2024年2月20日发(作者：寇鹤骞)

发那科机器人焊接应用IO配置(总线型)

发那科机器人焊接应用的I/O配置(总线型)

Version Information

【TOP】
 
F Number: YH14979    
VERSION : SpotTool+             
$VERSION: V7.5093      06/14/2010 
DATE:     14-AUG-11 18:21  
 
VERSION INFORMATION:: 
SOFTWARE:              ID: 
SpotTool+             7DA5/12 
S/W Serial No.      : 88150      
Controller ID       : YH14979    
Default Personality (from FD)  
R-2000iB/210F         V7.50P/12  
Servo Code          : V15.01   
Cart. Mot. Parameter: V3.00 
JNT. Mot. Parameter : V3.00 
DCS                 : None 
Software Edition No.: V7.50P/12  
Update Version      : None 
Customization Ver.  : None 
Root Version        : V7.5093    
Boot MONITOR        : V7.70P/06 
Teach Pendant       : 7D0F/01M 
Browser Plugins     : V7.7004 
TP Core Firmware    : V7.7004 
Media from FRL        06/24/2010 
 
CONFIG:: 
FEATURE:              ORD NO: 
SpotTool+             H590 
English Dictionary    H521 
Multi Language (CHIN) H539 
AA Vision Mastering   AAVM 
Analog I/O            H550 
Auto Software Update  ATUP 
Automatic Backup      J545 
Background Editing    J616 
Camera I/F            VCAM 
Cell I/O              CLIO 
Common shell          R645 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
Common shell core     CMSC 
Common so      CMSP 
Common style select   STYL 
Condition Monitor     J628 
Constant Path         R663 
Control Reliable      CNRE 
Corner Region         R654 
Diagnostic log        RSCH 
Disable Faults        CDSB 
Dispense Plug-in      SPLG 
Dual Check Safety UIF DCSU 
Enhanced Mirror Image R698 
Enhanced Rob Serv Req ORSR 
Enhanced T1 Mode      R680 
Enhanced User Frame   J604 
Ext. DIO Config       EIOC 
Extended Error Log    R542 
External DI BWD       ESET 
FCTN Menu Save        J516 
         J716 
Group Mask Exchange   MASK 
High-Speed Skip       J627 
Host Communications   HOCO 
Hour Meter            J513 
I/O Interconnect 2    J542 
Incr Instruction      J510 
KAREL Cmd. Language   J650 
KAREL Run-Time Env    J539 
Kernel + Basic S/W    H510 
License Checker       LCHK 
LogBook(System)       OPLG 
MACROs, Skip/Offset   J503 
MH gripper common     MHGC 
ng Option   MPLG 
MechStop Protection   MCSP 
Mirror Shift          J506 
Mixed logic           J554 
Mode Switch           MDSW 
Motion logger         R637 
Multi Appl Enabler    MAEN 
Multi Equipment       J617 
Multi-Tasking         J600 
Position Registers    J514 
Print Function        J507 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
Prog Num Selection    J515 
Program Adjust        J517 
Program Shift         J505 
Program Status        PRST 
Program ToolBox       R598 
RDM Robot Discovery   FRDM 
Robot Service Request SRSR 
Robot Servo Code      H930 
SNPX basic            SNBA 
Seal Common           SLCM 
Shift Library         SHLB 
Shift and Mirror Lib  SMLB 
Soft Parts in VCCM    SPVC 
Spot Plug-in          SPPG 
TCP Auto Set          J520 
TCP Speed Prediction  J524 
TCP/IP Interface      HTCP 
TMILIB Interface      TMIL 
TP Menu Accounting    TPAC 
TPTX                  TPTX 
Telnet Interface      TELN 
Tool Offset           J509 
Unexcepted motn Check UECK 
User Frame            UFRM 
Vision Core           VCOR 
Vision Library        VIPL 
Vision SP CSXC        CSXC 
Vision Shift Tool     CVVF 
Web Server            HTTP 
Web Svr Enhancements  R626 
iPendant              CGTP 
iPendant Grid Display IGUI 
iPendant Setup        IPGS 
R-2000iB/210F         H601 
Servo Gun Axes        H869 
Auto Tuning CS        J952 
Collision Guard       R534 
Collision Guard Pack  J684 
Cycle Time Priority   J523 
DeviceNet Interface   J753 
DeviceNet(Slave)      J754 
Disp 2nd analog port  R528 
Extended Axis Control J518 
Extended User Frames  R696 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
FANUC ServoGun Change J665 
FRL Params            R651 
HMI Device (SNPX)     R553 
Multi-Group Motion    J601 
PC Interface          R641 
PMC(FAPT Ladder)      J760 
Password Protection   J541 
ROS Ethernet Packets  R603 
Servo Gun Option      J643 
Servo Gun WT Compens  J933 
Space Check           J609 
USB port on iPendant  J957 
YELLOW BOX            J775 
iRCalibration VShift  J994 
Arc Advisor           R666 
Aux Servo Code        SVMO 
Common calib UIF      CUIF 
Cycle time Opt.       CTOP 
Extended Axis Speed   EXTS 
Func stup             FCSP 
HTTP Proxy Svr        PRXY 
High Speed ServoGun   J886 
IntelligentTP PC I/F  J770 
JPN ARCPSU PRM        J885 
Motherboard driver    MOBO 
PC Send Macros        SEND 
Pressure Control      PCTL 
Requires CP           CPRQ 
Robot Library Setup   RLCM 
SSPC error text       ETSS 
Servo Gun Core        J670 
Servo Hand Change     SVHC 
Sgdiag core           SGDG 
Socket Messaging      R636 
Soft Limit            SLMT 
TCPP Extention        TCPE 
VCalibration Common   VCCM 
VisShift I/F Common   CVVC 
Vision Shift Common   CVVS 
istdpnl               IPNL 
iPendant HMI Setup    U001 
RM HELP INCL VIS PKGS U004 
SMB TP Backup         U006 
RIPE GET_VAR FIX      U007 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
FLEXTOOL: ADD  U008 
CVIS ADD EP ADV PKG   U009 
CVIS NO WTWTEST LOAD  U010 
LOAD HELP FOR SELECT  U011 
FALSE ALARM CPMO-130  U012 
MD: HANG FROM INTP    U013 
R709 DRAM AVAILCHECKS U014 
CVIS VPCS SUPP LIMCHK U015 
CVIS VPFF POS DIF FIX U016 
8-12 CHARACTER PROGRA U017 
SAVE       U018 
TP Enable NOAM        U026 
STRCTURE SHADOW UPDAT U027 
RIPE STATICS TOO MUCH U028 
TIMQ MOTN-003         U030 
ROBOGUIDE DAUGHTER    U032 
Disable touch in Edit U033 
PATH NODE MOVETO      U035 
RIPEREMOVE TIME RETRY U038 
VMXPACK MAY ASSERT    U039 
CYCLE DATA MAY BE COR U040 
TOO MANY ARC OPTIONS  U043 
PMC Display wait fix  U044 
APSH-171 fix          U045 
SLOW T1 MOTN          U046 
GET_POS_TPE fix       U047 
jog disable by app wa U048 
CVIS VPEP HIST RT FIX U049 
MXSPD TB CPMO003      U050 
CVIS BARCODE ENHANCE  U051 
prv save may not work U052 
High RIPE traffic fix U053 
print from sysvar scr U054 
PROGRAM ADJUST FOR SH U058 
RIPE/GETSET ERROR HAN U060 
IPENDANT SCREEN UNREA U061 
HANDLE PART CORRECTIO U064 
NO  ED U066 
CVIS EP PKG INCL SVIP U067 
SIX DIGIT VERSIONS    U068 
CVIS NEW VERSION P06  U069 
IMAGE SAVE LOAD       U070 
DISP PROC ISSUE       U071 
REPLAN JOINT DELTA    U078 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
TP EDIT CALLFROM FIX  U079 
CVIS FIX IPNDT RT IMG U080 
$coord_mask default   U084 
R719 ENHANCEMNT/FIXES U085 
Local Hold TIMQ Adjus U097 
PG: CHDELMON can caus U100 
CVIS: 3D multi-view d U101 
Increase Number of FD U103 
KAREL CANNOT ACCESS M U104 
Robot Settings are lo U108 
PAINT - Wait/Release  U109 
FlexTool: Backward mo U114 
PAINT - PaintPRO Repa U117 
EDIT SCREEN IS CLOSED U500 
ANTIDEFECT UIF FIX    U507 
PNIO V750 FIX1        U509 
FIX LOADING DB SYSVAR U510 
FIX EDGE DETECTION    U511 
ONLINE HELP BUGFIX    U512 
CVIS: CAM CALIB FIX   U514 
DISP CUSTOM FOR SSGUN U515 
FIX ABC JARKY MOTION  U517 
MILLIMETER CONVERSION U518 
GARBLED STR REG       U519 
ALARM TEXT BUG FIX    U520 
DISP CUST DRY FOR SSG U521 
IMPROVE LWR DETECTION U523 
CVIS FREEZE VLOG TASK U525 
VP2S MM CONVERSION    U526 
FIX TP FREEZE IBPX    U527 
FX DB/TB BUSY RUNNING U528 
RECORD CALIBRATION LO U529 
DIV CALCULATION FIX   U530 
FIX FOR BWD RETURN    U531 
CONDITION MONITOR FIX U532 
VOFS: UNEXP ALARM FIX U533 
FIX SERVO GUN TEXT    U534 
FIX FENCE SVEMG ABNML U535 
DCS CC_SAFEIO ALARM   U537 
IMPROVED GUN TOUCHUP  U540 
FIX GUN CHG WITH DNET U541 
UPDATE GUNTCH PAEAMS  U542 
DOT PETTERN BUG       U543 
CVIS: IRVISION BUG FI U544 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
UPDATE SVGN ERROR TXT U545 
FIX TOOLCHG WITH DNET U546 
MLOCK CHK WITH GUNCHG U547 
MECH COMP FOR GUNTCH  U549 
IMPROVE GUNTCH PARAMS U550 
VISION MEMORY LEAK    U551 
FIX UNWANTED MESSAGE  U552 
SUPPORT DET SOFT WORK U553 
CVIS:SPEC CHANGE OF V U554 
GRID DETECT BUG FIX   U559 
 
