOL_ID2
X0080.2
G
DI_643__
TOOL_ID4
X0080.3
H
DI_644__
TOOL_ID8
N00157 X0080.0 X0080.1 X0080.2 X0080.3 R0321.0

I 1142
DI_641__ DI_642__ DI_643__ DI_644__ GUN_1_ON
N00158 X0080.0 X0080.1 X0080.2 X0080.3 R0322.0

J 1147
DI_641__ DI_642__ DI_643__ DI_644__ GUN_2_ON
N00159 X0080.0 X0080.1 X0080.2 X0080.3 R0323.0

K 1152
DI_641__ DI_642__ DI_643__ DI_644__ GUN_3_ON
N00160 X0080.0 X0080.1 X0080.2 X0080.3 R0324.0

L 1157
DI_641__ DI_642__ DI_643__ DI_644__ GUN_4_ON
N00161 X0080.0 X0080.1 X0080.2 X0080.3 R0325.0

M 1162
DI_641__ DI_642__ DI_643__ DI_644__ GUN_5_ON
N00162 X0080.0 X0080.1 X0080.2 X0080.3 R0326.0

N 1167
DI_641__ DI_642__ DI_643__ DI_644__ GUN_6_ON
N00163 X0080.0 X0080.1 X0080.2 X0080.3 R0326.1

O 1172
DI_641__ DI_642__ DI_643__ DI_644__ GUN_7_ON
N00164 X0080.0 X0080.1 X0080.2 X0080.3 R0326.2

A 1177
DI_641__ DI_642__ DI_643__ DI_644__ GUN_8_ON
N00165 R0321.0 R0328.6

B 1182 TOOL ON ROBOT
GUN_1_ON TOOLONRO
_ARM BOT
R0322.0
C
GUN_2_ON
_ARM
R0323.0
D
GUN_3_ON
_ARM
R0324.0
E
GUN_4_ON
_ARM
R0325.0
F
GUN_5_ON
_ARM
R0326.0
G
GUN_6_ON
_ARM
R0326.1
H
GUN_7_ON
_ARM
R0326.2
I
GUN_8_ON
_ARM
N00166 R0321.0 R0322.0 R0323.0 R0324.0 R0325.0 R0326.0 R0326.1 1

J 1191
GUN_1_ON GUN_2_ON GUN_3_ON GUN_4_ON GUN_5_ON GUN_6_ON GUN_7_ON
_ARM _ARM _ARM _ARM _ARM _ARM _ARM
1 R0326.2 R0348.0
K ANY GEO TOOL PRESENT ON ROBOT
GUN_8_ON GEOTOOLP
_ARM RSNT
N00167 X0080.0 Y0038.0

L 1200
DI_641__ DO_305__
TOOL_ID1 TOOL_ID1
N00168 X0080.1 Y0038.1

M 1202
DI_642__ DO_306__
TOOL_ID2 TOOL_ID2
N00169 X0080.2 Y0038.2

N 1204
DI_643__ DO_307__
TOOL_ID4 TOOL_ID4
N00170 X0080.3 Y0038.3

O 1206
DI_644__ DO_308__
TOOL_ID8 TOOL_ID8
N00171 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 X0038.6 1

A 1208
DI_305__ DI_306__ DI_307__ DI_308__ DI_309__ DI_310__ DI_311__
1 X0038.7 R0327.0
DI_312__ GUN_1-8
TCSTND8
N00172 Y0117.4 K0011.1

DO_941__ TC______
TC_UNLCK RELEASED
N00173 Y0117.3 X0079.4 X0079.5 R0328.6 Y0079.0

DO_940__ DI_637__ DI_638__ TOOLONRO DO_633_T
TC_LOCK RDY2LCK1 RDY2LCK2 BOT C_LOCK
R0328.6
E
TOOLONRO
BOT
N00174 Y0117.4 Y0117.3 Y0079.0

F 1226 R TOOL CHANGER LOCK
DO_941__ DO_940__ DO_633_T
TC_UNLCK TC_LOCK C_LOCK
N00175 X0079.0 Y0040.6

G 1229
DI_633__ DO_327_T
TC_LOCKD CCOUPMON
N00176 K0011.1 Y0079.0 X0080.4 X0080.5 R0328.6 Y0079.1

TC______ DO_633_T DI_645_T DI_646_T TOOLONRO DO_634_T
RELEASED C_LOCK SIV SRV BOT C_UNLOCK
R0328.6
I
TOOLONRO
BOT
N00177 X0079.1 Y0040.7

J 1239
DI_634__ DO_328_T
TC_ULCKD CRELMON
N00178 R0328.6 K0008.0 R0218.4

TOOLONRO AUTO/MAI DI_940_T
BOT NT_SS C_NOTOOL
N00179 Y0117.5 Y0117.6 Y0000.2 Y0038.5

DO_942__ DO_943__ DO_3_RBT DO_310_T
TCOPNCVR TCCLSCVR _IN_AUTO C_OPNCVR
K0011.4 K0011.5 Y0000.3

M
TC_OPENG TC__CLOS DO_4_RBT
UNCOVER GUNCOVER _IN_TCH
N00180 Y0117.5 Y0117.6 Y0000.2 Y0038.6

DO_942__ DO_943__ DO_3_RBT DO_311_T
TCOPNCVR TCCLSCVR _IN_AUTO C_CLSCVR
K0011.5 K0011.4 Y0000.3

O
TC__CLOS TC_OPENG DO_4_RBT
GUNCOVER UNCOVER _IN_TCH
N00181 X0038.0 R0321.0 R0329.0

TCSTND1 _ARM ITION
X0038.0 X0039.3
B
DI_305__ DI_316_G
TCSTND1 EOTPDCK
N00182 X0038.1 R0322.0 R0329.1

TCSTND2 _ARM ITION
X0038.1 X0039.3
D
DI_306__ DI_316_G
TCSTND2 EOTPDCK
N00183 X0038.2 R0323.0 R0329.2

TCSTND3 _ARM ITION
X0038.2 X0039.3
F
DI_307__ DI_316_G
TCSTND3 EOTPDCK
N00184 X0038.3 R0324.0 R0329.3

TCSTND4 _ARM ITION
X0038.3 X0039.3
H
DI_308__ DI_316_G
TCSTND4 EOTPDCK
N00185 X0038.4 R0325.0 R0329.4

TCSTND5 _ARM ITION
X0038.4 X0039.3
J
DI_309__ DI_316_G
TCSTND5 EOTPDCK
N00186 X0038.5 R0326.0 R0329.5

TCSTND6 _ARM ITION
X0038.5 X0039.3
L
DI_310__ DI_316_G
TCSTND6 EOTPDCK
N00187 X0038.6 R0326.1 R0329.6

TCSTND7 _ARM ITION
X0038.6 X0039.3
N
DI_311__ DI_316_G
TCSTND7 EOTPDCK
O
N00188 X0038.7 R0326.2 R0329.7

TCSTND8 _ARM ITION
X0038.7 X0039.3
B
DI_312__ DI_316_G
TCSTND8 EOTPDCK
N00189 R0329.0 R0328.7

GUN1_POS GUN1-8_P
ITION OSITION
R0329.1
D
GUN2_POS
ITION
R0329.2
E
GUN3_POS
ITION
R0329.3
F
GUN4_POS
ITION
R0329.4
G
GUN5_POS
ITION
R0329.5
H
GUN6_POS
ITION
R0329.6
I
GUN7_POS
ITION
R0329.7
J
GUN8_POS
ITION
N00190 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1317
1 X0038.6 X0038.7 R0320.0

L TOOL 1 IN OPDOCK
N00191 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

M 1327
1 X0038.6 X0038.7 R0320.1

N TOOL 2 IN OPDOCK
O
N00192 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