MOTOR:: 
    GR: AX:     MOTOR ID AND INFO: 
     1   1   ACaiSR30/3000 80A  H1 DSP1-L 
     1   2   ACaiSR30/3000 80A  H2 DSP1-M 
     1   3   ACaiSR30/3000 80A  H3 DSP1-J 
     1   4    ACa12/4000iS 40A  H4 DSP1-K 
     1   5    ACa12/4000iS 40A  H5 DSP2-L 
     1   6    ACa12/4000iS 40A  H6 DSP2-M 
     1   7      aiF22/3000 80A   H  DSP - 
     2   1       aiS8/4000 80A   H  DSP - 
 
SERVO:: 
GROUP: AXIS:  SERVO PARAM ID: 
     1   1    P02.06 
     1   2    P02.06 
     1   3    P02.06 
     1   4    P02.06 
     1   5    P02.06 
     1   6    P02.06 
     1   7    P00.39 
     2   1    P00.39 
 
 

Memory Detail

【TOP】
 
 
MEMORY USAGE:: 
 
MEMORY DETAIL (MAIN): 
Pools        TOTAL     AVAILABLE      LARGEST 
TPP          800.0KB     577.8KB     555.0KB 
PERM        1978.0KB     371.6KB     366.5KB 
SYSTEM      7182.0KB       2.5KB       2.5KB 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
SHADOW      5894.5KB    5556.5KB      32.0KB 
TEMP       21052.5KB    1422.8KB     714.2KB 
FROM       31857.0KB    9258.0KB        .0KB 
HARDWARE 
FROM      32MB 
DRAM      32MB 
SRAM       2MB 
 
MEMORY DETAIL (COMM): 
Pools        TOTAL     AVAILABLE      LARGEST 
TPP            0.0KB       0.0KB       0.0KB 
PERM          48.0KB      47.8KB      47.8KB 
SYSTEM      6144.0KB    5553.0KB    5553.0KB 
SHADOW      5894.5KB    5556.5KB      32.0KB 
TEMP        9844.5KB    8201.3KB    7949.9KB 
 

Program Status Information

【TOP】
 
 
TASK STATES: 
 
1        RESET status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: RESET                              
Line:     1       Program: RESET                            
 
2     STHICHNG status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: STHICHNG                          
Line:   128       Program: STHICHNG                        
 
3      PNLINST status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: PNLINST                            
Line:   223       Program: PNLINST                          
 
4       PSCOLD status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: PSCOLD                            
Line:    93       Program: PSCOLD                          
1 / 1 
Type: TP 
Type: PC 
Type: PC 
Type: PC 
  
         
   
          
  
         
   
          
发那科机器人焊接应用IO配置(总线型) 
 
5     SYRSRUTL status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: SYRSRUTL                             
Line:    63       Program: SYRSRUTL                              Type: PC     
 
6       SVGNCH status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: SVGNCH                               
Line:   287       Program: SVGNCH                             
 
7     SGDIAINI status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: SGDIAINI                             
Line:   204       Program: SGDIAINI                             
 
8      ATSHELL RUNNING @ 1055 in ATSHELL of ATSHELL 
 
******  History Data  ****** 
Routine depth: 0  Routine: ATSHELL                              
Line:  1055       Program: ATSHELL                             
 
9     LOADCELL status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: PBCORE                               
Line:     0       Program: PBCORE                             
 
10     MHGRSHLL RUNNING @ 1213 in MHGRSHLL of MHGRSHLL 
 
******  History Data  ****** 
Routine depth: 0  Routine: MHGRSHLL                             
Line:  1213       Program: MHGRSHLL                           
 
11     SWAXTSK1 RUNNING @ 758 in PROCESSAMR of SWAXTCMN 
 
******  History Data  ****** 
Routine depth: 1  Routine: PROCESSAMR                           
Line:   758       Program: SWAXTCMN                          
 
Routine depth: 0  Routine: SWAXTSK1                             
1 / 1 
 Type: PC    
Type: PC     
Type: PC     
 Type: 0 
 Type: PC    
  Type: PC   
   
 
  
  
   
    
发那科机器人焊接应用IO配置(总线型) 
Line:   172       Program: SWAXTSK1                              Type: PC     
 
12     SWAXTSK2 RUNNING @ 758 in PROCESSAMR of SWAXTCMN 
 
******  History Data  ****** 
Routine depth: 1  Routine: PROCESSAMR                           
Line:   758       Program: SWAXTCMN                              Type: PC     
 
Routine depth: 0  Routine: SWAXTSK2                             
Line:   120       Program: SWAXTSK2                            
 
13     SLCUSTOM RUNNING @ 1647 in SLCUSTOM of SLCUSTOM 
 
******  History Data  ****** 
Routine depth: 0  Routine: SLCUSTOM                             
Line:  1647       Program: SLCUSTOM                            
 
14      SWIMSET status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: SWIMSET                              
Line:   348       Program: SWIMSET                             
 
 

I/O status information

 
 
IO STATUS:: 
 
DIN【   1】 OFF   
DIN【   2】 OFF   
DIN【   3】 OFF   
DIN【   4】 OFF   
DIN【   5】 OFF  UPPER TIP RESET 
DIN【   6】 OFF  LOWER TIP RESET 
DIN【   7】 OFF  TEST RUN 
DIN【   8】 OFF  TIP CHANGE COMPLETE 
DIN【   9】 OFF   
DIN【  10】 OFF   
DIN【  11】 OFF  DRESS_1 COMPLETE 
DIN【  12】 OFF  DRESS_2 COMPLETE 
DIN【  13】 OFF  DRESS_1  
DIN【  14】 OFF  DRESS_2  
DIN【  15】 OFF  DRESS_1  
1 / 1 
Type: PC     
Type: PC     
Type: PC     
  
  
  
发那科机器人焊接应用IO配置(总线型) 
DIN【  16】 OFF  DRESS_2  
DIN【  17】 OFF   
DIN【  18】 OFF   
DIN【  19】 OFF  TC1 5STEP 1 
DIN【  20】 OFF  TC1 5STEP 2 
DIN【  21】 OFF  TC1 5STEP 3 
DIN【  22】 OFF  TC1 5STEP 4 
DIN【  23】 OFF  TC2 5STEP 1 
DIN【  24】 OFF  TC2 5STEP 2 
DIN【  25】DIN【  26】DIN【  27】DIN【  28】DIN【  29】DIN【  30】DIN【  31】DIN【  32】DIN【  33】DIN【  34】DIN【  35】DIN【  36】DIN【  37】DIN【  38】DIN【  39】DIN【  40】DIN【  41】DIN【  42】DIN【  43】DIN【  44】DIN【  45】DIN【  46】DIN【  47】DIN【  48】DIN【  49】DIN【  50】DIN【  51】DIN【  52】DIN【  53】DIN【  54】DIN【  55】DIN【  56】DIN【  57】DIN【  58】DIN【  59】OFF  TC2 5STEP 3 
OFF  TC2 5STEP 4 
OFF  POP WELD COMPLETE 
OFF   
OFF   
OFF   
OFF  GUN COVER OPEN 
 ON  GUN COVER CLOSE LS 
OFF  HAND COVER OPEN 
 ON  HAND COVER CLOSE 
OFF  AHC COVER-3 OPEN LS 
OFF  AHC COVER-3 CLOSE LS 
OFF  AHC COVER-4 OPEN LS 
OFF  AHC COVER-4 CLOSE LS 
OFF  GUN1 2ND ST OPEN LS 
OFF  GUN2 2ND ST OPEN LS 
OFF  CHUCK OPEN CONFIRM 
 ON  CHUCK CLOSE CONFIRM 
 ON  AHC FACE 
OFF   
OFF   
OFF   
OFF  ROBOT 2ND START 
OFF   
OFF  WELD COMPLETE 
OFF   
OFF   
OFF   
OFF   
OFF   
 ON  STYLE1 
OFF  STYLE2 
OFF  STYLE4 
OFF  STYLE8 
OFF  STYLE16 
1 / 1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
发那科机器人焊接应用IO配置(总线型) 
DIN【  60】 OFF  STYLE32 
DIN【  61】 OFF  STYLE64 
DIN【  62】 OFF  STYLE128 
DIN【  63】 OFF  GUN1 STEAD  
DIN【  64】 OFF  HAND STEAD  
DIN【  65】 OFF  TOOL STEAD 3 
DIN【  66】 OFF  TOOL STEAD 4 
DIN【  67】 OFF   
DIN【  68】 OFF   
DIN【  69】DIN【  70】DIN【  71】DIN【  72】DIN【  73】DIN【  74】DIN【  75】DIN【  76】DIN【  77】DIN【  78】DIN【  79】DIN【  80】DIN【  81】DIN【  82】DIN【  83】DIN【  84】DIN【  85】DIN【  86】DIN【  87】DIN【  88】DIN【  89】DIN【  90】DIN【  91】DIN【  92】DIN【  93】DIN【  94】DIN【  95】DIN【  96】DIN【  97】DIN【  98】DIN【  99】DIN【 100】DIN【 101】DIN【 102】DIN【 103】OFF   
OFF   
OFF  Jig Non-int. 
OFF  Shuttle Nnn-int. 
OFF   
OFF  Weld Enable 1 
OFF  Weld Enable 2 
 ON  Robot_G Weld Comp.1 
OFF   
OFF   
 ON  Pick Up Ok Feeder 
OFF   
OFF  Hand Jig Conf. 
OFF  Hand Rock Adv Comp 
OFF  Jig Cover Close Comp. 
OFF  Hand Rock Ret Comp. 
OFF  Jig Cover Open Comp. 
 ON  Robct_G I/L1 
 ON  Robot_G I/L2 
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF  Sealer Hold 
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF    
OFF   
OFF   
1 / 1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
发那科机器人焊接应用IO配置(总线型) 
DIN【 104】 OFF    
DIN【 105】 OFF   
DIN【 106】 OFF  PART IN STATION CONFIRM 
DIN【 107】  ON  ROBOT AWAY FROM STATION 
DIN【 108】 OFF   
DIN【 109】  ON  GUN IN STATION 
DIN【 110】 OFF  HANDKING IN STATION 
DIN【 113】  ON  SEALING MATERIAL OK 
DIN【 114】 OFF  SEALING MATERIAL LACKING 
DIN【 115】DIN【 116】DIN【 117】DIN【 118】DIN【 119】DIN【 120】DIN【 121】DIN【 122】DIN【 123】DIN【 124】DIN【 125】DIN【 126】DIN【 127】DIN【 128】DIN【 129】DIN【 130】DIN【 131】DIN【 132】DIN【 133】DIN【 134】DIN【 135】DIN【 136】DIN【 137】DIN【 138】DIN【 139】DIN【 140】DIN【 141】DIN【 142】DIN【 143】DIN【 144】DIN【 145】DIN【 146】DIN【 147】DIN【 148】DIN【 149】OFF   
OFF  HEATING NOT OK 
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF  Clamp 1 open 
 ON  Clamp 1 closed 
OFF  Clamp 2 open 
 ON  Clamp 2 closed 
OFF  Clamp 3 open 
 ON  Clamp 3 closed 
OFF  Clamp 4 open 
 ON  Clamp 4 closed 
OFF  Clamp 5 open 
 ON  Clamp 5 closed 
OFF  Clamp 6 open 
 ON  Clamp 6 closed 
OFF  _ 
OFF  _ 
OFF  _ 
OFF  _ 
OFF  Part present 1 
OFF  Part present 2 
OFF   
OFF   
OFF  2-1-ON 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
DIN【 150】  ON  2-1-OFF 
DIN【 151】 OFF  2-2-ON 
DIN【 152】  ON  2-2-OFF 
DIN【 153】  ON  2-3-OFF 
DIN【 154】  ON  2-4-OFF 
DIN【 155】 OFF   
DIN【 156】 OFF   
DIN【 157】  ON  3-1-OFF 
DIN【 158】 OFF  3-1-ON 
DIN【 159】  ON  3-2-OFF 
DIN【 160】 OFF  3-2-ON 
DOUT【   1】 OFF  ROBOT USER ALARM 
DOUT【   2】 OFF  STYLE VAERITY FAULT 
DOUT【   3】 OFF   
DOUT【   4】 OFF   
DOUT【   5】 OFF  GUN COVER OPEN 
DOUT【   6】 OFF  GUN COVER CLOSE 
DOUT【   7】 OFF  HAND COVER OPEN 
DOUT【   8】 OFF  HAND COVER CLOSE 
DOUT【   9】 OFF  AHC COVER-3 OPEN 
DOUT【  10】 OFF  AHC COVER-3 CLOSE 
DOUT【  11】 OFF  AHC COVER-4 OPEN  
DOUT【  12】 OFF  AHC COVER-4 CLOSE 
DOUT【  13】 OFF   
DOUT【  14】 OFF  TIP WEAR OVER MOVE 
DOUT【  15】 OFF  TIP WEAR OVER FIX 
DOUT【  16】 OFF  TIP CHANGE POSITION 
DOUT【  17】 OFF  TC1  GUN FAULT CHECK 
DOUT【  18】 OFF  TC1 OFF_SET MEASURING  
DOUT【  19】 OFF   
DOUT【  20】 OFF   
DOUT【  21】 OFF   
DOUT【  22】 OFF   
DOUT【  23】 OFF   
DOUT【  24】 OFF   
DOUT【  25】 OFF   
DOUT【  26】 OFF   
DOUT【  27】 OFF   
DOUT【  28】 OFF   
DOUT【  29】 OFF  DRESSOR-1 START 
DOUT【  30】 OFF  DRESSOR-2 START 
DOUT【  31】 OFF  DRESSOR SHIFT1  
DOUT【  32】 OFF  DRESSOR SHIFT2  
DOUT【  33】 OFF  POP START1 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
DOUT【  34】 OFF  POP START2 
DOUT【  35】 OFF  POP START3 
DOUT【  36】 OFF  POP START4 
DOUT【  37】 OFF  POP WELD CONDITION 1 
DOUT【  38】 OFF  POP WELD CONDITION 2 
DOUT【  39】 OFF  POP WELD CONDITION 4 
DOUT【  40】 OFF  POP WELD CONDITION 8 
DOUT【  41】 OFF  POP WELD CONDITION 16 
DOUT【  42】 OFF  POP WELD CONDITION 32 
DOUT【  43】DOUT【  44】DOUT【  45】DOUT【  46】DOUT【  47】DOUT【  48】DOUT【  49】DOUT【  50】DOUT【  51】DOUT【  52】DOUT【  53】DOUT【  54】DOUT【  55】DOUT【  56】DOUT【  57】DOUT【  58】DOUT【  59】DOUT【  60】DOUT【  61】DOUT【  62】DOUT【  63】DOUT【  64】DOUT【  65】DOUT【  66】DOUT【  67】DOUT【  68】DOUT【  69】DOUT【  70】DOUT【  71】DOUT【  72】DOUT【  73】DOUT【  74】DOUT【  75】DOUT【  76】DOUT【  77】OFF  POP SWING ADV. 