A 1337
1 X0038.6 X0038.7 R0320.2

B TOOL 3 IN OPDOCK
N00193 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

C 1347
1 X0038.6 X0038.7 R0320.3

D TOOL 4 IN OPDOCK
N00194 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

E 1357
1 X0038.6 X0038.7 R0320.4

F TOOL 5 IN OPDOCK
N00195 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

G 1367
1 X0038.6 X0038.7 R0320.5

H TOOL 6 IN OPDOCK
N00196 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

I 1377
1 X0038.6 X0038.7 R0320.6

J TOOL 7 IN OPDOCK
N00197 X0039.3 X0038.0 X0038.1 X0038.2 X0038.3 X0038.4 X0038.5 1

K 1387
1 X0038.6 X0038.7 R0320.7

L TOOL 8 IN OPDOCK
O
N00198 R0320.0 R0319.0

TOOL1INO ALLTOOLS
PDOCK INOPDOCK
R0320.1
B
TOOL2INO
PDOCK
R0320.2
C
TOOL3INO
PDOCK
R0320.3
D
TOOL4INO
PDOCK
R0320.4
E
TOOL5INO
PDOCK
R0320.5
F
TOOL6INO
PDOCK
R0320.6
G
TOOL7INO
PDOCK
R0320.7
H
TOOL8INO
PDOCK
N00199 X0082.6 Y0038.7

I 1406
DI_663_T DO_312_T
CCOMMOK CCOMMOK
N00200 X0082.7 Y0039.2

J 1408
DI_664_T DO_315_T
CTLSLDPW LSLIDPWR
N00201 X0079.4 X0079.5 G1008.4

K 1410 RTL1ANDL2SWITCHMISMATCH
DI_637__ DI_638__ UALM_5
RDY2LCK1 RDY2LCK2
X0079.4 X0079.5
L
DI_637__ DI_638__
RDY2LCK1 RDY2LCK2
N00202 R0328.6 G1008.5

TOOLONRO UALM_6
BOT
N00203 K0013.1 R0000.7 Y0126.7

NOTOOLON PART_PRE DO_1016_
N00204 K0013.1 R0000.7 K0013.1

NOTOOLON PART_PRE NOTOOLON
EOATSS SENT EOATSS
N00205 Y0039.3 Y0039.3

DO_316_W DO_316_W
RNGTLSTD RNGTLSTD
N00206 Y0039.3 X1025.1 Y0000.1 Y0039.3

DO_316_W FAULT___ DO_2_RBT DO_316_W
RNGTLSTD RESET _@_HOME RNGTLSTD
N00207
C 1430 SUB72
SPE
N00208 ### AIR_SWITCH ###

D 1431 SUB71 P0004
SP AIR_SWITCH
N00209 X1020.6 Y0001.5

RI_7_AIR DO_14_EO
_FL_SW A_AIR_ON
N00210
F 1435 SUB72
SPE
N00211 ### UALM ###

G 1436 SUB71 P0006
SP UALM
N00212 Y0120.2 X1025.1 Y0120.2

DO_963__ FAULT___ DO_963__
PRG_FLT RESET PRG_FLT
N00213 Y0120.2 G1008.0

DO_963__ UALM1
PRG_FLT
N00214 K0010.0 Y0119.7 Y0000.3 G1010.6

TEACH___ DO_960__ DO_4_RBT UALM23
MEMORY AUTO_KEY _IN_TCH
N00215 R0000.0 G1011.0

ALWAYS__ UALM_25
ON
N00216 R0000.0 G1011.1

ALWAYS__ UALM_26
ON
N00217 Y0002.7 G1011.4

DO_24_RB UALM_29
T_LOOP
N00218 Y0039.3 G1009.7

DO_316_W UALM_16
RNGTLSTD
N00219
O 1455 SUB72
SPE

A 1456 SUB71 P0007
SP INTERFACE
N00221 D0612.1 ACT D0612.0

MH_IF_PB TMR ALL_IF_P
_TO B_TO
D0612.2
C
SEAL_IF_
PB_TO
D0612.3
D
STUD_IF_
PB_TO
D0612.4
E
VISION_I
F_PB_TO
D0612.5
F
NUTRUN_I
F_PB_TO
O
N00222 K0002.0 D0612.1

A 1466 MH IF PB TO
CLMP1CLS MH_IF_PB
_TO
K0002.1
B
CLMP1OPN
K0002.2
C
CLMP2CLS
K0002.3
D
CLMP2OPN
K0002.4
E
CLMP3CLS
K0002.5
F
CLMP3OPN
K0002.6
G
CLMP4CLS
K0002.7
H
CLMP4OPN
K0003.0
I
CLMP5CLS
K0003.1
J
CLMP5OPN
K0003.2
K
CLMP6CLS
K0003.3
L
CLMP6OPN
K0003.4
M
CLMP7CLS
K0003.5
N
CLMP7OPN
K0003.6
O
CLMP8CLS
K0003.7
A
CLMP8OPN
K0004.0
B
CLMP9CLS
K0004.1
C
CLMP9OPN
K0004.2
D
CLP10CLS
K0004.3
E
CLP10OPN
K0014.2
F
VAC_1_ON
_PB
K0014.3
G
VAC_2_ON
_PB
K0014.4
H
VAC_3_ON
_PB
K0014.5
I
BLOWOFF_
1_ON_PB
K0014.6
J
BLOWOFF_
2_ON_PB
K0014.7
K
BLOWOFF_
3_ON_PB
K0000.4
L
RERUNPRC
PB
K0000.5
M
ACCPTPRC
PB
K0000.6
N
REJCTPRC
PB
K0000.7
O
INSPCTSE
LPB
K0016.1
A
VAC_4_ON
_PB
K0016.2
B
BLOWOFF_
4_ON_PB
N00223 K0009.4 D0612.2

MAN_FLOW SEAL_IF_
_PB1 PB_TO
K0008.7
D
RESEAL_P
B1
K0011.2
E
AUTO_PUR
GE_PB1
K0008.2
F
ACCEPTSE
ALER1_IF
K0008.3
G
REJECTSE
ALER1_IF
K0012.3
H
INSPECTI
ON_PB_1
K0009.5
I
MAN_FLOW
_PB2
K0009.0
J
RESEAL_P
B2
K0011.3
K
AUTO_PUR
GE_PB2
K0012.4
L
INSPECTI
ON_PB_2
K0013.5
M
ACCEPTSE
ALER2_IF
K0013.6
N
REJECTSE
ALER2_IF
O
N00224 K0011.7 D0612.3

STUDSKPR STUD_IF_
EMSTDPB1 PB_TO
K0012.0
B
STUDREJE
CTPB1
K0012.1
C
STUDMANU
ALPB1
K0012.2
D
STUDFAUL
TRSTPB1
K0012.6
E
STUDSKPR
EMSTDPB2
K0012.7
F
STUDREJE
CTPB2
K0013.0
G
STUDMANU
ALPB2
K0002.7
H
CLMP4OPN
K0013.2
I
REJECTNO
PGRECLL1
K0013.3
J
REJECTNO
PGRECLL2
K0013.4
K
STUDFAUL
TRSTPB2
O
N00225 K0001.4 D0612.4

A 1524 VISION IF PB TO
LOAD2AVE VISION_I
RAGE F_PB_TO
K0001.5
B
ABORTPRO
CESS
K0001.6
C
CALIBREQ
UEST
K0001.7
D
RETRYOPE
RATION
K0001.0
E
LIGHTTES
TPB
N00226 K0015.5 D0612.5

F 1530 NUTRUNNER IF PB TO
START_RE NUTRUN_I
SET_PB F_PB_TO
K0016.3
G
NUTRUNN_
RETRY_PB
N00227
H 1533 SUB72
SPE
N00228 ### MH ###