OFF   
OFF  WORK COMPLETE 
 ON  Shuttle Run Enable 
OFF  2nd Work Comp. 
OFF  GUN1 PRESS 
OFF   
OFF   
OFF  UNCHUCK POSITION 
OFF  AHC Face 
OFF  CHUCK OPEN 
 ON  CHUCK CLOSE 
OFF  Sealer Fault 
OFF  Sealer  
OFF  Sealer Low 
OFF  SEAL AIR PRESS 
OFF   
OFF   
OFF  WELD CONDITION 1 
OFF  WELD CONDITION 2 
OFF  WELD CONDITION 4 
OFF  WELD CONDITION 8 
OFF  WELD CONDITION16 
OFF  WELD CONDITION32 
OFF  WELD CONDITION64 
OFF  WELD CONDITION128 
 ON  Jig Non-int. 
 ON  Shuttle Non-int. 
OFF  Tip Change Run. 
OFF  Tip Dress Run. 
OFF   
OFF   
OFF   
OFF   
 ON  Fdr. Non-int. 
1 / 1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
发那科机器人焊接应用IO配置(总线型) 
DOUT【  78】 OFF  Fdr. unload comp. 
DOUT【  79】 OFF   
DOUT【  80】 OFF  Jig Hand Clamp 
DOUT【  81】 OFF  Jig Cover Close 
DOUT【  82】 OFF  Jig Hand Unclamp 
DOUT【  83】 OFF  Jig Cover Open 
DOUT【  84】  ON  Robot_G I/L1 
DOUT【  85】  ON  Robot_G I/L2 
DOUT【  86】 OFF   
DOUT【  87】DOUT【  88】DOUT【  89】DOUT【  90】DOUT【  91】DOUT【  92】DOUT【  93】DOUT【  94】DOUT【  95】DOUT【  96】DOUT【  97】DOUT【  98】DOUT【  99】DOUT【 100】DOUT【 101】DOUT【 102】DOUT【 103】DOUT【 104】DOUT【 105】DOUT【 106】DOUT【 107】DOUT【 108】DOUT【 113】DOUT【 114】DOUT【 115】DOUT【 116】DOUT【 117】DOUT【 118】DOUT【 119】DOUT【 120】DOUT【 121】DOUT【 122】DOUT【 123】DOUT【 124】DOUT【 125】OFF   
OFF   
OFF   
OFF  SEALING MATERIAL LACKING 
OFF  SEALING HEATING NOT OK 
OFF  SEALING GUN OPEN 
OFF   
OFF  CC-LINK STATUS  
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS   
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS 
OFF   
OFF    
OFF  JIG CLAMP OPEN REQUEST 
OFF   
OFF  PART IN STATION 
OFF   
OFF   
OFF  SEALING START 
 ON  SEALING STOP 
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
1 / 1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
发那科机器人焊接应用IO配置(总线型) 
DOUT【 126】 OFF   
DOUT【 127】 OFF   
DOUT【 128】 OFF   
DOUT【 129】 OFF  SPARE 
DOUT【 130】 OFF  SPARE 
DOUT【 131】 OFF  CLAMP_3_ON 
DOUT【 132】  ON  CLAMP_3_OFF 
DOUT【 133】 OFF  CLAMP_2_ON 
DOUT【 134】  ON  CLAMP_2_OFF 
DOUT【 135】 OFF  CLAMP_1_ON 
DOUT【 136】  ON  CLAMP_1_OFF 
DOUT【 137】 OFF  SPARE 
DOUT【 138】 OFF  SPARE 
DOUT【 139】 OFF  _ 
DOUT【 140】 OFF  _ 
DOUT【 141】 OFF  _ 
DOUT【 142】 OFF  _ 
DOUT【 143】 OFF  _ 
DOUT【 144】 OFF  _ 
GIN【   1】    1 Style No. 
GOUT【   1】    0 
UI【   1】  ON  *IMSTP 
UI【   2】  ON  *Hold 
UI【   3】  ON  *SFSPD 
UI【   4】 OFF  Cycle stop 
UI【   5】 OFF  Fault reset 
UI【   6】 OFF  Start 
UI【   7】 OFF  Home 
UI【   8】  ON  Enable 
UI【   9】 OFF  RSR1/PNS1 
UI【  10】 OFF  RSR2/PNS2 
UI【  11】 OFF  RSR3/PNS3 
UI【  12】 OFF  RSR4/PNS4 
UI【  13】 OFF  RSR5/PNS5 
UI【  14】 OFF  RSR6/PNS6 
UI【  15】 OFF  RSR7/PNS7 
UI【  16】 OFF  RSR8/PNS8 
UI【  17】 OFF  PNS strobe 
UI【  18】 OFF  Prod start 
UO【   1】  ON  Cmd enabled 
UO【   2】  ON  System ready 
UO【   3】 OFF  Prg running 
UO【   4】 OFF  Prg paused 
UO【   5】 OFF  Motion held 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
UO【   6】 OFF  Fault 
UO【   7】  ON  At perch 
UO【   8】 OFF  TP enabled 
UO【   9】 OFF  Batt alarm 
UO【  10】 OFF  Busy 
UO【  11】 OFF  ACK1/SNO1 
UO【  12】 OFF  ACK2/SNO2 
UO【  13】 OFF  ACK3/SNO3 
UO【  14】 OFF  ACK4/SNO4 
UO【  15】 OFF  ACK5/SNO5 
UO【  16】 OFF  ACK6/SNO6 
UO【  17】 OFF  ACK7/SNO7 
UO【  18】 OFF  ACK8/SNO8 
UO【  19】 OFF  SNACK 
UO【  20】 OFF  Reserved 
SI【   1】 OFF  Fault reset 
SI【   2】  ON  Remote 
SI【   3】  ON  Hold 
SI【   4】 OFF  User PB#1 
SI【   5】 OFF  User PB#2 
SI【   6】 OFF  Cycle start 
SI【   7】 OFF   
SI【   8】  ON  CE/CRｓｅｌｅｃｔb0 
SI【   9】  ON  CE/CRｓｅｌｅｃｔb1 
SI【  10】 OFF   
SI【  11】 OFF   
SI【  12】 OFF   
SI【  13】 OFF   
SI【  14】 OFF   
SI【  15】 OFF   
SI【  16】  ON   
SO【   1】 OFF  Cycle start 
SO【   2】 OFF  Hold 
SO【   3】 OFF  Fault LED 
SO【   4】 OFF  Batt alarm 
SO【   5】 OFF  User LED#1 
SO【   6】  ON  User LED#2 
SO【   7】 OFF  TP enabled 
SO【   8】 OFF   
SO【   9】 OFF   
SO【  10】 OFF   
SO【  11】 OFF   
SO【  12】 OFF   
SO【  13】 OFF   
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
SO【  14】 OFF   
SO【  15】 OFF   
SO【  16】  ON   
UI【   1】  ON  *IMSTP 
UI【   2】  ON  *Hold 
UI【   3】  ON  *SFSPD 
UI【   4】 OFF  Cycle stop 
UI【   5】 OFF  Fault reset 
UI【   6】 OFF  Start 
UI【   7】 OFF  Home 
UI【   8】  ON  Enable 
UI【   9】 OFF  RSR1/PNS1 
UI【  10】 OFF  RSR2/PNS2 
UI【  11】 OFF  RSR3/PNS3 
UI【  12】 OFF  RSR4/PNS4 
UI【  13】 OFF  RSR5/PNS5 
UI【  14】 OFF  RSR6/PNS6 
UI【  15】 OFF  RSR7/PNS7 
UI【  16】 OFF  RSR8/PNS8 
UI【  17】 OFF  PNS strobe 
UI【  18】 OFF  Prod start 
UO【   1】  ON  Cmd enabled 
UO【   2】  ON  System ready 
UO【   3】 OFF  Prg running 
UO【   4】 OFF  Prg paused 
UO【   5】 OFF  Motion held 
UO【   6】 OFF  Fault 
UO【   7】  ON  At perch 
UO【   8】 OFF  TP enabled 
UO【   9】 OFF  Batt alarm 
UO【  10】 OFF  Busy 
UO【  11】 OFF  ACK1/SNO1 
UO【  12】 OFF  ACK2/SNO2 
UO【  13】 OFF  ACK3/SNO3 
UO【  14】 OFF  ACK4/SNO4 
UO【  15】 OFF  ACK5/SNO5 
UO【  16】 OFF  ACK6/SNO6 
UO【  17】 OFF  ACK7/SNO7 
UO【  18】 OFF  ACK8/SNO8 
UO【  19】 OFF  SNACK 
UO【  20】 OFF  Reserved 
RI【   1】 OFF   
RI【   2】 OFF   
RI【   3】 OFF   
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
RI【   4】 OFF   
RI【   5】 OFF   
RI【   6】 OFF   
RI【   7】 OFF   
RI【   8】 OFF   
RO【   1】 OFF   
RO【   2】 OFF   
RO【   3】 OFF   
RO【   4】 OFF   
RO【   5】 OFF   
RO【   6】 OFF   
RO【   7】 OFF   
RO【   8】 OFF   
 

I/O Configuration Information

【TOP】
 
IO CONFIGURATION:: 
 
DIN【   5】  UPPER TIP RESET 
DIN【   6】  LOWER TIP RESET 
DIN【   7】  TEST RUN 
DIN【   8】  TIP CHANGE COMPLETE 
DIN    1  -   8   RACK:  81   SLOT:  15   PORT:  19 
DIN【  11】  DRESS_1 COMPLETE 
DIN【  12】  DRESS_2 COMPLETE 
DIN【  13】  DRESS_1  
DIN【  14】  DRESS_2  
DIN【  15】  DRESS_1  
DIN【  16】  DRESS_2  
DIN    9  -  16   RACK:  81   SLOT:  15   PORT:  27 
DIN【  19】  TC1 5STEP 1 
DIN【  20】  TC1 5STEP 2 
DIN【  21】  TC1 5STEP 3 
DIN【  22】  TC1 5STEP 4 
DIN【  23】  TC2 5STEP 1 
DIN【  24】  TC2 5STEP 2 
DIN   17  -  24   RACK:  81   SLOT:  15   PORT:  35 
DIN【  25】  TC2 5STEP 3 
DIN【  26】  TC2 5STEP 4 
DIN【  27】  POP WELD COMPLETE 
DIN【  31】  GUN COVER OPEN 
DIN【  32】  GUN COVER CLOSE LS 
DIN   25  -  32   RACK:  81   SLOT:  15   PORT:  43 
DIN【  33】  HAND COVER OPEN 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
DIN【  34】  HAND COVER CLOSE 
DIN【  35】  AHC COVER-3 OPEN LS 
DIN【  36】  AHC COVER-3 CLOSE LS 
DIN【  37】  AHC COVER-4 OPEN LS 
DIN【  38】  AHC COVER-4 CLOSE LS 
DIN【  39】  GUN1 2ND ST OPEN LS 
DIN【  40】  GUN2 2ND ST OPEN LS 
DIN   33  -  40   RACK:  81   SLOT:  15   PORT:  51 
DIN【  41】  CHUCK OPEN CONFIRM 
DIN【  42】DIN【  43】DIN【  47】DIN   41  - 
DIN【  49】DIN【  55】DIN【  56】DIN   49  - 
DIN【  57】DIN【  58】DIN【  59】DIN【  60】DIN【  61】DIN【  62】DIN【  63】DIN【  64】DIN   57  - 
DIN【  65】DIN【  66】DIN【  71】DIN【  72】DIN   65  - 
DIN【  74】DIN【  75】DIN【  76】DIN【  79】DIN   73  - 
DIN【  81】DIN【  82】DIN【  83】DIN【  84】DIN【  85】DIN【  86】DIN【  87】DIN   81  - 
CHUCK CLOSE CONFIRM 
AHC FACE 
ROBOT 2ND START 
48   RACK:  81   SLOT: 
WELD COMPLETE 
STYLE1 
STYLE2 
56   RACK:  81   SLOT: 
STYLE4 
STYLE8 
STYLE16 
STYLE32 
STYLE64 
STYLE128 
GUN1 STEAD  
HAND STEAD  
64   RACK:  81   SLOT: 
TOOL STEAD 3 
TOOL STEAD 4 
Jig Non-int. 
Shuttle Nnn-int. 
72   RACK:  81   SLOT: 
Weld Enable 1 
Weld Enable 2 
Robot_G Weld Comp.1 
Pick Up Ok Feeder 
80   RACK:  81   SLOT: 
Hand Jig Conf. 
Hand Rock Adv Comp 
Jig Cover Close Comp. 
Hand Rock Ret Comp. 
Jig Cover Open Comp. 
Robct_G I/L1 
Robot_G I/L2 
88   RACK:  81   SLOT: 
15   PORT: 
15   PORT: 
15   PORT: 
15   PORT: 
15   PORT: 
15   PORT: 
1 / 1 
59 
67 
75 
83 
91 
99 
  
  
  
   
  
  
  
   
  
  
  
  
  
  
  
  
   
  
  
  
  
   
  
  
  
  
   
  
  
  
  
  
  
  
   