I 1534 SUB71 P0008
SP MH
N00229 Y0000.3 K0004.4 R1410.0

J 1536 MANUAL GRIP ENABLE
DO_4_RBT MAN_GRP_ MAN_GRP_
_IN_TCH ENBLE_SS ENABLE
N00230 R1410.0 ACT

K 1539 SUB10 0000
MAN_GRP_ JMP
ENABLE
N00231 R0000.0 Y0114.0

L 1542 OPEN CLAMP 1
ALWAYS__ DO_913__
ON OPNCLMP1
N00232 R0000.0 Y0114.1

ALWAYS__ DO_914__
ON CLSCLMP1
N00233 R0000.0 Y0114.2

N 1546 OPEN CLAMP 2
ALWAYS__ DO_915__
ON OPNCLMP2
N00234 R0000.0 Y0114.3

ALWAYS__ DO_916__
ON CLSCLMP2
N00235 R0000.0 Y0114.4

A 1550 OPEN CLAMP 3
ALWAYS__ DO_917__
ON OPNCLMP3
N00236 R0000.0 Y0114.5

ALWAYS__ DO_918__
ON CLSCLMP3
N00237 R0000.0 Y0114.6

C 1554 OPEN CLAMP 4
ALWAYS__ DO_919__
ON OPNCLMP4
N00238 R0000.0 Y0114.7

ALWAYS__ DO_920__
ON CLSCLMP4
N00239 R0000.0 Y0115.0

E 1558 OPEN CLAMP 5
ALWAYS__ DO_921__
ON OPNCLMP5
N00240 R0000.0 Y0115.1

ALWAYS__ DO_922__
ON CLSCLMP5
N00241 R0000.0 Y0115.2

G 1562 OPEN CLAMP 6
ALWAYS__ DO_923__
ON OPNCLMP6
N00242 R0000.0 Y0115.3

ALWAYS__ DO_924__
ON CLSCLMP6
N00243 R0000.0 Y0115.4

I 1566 OPEN CLAMP 7
ALWAYS__ DO_925__
ON OPNCLMP7
N00244 R0000.0 Y0115.5

ALWAYS__ DO_926__
ON CLSCLMP7
N00245 R0000.0 Y0115.6

K 1570 OPEN CLAMP 8
ALWAYS__ DO_927__
ON OPNCLMP8
N00246 R0000.0 Y0115.7

ALWAYS__ DO_928__
ON CLSCLMP8
N00247 R0000.0 Y0116.0

M 1574 OPEN CLAMP 9
ALWAYS__ DO_929__
ON OPNCLMP9
N00248 R0000.0 Y0116.1

ALWAYS__ DO_930__
ON CLSCLMP9
N00249 R0000.0 Y0116.2

O 1578 OPEN CLAMP 10
ALWAYS__ DO_931__
ON OPNCLP10
N00250 R0000.0 Y0116.3

ALWAYS__ DO_932__
ON CLSCLP10
N00251 R0000.0 Y0127.2

B 1582 VACUUM 1 ON
ALWAYS__ DO1019_V
ON AC1ON
N00252 R0000.0 Y0127.3

C 1584 BLOWOFF 1 ON
ALWAYS__ DO1020_B
ON LWOF1ON
N00253 R0000.0 Y0127.4

D 1586 VACUUM 2 ON
ALWAYS__ DO1021_V
ON AC2ON
N00254 R0000.0 Y0127.5

E 1588 BLOWOFF 2 ON
ALWAYS__ DO1022_B
ON LWOF2ON
N00255 R0000.0 Y0127.6

F 1590 VACUUM 3 ON
ALWAYS__ DO1023_V
ON AC3ON
N00256 R0000.0 Y0127.7

G 1592 BLOWOFF 3 ON
ALWAYS__ DO1024_B
ON LWOF3ON
N00257 R0000.0 Y0118.5

H 1594 VACUUM 4 ON
ALWAYS__ DO_950_V
ON AC4ON
N00258 R0000.0 Y0118.6

I 1596 BLOWOFF 4 ON
ALWAYS__ DO_951_B
ON LWOF4ON
N00259
J 1598 SUB30
JMPE
N00260 R1410.0 ACT R0001.1

K 1599 SUB 3 0038
MAN_GRP_ TMR MAN_GRP_
ENABLE TO
N00261 R0001.1 ACT

L 1603 SUB10 0000
MAN_GRP_ JMP
TO
N00262 K0002.1 X1026.1 Y0114.0

M 1606 OPEN CLAMP 1
AUTOMDSW OPNCLMP1
N00263 Y0114.0 Y0009.0

DO_913__ DO_73_OP
OPNCLMP1 N_CLMP1
N00264 K0002.0 X1026.1 Y0114.1

AUTOMDSW CLSCLMP1
N00265 Y0114.1 Y0009.1

DO_914__ DO_74_CL
CLSCLMP1 S_CLMP1
N00266 K0002.3 X1026.1 Y0114.2

B 1616 OPEN CLAMP 2
AUTOMDSW OPNCLMP2
N00267 Y0114.2 Y0009.2

DO_915__ DO_75_OP
OPNCLMP2 N_CLMP2
N00268 K0002.2 X1026.1 Y0114.3

AUTOMDSW CLSCLMP2
N00269 Y0114.3 Y0009.3

DO_916__ DO_76_CL
CLSCLMP2 S_CLMP2
N00270 K0002.5 X1026.1 Y0114.4

F 1626 OPEN CLAMP 3
AUTOMDSW OPNCLMP3
N00271 Y0114.4 Y0009.4

DO_917__ DO_77_OP
OPNCLMP3 N_CLMP_3
N00272 K0002.4 X1026.1 Y0114.5

AUTOMDSW CLSCLMP3
N00273 Y0114.5 Y0009.5

DO_918__ DO_78_CL
CLSCLMP3 S_CLMP3
N00274 K0002.7 X1026.1 Y0114.6

J 1636 OPEN CLAMP 4
AUTOMDSW OPNCLMP4
N00275 Y0114.6 Y0009.6

DO_919__ DO_79_OP
OPNCLMP4 N_CLMP4
N00276 K0002.6 X1026.1 Y0114.7

AUTOMDSW CLSCLMP4
N00277 Y0114.7 Y0009.7

DO_920__ DO_80_CL
CLSCLMP4 S_CLMP4
N00278 K0003.1 X1026.1 Y0115.0

N 1646 OPEN CLAMP 5
AUTOMDSW OPNCLMP5
N00279 Y0115.0 Y0010.0

O 1649 OPEN CLAMP #5
DO_921__ DO_81_OP
OPNCLMP5 N_CLMP5
N00280 K0003.0 X1026.1 Y0115.1

AUTOMDSW CLSCLMP5
N00281 Y0115.1 Y0010.1

B 1654 CLOSE CLAMP #5
DO_922__ DO_82_CL
CLSCLMP5 S_CLMP5
N00282 K0003.3 X1026.1 Y0115.2

C 1656 OPEN CLAMP 6
AUTOMDSW OPNCLMP6
N00283 Y0115.2 Y0010.2

D 1659 OPEN CLAMP #6
DO_923__ DO_83_OP
OPNCLMP6 N_CLMP6
N00284 K0003.2 X1026.1 Y0115.3

AUTOMDSW CLSCLMP6
N00285 Y0115.3 Y0010.3

F 1664 CLOSE CLAMP #6
DO_924__ DO_84_CL
CLSCLMP6 S_CLMP_6
N00286 K0003.5 X1026.1 Y0115.4

G 1666 OPEN CLAMP 7
AUTOMDSW OPNCLMP7
N00287 Y0115.4 Y0010.4

H 1669 OPEN CLAMP #7
DO_925__ DO_85_OP
OPNCLMP7 N_CLMP_7
N00288 K0003.4 X1026.1 Y0115.5

I 1671 CLOSE CLAMP 7
AUTOMDSW CLSCLMP7
N00289 Y0115.5 Y0010.5

J 1674 CLOSE CLAMP #7
DO_926__ DO_86_CL
CLSCLMP7 S_CLAMP7
N00290 K0003.7 X1026.1 Y0115.6

K 1676 OPEN CLAMP 8
AUTOMDSW OPNCLMP8
N00291 Y0115.6 Y0010.6

L 1679 OPEN CLAMP #8
DO_927__ DO_87_OP
OPNCLMP8 N_CLMP8
N00292 K0003.6 X1026.1 Y0115.7

AUTOMDSW CLSCLMP8
N00293 Y0115.7 Y0010.7

N 1684 CLOSE CLAMP #8
DO_928__ DO_88_CL
CLSCLMP8 S_CLAMP8
N00294 K0004.1 X1026.1 Y0116.0

O 1686 OPEN CLAMP 9
AUTOMDSW OPNCLMP9
N00295 Y0116.0 Y0011.0

A 1689 OPEN CLAMP #9
DO_929__ DO_89_OP
OPNCLMP9 N_CLMP9
N00296 K0004.0 X1026.1 Y0116.1

AUTOMDSW CLSCLMP9
N00297 Y0116.1 Y0011.1

C 1694 CLOSE CLAMP #9
DO_930__ DO_90_CL
CLSCLMP9 S_CLMP9
N00298 K0004.3 X1026.1 Y0116.2

D 1696 OPEN CLAMP 10
CLP10OPN SI9_____ DO_931__
AUTOMDSW OPNCLP10
N00299 Y0116.2 Y0011.2

DO_931__ DO_91_OP
OPNCLP10 N_CLMP10
N00300 K0004.2 X1026.1 Y0116.3

CLP10CLS SI9_____ DO_932__
AUTOMDSW CLSCLP10
N00301 Y0116.3 Y0011.3

DO_932__ DO_92_CL
CLSCLP10 S_CLMP10
N00302 K0014.2 X1026.1 K0014.1 Y0127.2

H 1706 VACUUM 1 ON
N00303 Y0127.2 Y0008.0

I 1710
DO1019_V DO_65_VA
AC1ON C_1_ON
N00304 K0014.5 X1026.1 K0014.1 Y0127.3

J 1712 BLOWOFF 1 ON
N00305 Y0127.3 Y0008.1

K 1716
DO1020_B DO_66_BL
LWOF1ON WOFF1ON
N00306 K0014.3 X1026.1 K0014.1 Y0127.4

L 1718 VACUUM 2 ON
N00307 Y0127.4 Y0008.2

M 1722
DO1021_V DO_67_VA
AC2ON C_2_ON
N00308 K0014.6 X1026.1 K0014.1 Y0127.5

N 1724 BLOWOFF 2 ON
N00309 Y0127.5 Y0008.3

O 1728
DO1022_B DO_68_BL
LWOF2ON WOFF2ON
N00310 K0014.4 X1026.1 K0014.1 Y0127.6

A 1730 VACUUM 3 ON
N00311 Y0127.6 Y0008.4

B 1734
DO1023_V DO_69_VA
AC3ON C_3_ON
N00312 K0014.7 X1026.1 K0014.1 Y0127.7

C 1736 BLOWOFF 3 ON
N00313 Y0127.7 Y0008.5

D 1740
DO1024_B DO_70_BL
LWOF3ON WOFF3ON
N00314 K0016.1 X1026.1 K0014.1 Y0118.5

E 1742 VACUUM 4 ON
VAC_4_ON SI9_____ VAC/BLOW DO_950_V
N00315 Y0118.5 Y0008.6

F 1746
DO_950_V DO_71_VA
AC4ON C_4_ON
N00316 K0016.2 X1026.1 K0014.1 Y0118.6

G 1748 BLOWOFF 4 ON
BLOWOFF_ SI9_____ VAC/BLOW DO_951_B
N00317 Y0118.6 Y0008.7

H 1752
DO_951_B DO_72_BL
LWOF4ON WOFF4ON
N00318
I 1754 SUB30
JMPE
O
N00319 Y0008.0 ACT K0014.1

DO_65_VA TMR VAC/BLOW
C_1_ON OFFTIMER
Y0008.1
B
DO_66_BL
WOFF1ON
Y0008.2
C
DO_67_VA
C_2_ON
Y0008.3
D
DO_68_BL
WOFF2ON
Y0008.4
E
DO_69_VA
C_3_ON
Y0008.5
F
DO_70_BL
WOFF3ON
Y0008.6
G
DO_71_VA
C_4_ON
Y0008.7
H
DO_72_BL
WOFF4ON
N00320 K0002.0 D0612.0 K0002.0

I 1766 CLMP1 CLOSE
B_TO
N00321 K0002.1 D0612.0 K0002.1

J 1769 CLMP1 OPEN
B_TO
N00322 K0002.2 D0612.0 K0002.2

K 1772 CLMP2 CLOSE
B_TO
N00323 K0002.3 D0612.0 K0002.3

L 1775 CLMP2 OPEN
B_TO
N00324 K0002.4 D0612.0 K0002.4

M 1778 CLMP3 CLOSE
B_TO
N00325 K0002.5 D0612.0 K0002.5

N 1781 CLMP3 OPEN
B_TO
N00326 K0002.6 D0612.0 K0002.6

O 1784 CLMP4 CLOSE
B_TO
N00327 K0002.7 D0612.0 K0002.7

A 1787 CLMP4 OPEN
B_TO
N00328 K0003.0 D0612.0 K0003.0

B 1790 CLMP5 CLOSE
B_TO
N00329 K0003.1 D0612.0 K0003.1

C 1793 CLMP5 OPEN
B_TO
N00330 K0003.2 D0612.0 K0003.2

D 1796 CLMP6 CLOSE
B_TO
N00331 K0003.3 D0612.0 K0003.3

E 1799 CLMP6 OPEN
B_TO
N00332 K0003.4 D0612.0 K0003.4

F 1802 CLMP7 CLOSE
B_TO
N00333 K0003.5 D0612.0 K0003.5

G 1805 CLMP7 OPEN
B_TO
N00334 K0003.6 D0612.0 K0003.6

H 1808 CLMP8 CLOSE
B_TO
N00335 K0003.7 D0612.0 K0003.7

I 1811 CLMP8 OPEN
B_TO
N00336 K0004.0 D0612.0 K0004.0

J 1814 CLMP9 CLOSE
B_TO
N00337 K0004.1 D0612.0 K0004.1

K 1817 CLMP9 OPEN
B_TO
N00338 K0004.2 D0612.0 K0004.2

L 1820 CLMP10 CLOSE
CLP10CLS ALL_IF_P CLP10CLS
B_TO
N00339 K0004.3 D0612.0 K0004.3

M 1823 CLMP10 OPEN
CLP10OPN ALL_IF_P CLP10OPN
B_TO
N00340 K0014.2 D0612.0 K0014.2

N 1826
_PB B_TO _PB
N00341 K0014.3 D0612.0 K0014.3

O 1829
_PB B_TO _PB
N00342 K0014.4 D0612.0 K0014.4

A 1832
_PB B_TO _PB
N00343 K0016.1 D0612.0 K0016.1

B 1835
_PB B_TO _PB
N00344 K0014.5 D0612.0 K0014.5

C 1838
N00345 K0014.6 D0612.0 K0014.6

D 1841
N00346 K0014.7 D0612.0 K0014.7

E 1844
N00347 K0016.2 D0612.0 K0016.2

F 1847
N00348 K0000.4 Y0012.6

RERUNPRC DO_103_R
PB ERUNPRC
N00349 K0000.5 Y0012.7

ACCPTPRC DO_104_A
PB CCPTPRC
N00350 K0000.6 Y0013.0

REJCTPRC DO_105_R
PB EJCTPRC
N00351 K0000.7 Y0013.1

INSPCTSE DO_106_I
LPB NSP_SEL
K0001.3 K0001.5
K
VISIONIN ABORTPRO
TERVENSS CESS
Y0013.1 K0001.5
L
DO_106_I ABORTPRO
NSP_SEL CESS
N00352 K0000.4 D0612.0 K0000.4