发那科机器人焊接应用IO配置(总线型) 
DIN【  94】  Sealer Hold 
DIN   89  -  96   RACK:  81   SLOT:  15   PORT: 107 
DIN【 101】    
DIN【 104】    
DIN   97  - 104   RACK:  81   SLOT:  15   PORT: 115 
DIN【 106】  PART IN STATION CONFIRM 
DIN【 107】  ROBOT AWAY FROM STATION 
DIN【 109】  GUN IN STATION 
DIN【 110】  HANDKING IN STATION 
DIN  105  - 110   RACK:  81   SLOT:  15   PORT: 123 
DIN【 113】  SEALING MATERIAL OK 
DIN【 114】  SEALING MATERIAL LACKING 
DIN【 116】  HEATING NOT OK 
DIN  113  - 120   RACK:  82   SLOT:   6   PORT:   1 
DIN  121  - 128   RACK:  82   SLOT:   6   PORT:   9 
DIN【 129】  Clamp 1 open 
DIN【 130】  Clamp 1 closed 
DIN【 131】  Clamp 2 open 
DIN【 132】  Clamp 2 closed 
DIN【 133】  Clamp 3 open 
DIN【 134】  Clamp 3 closed 
DIN【 135】  Clamp 4 open 
DIN【 136】  Clamp 4 closed 
DIN  129  - 136   RACK:  82   SLOT:   4   PORT:   1 
DIN【 137】  Clamp 5 open 
DIN【 138】  Clamp 5 closed 
DIN【 139】  Clamp 6 open 
DIN【 140】  Clamp 6 closed 
DIN【 141】  _ 
DIN【 142】  _ 
DIN【 143】  _ 
DIN【 144】  _ 
DIN  137  - 144   RACK:  82   SLOT:   4   PORT:   9 
DIN【 145】  Part present 1 
DIN【 146】  Part present 2 
DIN【 149】  2-1-ON 
DIN【 150】  2-1-OFF 
DIN【 151】  2-2-ON 
DIN【 152】  2-2-OFF 
DIN  145  - 152   RACK:  82   SLOT:   5   PORT:   1 
DIN【 153】  2-3-OFF 
DIN【 154】  2-4-OFF 
DIN【 157】  3-1-OFF 
DIN【 158】  3-1-ON 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
DIN【 159】  3-2-OFF 
DIN【 160】  3-2-ON 
DIN  153  - 160   RACK:  82   SLOT:   5   PORT:   9 
DOUT【   1】  ROBOT USER ALARM 
DOUT【   2】  STYLE VAERITY FAULT 
DOUT【   5】  GUN COVER OPEN 
DOUT【   6】  GUN COVER CLOSE 
DOUT【   7】  HAND COVER OPEN 
DOUT【   8】  HAND COVER CLOSE 
DOUT    1  - 
DOUT【   9】DOUT【  10】DOUT【  11】DOUT【  12】DOUT【  14】DOUT【  15】DOUT【  16】DOUT    9  - 
DOUT【  17】DOUT【  18】DOUT   17  - 
DOUT【  29】DOUT【  30】DOUT【  31】DOUT【  32】DOUT   25  - 
DOUT【  33】DOUT【  34】DOUT【  35】DOUT【  36】DOUT【  37】DOUT【  38】DOUT【  39】DOUT【  40】DOUT   33  - 
DOUT【  41】DOUT【  42】DOUT【  43】DOUT【  45】DOUT【  46】DOUT【  47】DOUT【  48】DOUT   41  - 
DOUT【  51】 8   RACK:  81   SLOT:  15   PORT: 
AHC COVER-3 OPEN 
AHC COVER-3 CLOSE 
AHC COVER-4 OPEN  
AHC COVER-4 CLOSE 
TIP WEAR OVER MOVE 
TIP WEAR OVER FIX 
TIP CHANGE POSITION 
16   RACK:  81   SLOT:  15   PORT: 
TC1  GUN FAULT CHECK 
TC1 OFF_SET MEASURING  
24   RACK:  81   SLOT:  15   PORT: 
DRESSOR-1 START 
DRESSOR-2 START 
DRESSOR SHIFT1  
DRESSOR SHIFT2  
32   RACK:  81   SLOT:  15   PORT: 
POP START1 
POP START2 
POP START3 
POP START4 
POP WELD CONDITION 1 
POP WELD CONDITION 2 
POP WELD CONDITION 4 
POP WELD CONDITION 8 
40   RACK:  81   SLOT:  15   PORT: 
POP WELD CONDITION 16 
POP WELD CONDITION 32 
POP SWING ADV. 
WORK COMPLETE 
Shuttle Run Enable 
2nd Work Comp. 
GUN1 PRESS 
48   RACK:  81   SLOT:  15   PORT: 
UNCHUCK POSITION 
1 / 1 
21 
29 
37 
45 
53 
61 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
发那科机器人焊接应用IO配置(总线型) 
DOUT【  52】  AHC Face 
DOUT【  53】  CHUCK OPEN 
DOUT【  54】  CHUCK CLOSE 
DOUT【  55】  Sealer Fault 
DOUT【  56】  Sealer  
DOUT   49  -  56   RACK:  81   SLOT:  15   PORT:  69 
DOUT【  57】  Sealer Low 
DOUT【  58】  SEAL AIR PRESS 
DOUT【  61】  WELD CONDITION 1 
DOUT【  62】DOUT【  63】DOUT【  64】DOUT   57  - 
DOUT【  65】DOUT【  66】DOUT【  67】DOUT【  68】DOUT【  69】DOUT【  70】DOUT【  71】DOUT【  72】DOUT   65  - 
DOUT【  77】DOUT【  78】DOUT【  80】DOUT   73  - 
DOUT【  81】DOUT【  82】DOUT【  83】DOUT【  84】DOUT【  85】DOUT   81  - 
DOUT【  90】DOUT【  91】DOUT【  92】DOUT【  94】DOUT【  95】DOUT【  96】DOUT   89  - 
DOUT【  97】DOUT【  98】DOUT【  99】DOUT【 100】DOUT【 101】WELD CONDITION 2 
WELD CONDITION 4 
WELD CONDITION 8 
64   RACK:  81   SLOT:  15   PORT:  77 
WELD CONDITION16 
WELD CONDITION32 
WELD CONDITION64 
WELD CONDITION128 
Jig Non-int. 
Shuttle Non-int. 
Tip Change Run. 
Tip Dress Run. 
72   RACK:  81   SLOT:  15   PORT:  85 
Fdr. Non-int. 
Fdr. unload comp. 
Jig Hand Clamp 
80   RACK:  81   SLOT:  15   PORT:  93 
Jig Cover Close 
Jig Hand Unclamp 
Jig Cover Open 
Robot_G I/L1 
Robot_G I/L2 
88   RACK:  81   SLOT:  15   PORT: 101 
SEALING MATERIAL LACKING 
SEALING HEATING NOT OK 
SEALING GUN OPEN 
CC-LINK STATUS  
CC-LINK STATUS 
CC-LINK STATUS 
96   RACK:  81   SLOT:  15   PORT: 109 
CC-LINK STATUS 
CC-LINK STATUS 
CC-LINK STATUS   
CC-LINK STATUS 
CC-LINK STATUS 
1 / 1 
  
  
  
 
  
  
  
  
  
  
  
  
 
  
  
  
 
  
  
  
  
  
 
  
  
  
  
  
  
 
  
  
  
  
  