M 1864 S RERUN PROCESS PB
PB B_TO PB
N00353 K0000.4 D0612.0 K0000.4

N 1867 R RERUN PROCESS PB
PB B_TO PB
N00354 K0000.5 D0612.0 K0000.5

O 1870 S ACCEPT PROCESS PB
PB B_TO PB
N00355 K0000.5 D0612.0 K0000.5

A 1873 R ACCEPT PROCESS PB
PB B_TO PB
N00356 K0000.6 D0612.0 K0000.6

B 1876 S REJECT PROCESS PB
PB B_TO PB
N00357 K0000.6 D0612.0 K0000.6

C 1879 R REJECT PROCESS PB
PB B_TO PB
N00358 K0000.7 D0612.0 K0000.7

D 1882 S INSPECTION SELECTED PB
LPB B_TO LPB
N00359 K0000.7 D0612.0 K0000.7

E 1885 R INSPECTION SELECTED PB
LPB B_TO LPB
N00360 X0008.2 R0000.7

F 1888 PART PRESENT ON EOAT
DI_67_PR PART_PRE
T_PRES1 SENT
X0008.3
G
DI_68_PR
T_PRES2
X0008.4
H
DI_69_PR
T_PRES3
X0008.5
I
DI_70_PR
T_PRES4
X0008.6
J
DI_71_PR
T_PRES5
X0008.7
K
DI_72_PR
T_PRES6
N00361
L 1895 SUB72
SPE

M 1896 SUB71 P0009
SP APPLICATION
N00363 D0000.0 Y0048.0

N 1898 MATERIAL HANLDING APPLICATION
MH_APP DO_385_M
H_APP
N00364 D0000.1 Y0048.1

WELD_1_A DO_386__
PP WLD1_APP
N00365 D0000.2 Y0048.2

A 1902 WELD 2 APPLICATION
WELD_2_A DO_387_W
PP LD2_APP
N00366 D0000.3 Y0048.3

B 1904 NUT FEED APPLICATION
NUT_FEED DO_388_N
_APP UTFD_APP
N00367 D0000.4 Y0048.4

SEAL_1_A DO_389_S
PP LR_1_APP
N00368 D0000.5 Y0048.5

D 1908 SEALER 2 APPLICATION
SEAL_2__ DO_390_S
APP LR_2_APP
N00369 D0000.6 Y0048.6

STUD_1_A DO_391_S
PP TDW_1APP
N00370 D0000.7 Y0048.7

F 1912 STUD WELD 2 APPLICATION
STUD_2_A DO_392_S
PP TDW_2APP
N00371 D0001.0 Y0049.0

G 1914 TOOL CHANGE APPLICATION
TOOL_CHA DO_393_T
NGE_APP C_APP
N00372 D0001.1 Y0049.1

H 1916 RIVET 1 APPLICAYION
RIVET_1_ DO_394_R
APP VT_1_APP
N00373 D0001.2 Y0049.2

I 1918 RIVET 2 APPLICATION
RIVET_2_ DO_395_R
APP VT_2_APP
N00374 D0001.3 Y0049.3

J 1920 NUT RUNNER APPLICATION
NUT_RUNN DO_396_N
ER_APP UTR_APP
N00375 D0001.4 Y0049.4

K 1922 MIG WELD APPLICATION
MIG_WELD DO_397_M
_APP IGW_APP
N00376 D0001.5 Y0049.5

L 1924 ROLL HEMMER APPLICATION
ROLLER_H DO_398_R
EMM_APP LLHEM_AP
N00377 D0001.6 Y0049.6

M 1926 LASER CUT APPLICATION
LASER_CU DO_399_L
T_APP SRCT_APP
N00378 D0001.7 Y0049.7

N 1928 PLASMA CUT APPLICATION
PLASMA_C DO_400_P
UT_APP LSMA_APP
N00379 D0002.0 Y0050.0

O 1930 LASER WELD APPLICATION
LASER_WE DO_401_L
LD_APP SRWLDAPP
N00380 D0002.1 Y0050.1

A 1932 OPERATOR LOAD APPLICATION
OPER_LOA DO_402_O
D_APP P_LD_APP
N00381 D0002.2 Y0050.2

B 1934 VISION APPLICATION
VISION_A DO_403_V
PP IS_APP
N00382 D0002.3 Y0050.3

C 1936 PROGRAM LOCATOR APPLICATION
PROG_LOC DO_404_P
_APP RG_LCAPP
N00383 D0002.4 Y0050.4

D 1938 INTERFACE DEFINITION BIT 21
IF_DEF__ DO_405__
21 INDEFB21
N00384 D0002.5 Y0050.5

E 1940 NUT FEEDER 2 APPLICATION
NUT_FEED DO_406_N
ER_2_APP TFD_2APP
N00385 D0002.6 Y0050.6

IF_DEF__ DO_407_I
23 NDEF_B23
N00386 D0002.7 Y0050.7

IF_DEF__ DO_408_I
24 NDEF_B24
N00387 D0003.0 Y0051.0

IF_DEF__ DO_409_I
25 NDEF_B25
N00388 D0003.1 Y0051.1

IF_DEF__ DO_410_I
26 NDEF_B26
N00389 D0003.2 Y0051.2

IF_DEF__ DO_411_I
27 NDEF_B27
N00390 D0003.3 Y0051.3

IF_DEF__ DO_412_I
28 NDEF_B28
N00391 D0003.4 Y0051.4

IF_DEF__ DO_413_I
29 NDEF_B29
N00392 D0003.5 Y0051.5

IF_DEF__ DO_414_I
30 NDEF_B30
N00393 D0003.6 Y0051.6

IF_DEF__ DO_415_I
31 NDEF_B31
N00394 D0003.7 Y0051.7

O 1960 INTERFACE DEFINITION BIT 32
IF_DEF__ DO_416_I
32 NDEF_B32
N00395
A 1962 SUB72
SPE
N00396 ### DISPENSE1 ###

B 1963 SUB71 P0012
SP DISPENSE1
N00397 X0000.0 R0355.0

C 1965 INTERNAL EXTERNAL RUN ENABLE
DI_1_EXT INT_EXT_
_RNENBL RUN_ENAB
N00398 R0355.0 ACT D0601.0

D 1967 SUB 3 0016 EXTERNAL RUN ENABLE DELAY
INT_EXT_ TMR EXT_RUN_
RUN_ENAB ENBL_DLY
N00399 Y0118.0 Y0118.0 Y0083.2 R0355.1

E 1971 START DISPENSE1
DO_945_S DO_945_S DO_667 START_DI
TRTDISP1 TRTDISP1 SPENSE1
R0355.1 Y0000.3 X0000.0 D0601.0

F
N00400 X0000.0 ACT D0602.0

G 1982 SUB 3 0023 E-STOP RECVER SLW REPEAT TIMER
DI_1_EXT TMR SLOW_REP
_RNENBL EAT_TIMR
N00401 F1000.4 ACT D0605.0

H 1986 SUB 3 0024 E-STOP RECOVER START DELAY
HELD TMR ESTOP_RE
C_SDLY
N00402 D0602.0 ACT D0604.0

I 1990 SUB 3 0025 ESTOP RECOVERY DELAY
SLOW_REP TMR ESTOP_RE
EAT_TIMR C_DELAY
N00403 R0355.1 Y0083.2 X0001.1 Y0083.5

J 1994
START_DI DO_667 DI_10_AU DO_670
SPENSE1 TO_REPT
N00404 K0009.6 X0001.1 Y0084.6

WET/DRY_ DI_10_AU DO_679_T
MODE TO_REPT RQSEQ64
Y0092.6
L FLOW / NO FLOW2
DO_743_F
LWNOFLW
N00405 Y0084.6 Y0048.4 D0005.1

M 2002 WET MODE SEALER 1
DO_679_T DO_389_S WETMODES
RQSEQ64 LR_1_APP EALER1
N00406 Y0092.6 Y0048.5 D0005.2

N 2005 WET MODE SEALER 2
DO_743_F DO_390_S WETMODES
LWNOFLW LR_2_APP EALER2
Y0048.5
O
DO_390_S
LR_2_APP
N00407 D0005.1 D0005.2 Y0026.0

A 2009
WETMODES WETMODES DO_209_F
EALER1 EALER2 LWSLSW
N00408 K0009.4 Y0084.0

B 2012 TORQUE SEQ BIN 1
MAN_FLOW DO_673_T
_PB1 RQSEQ1
N00409 K0008.4 Y0027.3 Y0027.2 K0008.4

C 2014 S ENABLE ACCEPT/REJECT 1
N00410 K0008.2 Y0027.2 K0008.4

D 2018 R ENABLE ACCEPT/REJECT 1
K0008.3 Y0027.3
E
REJECTSE DO_220_R
ALER1_IF EJSEAL1
N00411 K0008.4 K0008.2 K0008.3 Y0027.2

F 2024
N00412 K0008.4 K0008.2 K0008.3 Y0027.3

G 2028
N00413 X0083.4 Y0026.1

H 2032
DI_669_C DO_210_S
OMMOK EALRDY1
N00414 X0083.1 Y0026.2

I 2034
DI_666_T DO_211_S
ORQUEOK EALCYCL1
N00415 X0083.3 Y0026.3

J 2036
DI_668_T DO_212_M
ORQFLT AJFLT1
N00416 X0083.7 Y0026.4

K 2038
DI_672 DO_213_V
OL_OK1
N00417 Y0086.1 Y0028.2

L 2040
DO_690 DO_227_A
TPURGBC1
N00418 X0083.0 Y0028.4

M 2042
DI_665 DO_229_S
LCOMMOK1
N00419 X0083.6 Y0027.4

N 2044
DI_671 DO_221_C
YCCMP1
N00420 X0085.5 Y0027.5

O 2046
DI_686 DO_222_N
O2CMIX1
N00421 X0084.2 Y0027.6

A 2048
DI_675_T DO_223_M
RQSQEC4 INORFLT1
N00422 X0086.2 Y0028.0

B 2050
DI_691 DO_225_N
OZCHGRQ1
N00423 X0084.0 Y0028.1

C 2052
DI_673_T DO_226_H
RQSQEC1 ILOWARN1
N00424 X0026.2 Y0086.3

D 2054
DI_211_R DO_692
STSL_FLT
Y0094.3
E FAULT RESET2
DO_756_F
AULTRST2
N00425 Y0127.0 Y0086.1 Y0085.3

F 2057
DO_1017_ DO_690 DO_684
PURGE1
X0026.4
G
DI_213_A
PRGESL_1
N00426 X0027.0 Y0084.7

H 2061 TORQUE SEQ BIN 128
DI_217_R DO_680_T
STRTPLS1 RQSEQ128
N00427 K0008.7 Y0027.0

I 2063
RESEAL_P DO_217_R
B1 ESEALPB1
N00428 K0011.2 Y0026.5

J 2065
AUTO_PUR DO_214_A
GE_PB1 UTPRGPB1
N00429 X0027.0 Y0084.7

DI_217_R DO_680_T
STRTPLS1 RQSEQ128
N00430 X0084.0 Y0028.1

L 2069
DI_673_T DO_226_H
RQSQEC1 ILOWARN1
N00431 X0084.3 Y0028.3

M 2071
DI_676_T DO_228_S
RQSQEC8 EALDEPR1
N00432 X0084.4 Y0028.6

N 2073
DI_677_T DO_231_P
RQSQEC16 URGCOMP1
N00433 X0084.5 Y0028.7

O 2075
DI_678_T DO_232_P
RQSQEC32 URGACTV1
N00434 X0027.1 Y0086.2

A 2077
DI_218_A DO_691
CKNZCHG1
N00435 X0084.6 Y0029.0

B 2079
DI_679_T DO_233_S
RQSQEC64 LRREFER1
N00436 K0009.4 D0612.0 K0009.4

C 2081 MANUAL FLOW PB 1
_PB1 B_TO _PB1
N00437 K0008.7 D0612.0 K0008.7

D 2084 RESEAL PB1
B1 B_TO B1
N00438 K0011.2 D0612.0 K0011.2

E 2087 AUTO PURGE PB1
GE_PB1 B_TO GE_PB1
N00439 K0008.2 D0612.0 K0008.2

F 2090 ACCEPT SEALER 1
N00440 K0008.3 D0612.0 K0008.3

G 2093 REJECT SEALER 1
N00441 K0012.3 D0612.0 K0012.3

H 2096 INSPECTION PB 1
N00442 X0084.1 Y0029.1

I 2099
DI_674_T DO_234_D
RQSQEC2 OSRFILL1
N00443 K0012.3 Y0028.5

J 2101
INSPECTI DO_230_I
ON_PB_1 NSPCSEL1
N00444
K 2103 SUB72
SPE
N00445 ### DISPENSE2 ###

L 2104 SUB71 P0013
SP DISPENSE2
N00446 Y0117.7 Y0117.7 Y0091.2 R0355.2

M 2106 START DISPENSE2
R0355.2 Y0000.3 X0000.0 D0601.0

N
N00447 R0355.2 Y0091.2 X0001.1 Y0091.5

O 2117 START DISP CYCLE2
START_DI DO_731_R DI_10_AU DO_734_S
SPENSE2 UN_MODE TO_REPT TRT_DSP
N00448 K0009.5 Y0092.0

A 2121 MANUAL FLOW2
MAN_FLOW DO_737_M
_PB2 ANFLW
N00449 K0013.7 Y0031.3 Y0031.2 K0013.7

B 2123 S ENABLE ACCEPT/REJECT 2
N00450 K0013.5 Y0031.2 K0013.7

C 2127 R ENABLE ACCEPT/REJECT 2
K0013.6 Y0031.3
D
REJECTSE DO_252_R
ALER2_IF EJSEAL2
N00451 K0013.7 K0013.5 K0013.6 Y0031.2