发那科机器人焊接应用IO配置(总线型) 
DOUT【 103】    
DOUT【 104】  JIG CLAMP OPEN REQUEST 
DOUT   97  - 104   RACK:  81   SLOT:  15   PORT: 117 
DOUT【 106】  PART IN STATION 
DOUT  105  - 108   RACK:  81   SLOT:  15   PORT: 125 
DOUT【 113】  SEALING START 
DOUT【 114】  SEALING STOP 
DOUT  113  - 120   RACK:  82   SLOT:   6   PORT:   1 
DOUT  121  - 128   RACK:  82   SLOT:   6   PORT:   9 
DOUT【 129】  SPARE 
DOUT【 130】  SPARE 
DOUT【 131】  CLAMP_3_ON 
DOUT【 132】  CLAMP_3_OFF 
DOUT【 133】  CLAMP_2_ON 
DOUT【 134】  CLAMP_2_OFF 
DOUT【 135】  CLAMP_1_ON 
DOUT【 136】  CLAMP_1_OFF 
DOUT  129  - 136   RACK:  82   SLOT:   4   PORT:   1 
DOUT【 137】  SPARE 
DOUT【 138】  SPARE 
DOUT【 139】  _ 
DOUT【 140】  _ 
DOUT【 141】  _ 
DOUT【 142】  _ 
DOUT【 143】  _ 
DOUT【 144】  _ 
DOUT  137  - 144   RACK:  82   SLOT:   4   PORT:   9 
GIN【   1】 Style No. 
GIN    1   RACK:  81   SLOT:  15   PORT:  73   #NUM:   8 
GOUT    1   RACK:  81   SLOT:  15   PORT:  81   #NUM:   6 
UI【   1】 *IMSTP 
UI【   2】 *Hold 
UI【   3】 *SFSPD 
UI【   4】 Cycle stop 
UI【   5】 Fault reset 
UI【   6】 Start 
UI【   7】 Home 
UI【   8】 Enable 
UI    1  -   8   RACK:  81   SLOT:  15   PORT:   1 
UI【   9】 RSR1/PNS1 
UI【  10】 RSR2/PNS2 
UI【  11】 RSR3/PNS3 
UI【  12】 RSR4/PNS4 
UI【  13】 RSR5/PNS5 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
UI【  14】 RSR6/PNS6 
UI【  15】 RSR7/PNS7 
UI【  16】 RSR8/PNS8 
UI    9  -  16   RACK:  81   SLOT:  15   PORT:   9 
UI【  17】 PNS strobe 
UI【  18】 Prod start 
UI   17  -  18   RACK:  81   SLOT:  15   PORT:  17 
UO【   1】 Cmd enabled 
UO【   2】 System ready 
UO【   3】 Prg running 
UO【   4】 Prg paused 
UO【   5】 Motion held 
UO【   6】 Fault 
UO【   7】 At perch 
UO【   8】 TP enabled 
UO    1  -   8   RACK:  81   SLOT:  15   PORT:   1 
UO【   9】 Batt alarm 
UO【  10】 Busy 
UO【  11】 ACK1/SNO1 
UO【  12】 ACK2/SNO2 
UO【  13】 ACK3/SNO3 
UO【  14】 ACK4/SNO4 
UO【  15】 ACK5/SNO5 
UO【  16】 ACK6/SNO6 
UO    9  -  16   RACK:  81   SLOT:  15   PORT:   9 
UO【  17】 ACK7/SNO7 
UO【  18】 ACK8/SNO8 
UO【  19】 SNACK 
UO【  20】 Reserved 
UO   17  -  20   RACK:  81   SLOT:  15   PORT:  17 
 

Safety Status Information

【TOP】
 
 
SAFETY SIGNALS:: 
 
External ESTOP   FALSE 
SOP Estop        FALSE 
TP ESTOP         FALSE 
Hand Broken      TRUE  
OverTravel       FALSE 
Low Air Alarm    FALSE 
Fence Open       FALSE 
Belt Broken      FALSE 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
TP Enable        FALSE 
TP Deadman       FALSE 
SVOFF Detect     FALSE 
Servo Disconnect FALSE 
Non Teacher Enb  FALSE 
 

Current Position Information

【TOP】
 
 
CURRENT ROBOT POSITION:: 
Group #:  1 
  
CURRENT JOINT POSITION: 
Joint   1:     98.31 
Joint   2:    -21.86 
Joint   3:    -15.51 
Joint   4:      3.71 
Joint   5:    -60.75 
Joint   6:    227.81 
EXTAXS: 1:   1036.33 
 
Frame #:  0  Tool #:  2 
CURRENT USER FRAME POSITION: 
X:   -559.31 
Y:   1592.64 
Z:    151.27 
W:      -.58 
P:    -12.93 
R:     89.70 
CFG: N U T, 0, 0, 1 
EXTAXS: 1:   1036.33 
 
Tool #:  2 
CURRENT WORLD POSITION: 
X:   -559.31 
Y:   1592.64 
Z:    151.27 
W:      -.58 
P:    -12.93 
R:     89.70 
CFG: N U T, 0, 0, 1 
EXTAXS: 1:   1036.33 
 
CURRENT ROBOT POSITION:: 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
Group #:  2 
  
CURRENT JOINT POSITION: 
Joint   1:      0.00 
 
Frame #:  0  Tool #:  2 
CURRENT USER FRAME POSITION: 
Cartesian position cannot be calculated 
 
Tool #:  2 
CURRENT WORLD POSITION: 
Cartesian position cannot be calculated 
 

Ethernet Configuration Information

【TOP】
 
 
ETHERNET CONFIGURATION:: 
 
$HOSTNAME   :ROBOT 
TMI_ROUTER  :ROUTER 
TMI_ETHERAD :00:e0:e4:0f:09:f6 
Subnet mask :255.255.255.0 
Host Table 【17】:      QUICC0 
Host Table 【18】:      QUICC1 
Host Table 【19】:      QUICC2 
Host Table 【20】:      ROUTER 
Host Table 【21】:       PCJOG addr:192.168.0.100 
Server 【1】:         : 3 
Server 【2】:         : 3 
 

Port Setup Infromation

【TOP】
 
 
SERIAL PORT CONFIGURATION:: 
 
DEVICE: JRS16 RS-232-C P2: 
         USAGE     : Maintenance Cons 
         SPEED     : 9600 
         PARITY    : None 
         STOPBITS  : 1bit 
         TIMEOUT   : 0 
         INTERFACE : RS-232-C 
DEVICE: JD17  RS-232-C P3: 
         USAGE     : KCL/CRT 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
         SPEED     : 9600 
         PARITY    : None 
         STOPBITS  : 1bit 
         TIMEOUT   : 0 
         INTERFACE : RS-232-C 
 

Macro Setup Infromation

【TOP】
 
MACRO DEFINIIION:: 
 
【  1】NAME       :CHUCK 
     PROG NAME  :CHUCK 
     Assign type:－－ 
     Assign ID  :0 
【  2】NAME       :UNCHUCK 
     PROG NAME  :UNCHUCK 
     Assign type:－－ 
     Assign ID  :0 
【  3】NAME       :G_C_OPEN 
     PROG NAME  :G_C_OPEN 
     Assign type:－－ 
     Assign ID  :0 
【  4】NAME       :G_C_CLOS 
     PROG NAME  :G_C_CLOS 
     Assign type:－－ 
     Assign ID  :0 
【  5】NAME       :H_C_OPEN 
     PROG NAME  :H_C_OPEN 
     Assign type:－－ 
     Assign ID  :0 
【  6】NAME       :H_C_CLOS 
     PROG NAME  :H_C_CLOS 
     Assign type:－－ 
     Assign ID  :0 
【  7】NAME       :H_CLAMP 
     PROG NAME  :H_CLAMP 
     Assign type:－－ 
     Assign ID  :0 
【  8】NAME       :H_UNCLAM 
     PROG NAME  :H_UNCLAM 
     Assign type:－－ 
     Assign ID  :0 
【  9】NAME       :RESET 
     PROG NAME  :RESET 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
     Assign type:－－ 
     Assign ID  :0 
【 10】NAME       :MOVE TO PURGE 
     PROG NAME  :MOV_PURG 
     Assign type:MF 
     Assign ID  :2 
     SYSTEM MACRO 
【 11】NAME       :DISPENSE COMPLET 
     PROG NAME  :ENDJOB 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【 12】NAME       :FACE_OFF 
     PROG NAME  :FACE_OFF 
     Assign type:－－ 
     Assign ID  :0 
【 13】NAME       :FACE_ON 
     PROG NAME  :FACE_ON 
     Assign type:－－ 
     Assign ID  :0 
【 14】NAME       :JIG_ADV 
     PROG NAME  :JIG_ADV 
     Assign type:－－ 
     Assign ID  :0 
【 15】NAME       :JIG_RET 
     PROG NAME  :JIG_RET 
     Assign type:－－ 
     Assign ID  :0 
【 16】NAME       :PART_1 
     PROG NAME  :PART_1 
     Assign type:－－ 
     Assign ID  :0 
【 17】NAME       :PART_2 
     PROG NAME  :PART_2 
     Assign type:－－ 
     Assign ID  :0 
【 18】NAME       :DEFAULT ACC 
     PROG NAME  :DEF_ACC 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【 19】NAME       :PART_4 
     PROG NAME  :PART_4 
     Assign type:－－ 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
     Assign ID  :0 
【 20】NAME       :TOOL1_OF 
     PROG NAME  :TOOL1_OF 
     Assign type:－－ 
     Assign ID  :0 
【 21】NAME       :PART_3 
     PROG NAME  :PART_3 
     Assign type:－－ 
     Assign ID  :0 
【 23】NAME       :PICK_CLAMP1 
     PROG NAME  :PICK_CLAMP1 
     Assign type:－－ 
     Assign ID  :0 
【 24】NAME       :PICK_CLAMP2 
     PROG NAME  :PICK_CLAMP2 
     Assign type:－－ 
     Assign ID  :0 
【 25】NAME       :LOAD_CLAMP 
     PROG NAME  :LOAD_CLAMP 
     Assign type:－－ 
     Assign ID  :0 
【109】NAME       :Send Event 
     PROG NAME  :SENDEVNT 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【110】NAME       :Send Data 
     PROG NAME  :SENDDATA 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【111】NAME       :Send SysVar 
     PROG NAME  :SENDSYSV 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【112】NAME       :Get Data 
     PROG NAME  :GETDATA 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【113】NAME       :Request Menu 
     PROG NAME  :REQMENU 
     Assign type:－－ 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
     Assign ID  :0 
     SYSTEM MACRO 
【130】NAME       :Grip Part 
     PROG NAME  :GRIPPART 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【131】NAME       :Release Part 
     PROG NAME  :DROPPART 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【132】NAME       :Part Present 
     PROG NAME  :CHKPART 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【133】NAME       :Check No Part 
     PROG NAME  :CHKNOPRT 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【134】NAME       :Prepare to Pick 
     PROG NAME  :OKTOPICK 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【135】NAME       :Clear to Proceed 
     PROG NAME  :CLR2PRCD 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【136】NAME       :Turn ON Vacuum 
     PROG NAME  :VACUUMON 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【137】NAME       :Turn OFF Vacuum 
     PROG NAME  :VACUUMOF 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【138】NAME       :Turn OFF Blowoff 
     PROG NAME  :BLOWOFF 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【139】NAME       :Set CurrentValve 
     PROG NAME  :SETVALVE 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【140】NAME       :Set MH Tool 
     PROG NAME  :SET_TOOL 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【148】NAME       :CONNNODE 
     PROG NAME  :CONNNODE 
     Assign type:－－ 
     Assign ID  :0 
【149】NAME       :DISCNODE 
     PROG NAME  :DISCNODE 
     Assign type:－－ 
     Assign ID  :0 
 