E 2133
N00452 K0013.7 K0013.5 K0013.6 Y0031.3

F 2137
N00453 X0091.4 Y0030.1

G 2141
DO_242_S
EALRDY2
N00454 X0091.1 Y0030.2

H 2143
DO_243_S
EALCYCL2
N00455 X0091.3 Y0030.3

I 2145
DO_244_M
AJFLT2
N00456 X0091.7 Y0030.4

J 2147
DO_245_V
OL_OK2
N00457 Y0094.1 Y0032.2

K 2149
DO_754_@ DO_259_A
PRGBUCK2 TPURGBC2
N00458 X0091.0 Y0032.4

L 2151
DO_261_S
LCOMMOK2
N00459 X0091.6 Y0031.4

M 2153
DO_253_C
YCCMP2
N00460 X0093.5 Y0031.5

N 2155
DI_750_2 DO_254_N
CINMIX2 O2CMIX2
N00461 X0092.2 Y0031.6

O 2157
DO_255_M
INORFLT2
N00462 X0094.2 Y0032.0

A 2159
DI_755_N DO_257_N
OZZCHG2 OZCHGRQ2
N00463 X0092.0 Y0032.1

B 2161
DO_258_H
ILOWARN2
N00464 Y0127.1 Y0094.1 Y0093.3

C 2163 PURGE2
DO_1018_ DO_754_@ DO_748_P
X0030.4
D
DI_245_A
PRGESL_2
N00465 X0031.0 Y0092.7

E 2167 RESTART PULSE2
DI_249_R DO_744_R
STRTPLS2 ESTRT
N00466 K0009.0 Y0031.0

F 2169
RESEAL_P DO_249_R
B2 ESEALPB2
N00467 K0011.3 Y0030.5

G 2171
AUTO_PUR DO_246_A
GE_PB2 UTPRGPB2
N00468 X0031.0 Y0092.7

H 2173 RESTART PULSE2
DI_249_R DO_744_R
STRTPLS2 ESTRT
N00469 X0092.0 Y0032.1

I 2175
DO_258_H
ILOWARN2
N00470 X0092.3 Y0032.3

J 2177
DO_260_S
EALDEPR2
N00471 X0092.4 Y0032.6

K 2179
DO_263_P
URGCOMP2
N00472 X0092.5 Y0032.7

L 2181
DO_264_P
URGACTV2
N00473 X0031.1 Y0094.2

M 2183 ACK NOZZLE CHANGED2
DI_250_A DO_755_A
CKNZCHG2 CKNOZCH2
N00474 X0092.6 Y0033.0

N 2185
DO_265_S
LRREFER2
N00475 K0009.5 D0612.0 K0009.5

O 2187 MANUAL FLOW PB 2
_PB2 B_TO _PB2
N00476 K0009.0 D0612.0 K0009.0

A 2190 RESEAL PB2
B2 B_TO B2
N00477 K0011.3 D0612.0 K0011.3

B 2193 AUTO PURGE PB2
GE_PB2 B_TO GE_PB2
N00478 K0013.5 D0612.0 K0013.5

C 2196 ACCEPT SEALER 2
N00479 K0013.6 D0612.0 K0013.6

D 2199 REJECT SEALER 2
N00480 K0012.4 D0612.0 K0012.4

E 2202 INSPECTION PB 2
N00481 X0092.1 Y0033.1

F 2205
DO_266_D
OSRFILL2
N00482 K0012.4 Y0032.5

G 2207
INSPECTI DO_262_I
ON_PB_2 NSPCSEL2
N00483
H 2209 SUB72
SPE
N00484 ### VISION ###

I 2210 SUB71 P0024
SP VISION
N00485 X0099.0 Y0043.1

J 2212
DI_793__ DO_346_V
COMMOK ISCOMMOK
N00486 X0099.1 Y0042.1

K 2214
DI_794__ DO_338__
SYSERR VISSYSER
Y0109.5
L
DO_878_S
YSERROR
N00487 X0099.2 Y0042.2

M 2217
DI_795__ DO_339_V
CALERR ISCALIER
N00488 X0099.3 Y0043.0

N 2219
DI_796__ DO_345_N
MEASERR OMEASERR
N00489 X0099.6 Y0043.2

O 2221
DI_799__ DO_347_R
RCKOUTTL CKOUTTOL
N00490 X0099.5 Y0043.4

A 2223
DI_798__ DO_349_O
OUTOFTOL UTOFTOL
Y0109.6
B
DO_879_O
UTOFTOL
N00491 X0099.7 Y0043.6

C 2226
DI_800__ DO_351_S
SYSWARN YSWARN
N00492 X0042.4 Y0099.2

D 2228 VSION SYSTEM LIGHT TEST
DI_341_V DO_795__
ISLIGHT LIGHTTST
K0001.3 K0001.0
E
VISIONIN LIGHTTES
TERVENSS TPB
Y0099.2 K0001.0
F
DO_795__ LIGHTTES
LIGHTTST TPB
N00493 K0001.3 K0001.4 R0224.5

G 2236 VISION LOAD TO AVERAGE
VISIONIN LOAD2AVE DI_1022_
TERVENSS RAGE LOAD2AVG
R0224.5 K0001.4
H
DI_1022_ LOAD2AVE
LOAD2AVG RAGE
N00494 K0001.0 D0612.0 K0001.0

I 2242 S VISION LIGHT TEST PB
LIGHTTES ALL_IF_P LIGHTTES
TPB B_TO TPB
N00495 K0001.0 D0612.0 K0001.0

J 2245 R VISION LIGHT TEST PB
LIGHTTES ALL_IF_P LIGHTTES
TPB B_TO TPB
N00496 K0001.4 D0612.0 K0001.4

K 2248 S VISION LOAD TO AVERAGE
LOAD2AVE ALL_IF_P LOAD2AVE
RAGE B_TO RAGE
N00497 K0001.4 D0612.0 K0001.4

L 2251 R VISION LOAD TO AVERAGE
LOAD2AVE ALL_IF_P LOAD2AVE
RAGE B_TO RAGE
N00498 K0001.3 K0001.5 Y0100.0

M 2254 ABORT VISION OPERATION
VISIONIN ABORTPRO DO_801__
TERVENSS CESS VISABRT
X0042.7
N
DI_344_A
BRTVISOP
Y0100.0 K0001.5
O
DO_801__ ABORTPRO
VISABRT CESS
N00499 K0001.5 D0612.0 K0001.5

A 2261 S VISION ABORT VISION PROCESS
ABORTPRO ALL_IF_P ABORTPRO
CESS B_TO CESS
N00500 K0001.5 D0612.0 K0001.5

B 2264 R VISION ABORT VISION PROCESS
ABORTPRO ALL_IF_P ABORTPRO
CESS B_TO CESS
N00501 K0001.3 K0001.6 Y0043.3

C 2267
VISIONIN CALIBREQ DO_348_R
TERVENSS UEST UNCALIB
Y0043.3 K0001.6
D
DO_348_R CALIBREQ
UNCALIB UEST
N00502 K0001.6 D0612.0 K0001.6

E 2273 S VISION CALIB REQUEST
CALIBREQ ALL_IF_P CALIBREQ
UEST B_TO UEST
N00503 K0001.6 D0612.0 K0001.6

F 2276 R VISION CALIB REQUEST
CALIBREQ ALL_IF_P CALIBREQ
UEST B_TO UEST
N00504 K0001.3 K0001.7 Y0100.1

G 2279 RETRY VISION OPERATION
VISIONIN RETRYOPE DO_802__
TERVENSS RATION VISRETRY
X0043.0
H
DI_345_R
TRYVISOP
Y0100.1 K0001.7
I
DO_802__ RETRYOPE
VISRETRY RATION
N00505 K0001.7 D0612.0 K0001.7

J 2286 S VISION RETRY OPERATION
RETRYOPE ALL_IF_P RETRYOPE
RATION B_TO RATION
N00506 K0001.7 D0612.0 K0001.7

K 2289 R VISION RETRY OPERATION
RETRYOPE ALL_IF_P RETRYOPE
RATION B_TO RATION
N00507 X0099.1 R0224.4

L 2292 ALL VISION ERRORS
DI_794__ DI1021_V
SYSERR ISIONERR
X0099.2
M
DI_795__
CALERR
X0099.3
N
DI_796__
MEASERR
X0099.4
O
DI_797__
COMMERR
N00508 K0001.3 K0001.3

A 2297 S VISION INTERVENTION ENABLE SS
VISIONIN VISIONIN
TERVENSS TERVENSS
N00509 K0001.3 X1025.1 K0001.3

B 2299 R VISION INTERVENTION ENABLE SS
VISIONIN FAULT___ VISIONIN
TERVENSS RESET TERVENSS
K0001.3 R0224.5
C
VISIONIN DI_1022_
TERVENSS LOAD2AVG
K0001.3 Y0100.0
D
VISIONIN DO_801__
TERVENSS VISABRT
K0001.3 Y0100.1
E
VISIONIN DO_802__
TERVENSS VISRETRY
K0001.3 Y0043.3
F
VISIONIN DO_348_R
TERVENSS UNCALIB
K0001.3 Y0099.2
G
VISIONIN DO_795__
TERVENSS LIGHTTST
K0001.3 Y0013.1
H
VISIONIN DO_106_I
TERVENSS NSP_SEL
N00510 K0001.1 Y0000.5 Y0072.2

I 2316 ROBOT BYPASS SELECTOR SWITCH
ROBOTBYP DO_6_RBT DO_579_R
ASS_SS _@_MAINT BTBYP_SS
N00511 Y0101.5 Y0099.2 Y0101.5

J 2319 START VISION CYCLE
DO_814_S DO_795__ DO_814_S
TARTCYC LIGHTTST TARTCYC
N00512 X0106.2 Y0042.4

K 2322
DI_851_V DO_341_V
ISPASS1 ISPASSED
X0106.3
L
DI_852_V
ISPASS2
X0106.4
M
DI_853_V
ISPASS4
N00513 X0100.3 Y0042.5

N 2326
DI_804_M DO_342_M
STRNDWRN STRNDWRN
N00514 X0100.4 Y0042.6

O 2328
DI_805_M DO_343_M
S_REJECT S_REJECT
N00515 X0103.0 Y0072.7

A 2330 VISION EDIT OCCURRED
DI_825_E DO_584_E
DITOCCUR DITOCCUR
N00516
B 2332 SUB72
SPE
N00517 ### NUTRUNNER ###

C 2333 SUB71 P0026
SP NUTRUNNER
N00518 X0083.1 Y0057.0

D 2335
DI_666_T DO_457_T
ORQUEOK ORQOK
N00519 X0083.2 Y0057.1

E 2337
DI_667_I DO_458_I
NTORQSEQ NTORSEQ
N00520 X0083.4 Y0057.5

F 2339
DI_669_C DO_462_N
OMMOK RCOMMOK
N00521 Y0083.1 Y0056.5

G 2341
DO_666_S DO_454_S
TRTSEQ TTRQSEQ
N00522 X0087.0 X0087.1 X0087.2 X0087.3 X0087.4 X0087.5 X0087.6 1

H 2343
1 X0087.7 R0300.0
I
DI_704_T TORQUENO
RQNOKS8 K1-8
N00523 X0088.0 X0088.1 X0088.2 X0088.3 X0088.4 X0088.5 X0088.6 1

J 2352
1 X0088.7 R0300.1
K
DI_712_T TORQUENO
RQNOKS16 K9-16
N00524 X0089.0 X0089.1 X0089.2 X0089.3 X0089.4 X0089.5 X0089.6 1

L 2361
1 X0089.7 R0300.2
M
DI_720_T TORQUENO
RQNOKS24 K17-24
N00525 X0090.0 X0090.1 X0090.2 X0090.3 X0090.4 X0090.5 X0090.6 1

N 2370
1 X0090.7 R0300.3
O
DI_728_T TORQUENO
RQNOKS32 K25-32
N00526 R0300.0 Y0057.4

A 2379
TORQUENO DO_461_T
K1-8 ORQNOK
R0300.1
B
TORQUENO
K9-16
R0300.2
C
TORQUENO
K17-24
R0300.3
D
TORQUENO
K25-32
N00527 F1000.1 Y0083.3

E 2384 RUN ENABLE
SYSTEM__ DO_668_R
READY UNENBL
N00528 X0083.5 Y0057.3

F 2386
DI_670_R DO_460_N
EADY UTRUNFLT
N00529 Y0083.1 K0015.5 X0083.2 X0083.5 Y0083.1

G 2388 START SEQUENCE
DO_666_S START_RE DI_667_I DI_670_R DO_666_S
TRTSEQ SET_PB NTORQSEQ EADY TRTSEQ
K0015.5
H
START_RE
SET_PB
N00530 K0015.5 D0612.0 X0083.2 K0015.5

I 2394 NUT RUNNER START RESET PB
START_RE ALL_IF_P DI_667_I START_RE
SET_PB B_TO NTORQSEQ SET_PB
N00531 K0016.3 D0612.0 K0016.3

J 2398 NUT RUNNER RETRY PB
NUTRUNN_ ALL_IF_P NUTRUNN_
RETRY_PB B_TO RETRY_PB
N00532 K0016.3 R0215.1

K 2401 NUTRUNNER RETRY
NUTRUNN_ DI_913_N
RETRY_PB TRUNRTY
N00533 X0087.0 Y0074.0

L 2403 TORQUE NOT OK SPINDLE#1
DI_697_T DO_593_T
RQNOKS1 RQNOK1
N00534 X0087.1 Y0074.1

M 2405 TORQUE NOT OK SPINDLE#2
DI_698_T DO_594_T
RQNOKS2 RQNOK2
N00535 X0087.2 Y0074.2

N 2407 TORQUE NOT OK SPINDLE#3
DI_699_T DO_595_T
RQNOKS3 RQNOK3
N00536 X0087.3 Y0074.3

O 2409 TORQUE NOT OK SPINDLE#4
DI_700_T DO_596_T
RQNOKS4 RQNOK4
N00537 X0074.4 Y0087.0

A 2411 BYPASS SPINDLE 1 (WITH OK)
DI_597_S DO_697_B
PIN_BYP1 YP_SPIN1
N00538 X0074.5 Y0087.1

B 2413 BYPASS SPINDLE 2 (WITH OK)
DI_598_S DO_698_B
PIN_BYP2 YP_SPIN2
N00539 X0074.6 Y0087.2

C 2415 BYPASS SPINDLE 3 (WITH OK)
DI_599_S DO_699_B
PIN_BYP3 YP_SPIN3
N00540 X0074.7 Y0087.3

D 2417 BYPASS SPINDLE 4 (WITH OK)
DI_600_S DO_700_B
PIN_BYP4 YP_SPIN4
N00541
E 2419 SUB72
SPE

Ford Fanuc R30ia R30ib Nextgen E286

Uploaded by

Copyright:

Available Formats

Ford Fanuc R30ia R30ib Nextgen E286

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Ford Fanuc R30ia R30ib Nextgen E286

Uploaded by

Copyright:

Available Formats

VEHICLE OPERATION STRUCTURE AND STANDARDS

FORD Robot Programming Guide - FANUC Implementation

Appendix – NutRunning Applications

3 NUT RUNNER RUN DOWN PROGRAM SCHEDULES ................. 25

7 NUTRUNNER AND VISION PMC LOGIC (S-LOGIC) FOR R-30IA

8 NUTRUNNER AND VISION PMC LOGIC (S-LOGIC) FOR R-30IB

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 2 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 3 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 4 of 32

1.1 PG21 – Nut Runner

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 5 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 6 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 7 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 8 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 9 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 10 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 11 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 12 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 13 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 14 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 15 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 16 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 17 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 18 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 19 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 20 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 21 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 22 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 23 of 32

Table 1: Error Recovery for Multiple Spindle Applications

Additional Atlas-Copco Program Mode Modifications

Table 2: Atlas-Copco Program Mode Modifications Forward (540 Degrees)

Table 3: Atlas-Copco Program Mode Modifications Forward (360 Degrees)

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 24 of 32

Table 5a: Final Torque Program Model #1

Table 6a: Run Down Program Model #2

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 25 of 32

Table 8a: Run Down Program Model #3

Table 9: Final Torque Program Model #3

Table 10: Run Down Program Model #4

Table 11: Final Torque Program Model #4

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 26 of 32

Table 13: Final Torque Program Model #5

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 27 of 32

4.1 Nut Runner Menu Interface

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 28 of 32

Ford-FANUC R30iA_R30iB NextGen_ENET_Safe_Nutrunner_Appendix - 2015_01_30.doc Page 29 of 32

N00001 R0000.0 R0000.0

N00002 R0000.0 G1000.0

N00003 X0000.0 R0100.5 G1000.1

N00004 X1026.4 R0100.5

N00005 X1026.5 R0100.5

N00006 R0000.0 G1000.2

N00007 X1000.3 G1000.3

N00008 X1025.1 G1000.4

N00009 X1000.6 G1000.6

N00010 R0000.0 G1000.7

N00011 F1000.0 Y1000.0

N00012 F1000.1 Y1000.1