1 / 1

2024年2月20日发(作者：寇鹤骞)

发那科机器人焊接应用IO配置(总线型)

发那科机器人焊接应用的I/O配置(总线型)

Version Information

【TOP】
 
F Number: YH14979    
VERSION : SpotTool+             
$VERSION: V7.5093      06/14/2010 
DATE:     14-AUG-11 18:21  
 
VERSION INFORMATION:: 
SOFTWARE:              ID: 
SpotTool+             7DA5/12 
S/W Serial No.      : 88150      
Controller ID       : YH14979    
Default Personality (from FD)  
R-2000iB/210F         V7.50P/12  
Servo Code          : V15.01   
Cart. Mot. Parameter: V3.00 
JNT. Mot. Parameter : V3.00 
DCS                 : None 
Software Edition No.: V7.50P/12  
Update Version      : None 
Customization Ver.  : None 
Root Version        : V7.5093    
Boot MONITOR        : V7.70P/06 
Teach Pendant       : 7D0F/01M 
Browser Plugins     : V7.7004 
TP Core Firmware    : V7.7004 
Media from FRL        06/24/2010 
 
CONFIG:: 
FEATURE:              ORD NO: 
SpotTool+             H590 
English Dictionary    H521 
Multi Language (CHIN) H539 
AA Vision Mastering   AAVM 
Analog I/O            H550 
Auto Software Update  ATUP 
Automatic Backup      J545 
Background Editing    J616 
Camera I/F            VCAM 
Cell I/O              CLIO 
Common shell          R645 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
Common shell core     CMSC 
Common so      CMSP 
Common style select   STYL 
Condition Monitor     J628 
Constant Path         R663 
Control Reliable      CNRE 
Corner Region         R654 
Diagnostic log        RSCH 
Disable Faults        CDSB 
Dispense Plug-in      SPLG 
Dual Check Safety UIF DCSU 
Enhanced Mirror Image R698 
Enhanced Rob Serv Req ORSR 
Enhanced T1 Mode      R680 
Enhanced User Frame   J604 
Ext. DIO Config       EIOC 
Extended Error Log    R542 
External DI BWD       ESET 
FCTN Menu Save        J516 
         J716 
Group Mask Exchange   MASK 
High-Speed Skip       J627 
Host Communications   HOCO 
Hour Meter            J513 
I/O Interconnect 2    J542 
Incr Instruction      J510 
KAREL Cmd. Language   J650 
KAREL Run-Time Env    J539 
Kernel + Basic S/W    H510 
License Checker       LCHK 
LogBook(System)       OPLG 
MACROs, Skip/Offset   J503 
MH gripper common     MHGC 
ng Option   MPLG 
MechStop Protection   MCSP 
Mirror Shift          J506 
Mixed logic           J554 
Mode Switch           MDSW 
Motion logger         R637 
Multi Appl Enabler    MAEN 
Multi Equipment       J617 
Multi-Tasking         J600 
Position Registers    J514 
Print Function        J507 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
Prog Num Selection    J515 
Program Adjust        J517 
Program Shift         J505 
Program Status        PRST 
Program ToolBox       R598 
RDM Robot Discovery   FRDM 
Robot Service Request SRSR 
Robot Servo Code      H930 
SNPX basic            SNBA 
Seal Common           SLCM 
Shift Library         SHLB 
Shift and Mirror Lib  SMLB 
Soft Parts in VCCM    SPVC 
Spot Plug-in          SPPG 
TCP Auto Set          J520 
TCP Speed Prediction  J524 
TCP/IP Interface      HTCP 
TMILIB Interface      TMIL 
TP Menu Accounting    TPAC 
TPTX                  TPTX 
Telnet Interface      TELN 
Tool Offset           J509 
Unexcepted motn Check UECK 
User Frame            UFRM 
Vision Core           VCOR 
Vision Library        VIPL 
Vision SP CSXC        CSXC 
Vision Shift Tool     CVVF 
Web Server            HTTP 
Web Svr Enhancements  R626 
iPendant              CGTP 
iPendant Grid Display IGUI 
iPendant Setup        IPGS 
R-2000iB/210F         H601 
Servo Gun Axes        H869 
Auto Tuning CS        J952 
Collision Guard       R534 
Collision Guard Pack  J684 
Cycle Time Priority   J523 
DeviceNet Interface   J753 
DeviceNet(Slave)      J754 
Disp 2nd analog port  R528 
Extended Axis Control J518 
Extended User Frames  R696 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
FANUC ServoGun Change J665 
FRL Params            R651 
HMI Device (SNPX)     R553 
Multi-Group Motion    J601 
PC Interface          R641 
PMC(FAPT Ladder)      J760 
Password Protection   J541 
ROS Ethernet Packets  R603 
Servo Gun Option      J643 
Servo Gun WT Compens  J933 
Space Check           J609 
USB port on iPendant  J957 
YELLOW BOX            J775 
iRCalibration VShift  J994 
Arc Advisor           R666 
Aux Servo Code        SVMO 
Common calib UIF      CUIF 
Cycle time Opt.       CTOP 
Extended Axis Speed   EXTS 
Func stup             FCSP 
HTTP Proxy Svr        PRXY 
High Speed ServoGun   J886 
IntelligentTP PC I/F  J770 
JPN ARCPSU PRM        J885 
Motherboard driver    MOBO 
PC Send Macros        SEND 
Pressure Control      PCTL 
Requires CP           CPRQ 
Robot Library Setup   RLCM 
SSPC error text       ETSS 
Servo Gun Core        J670 
Servo Hand Change     SVHC 
Sgdiag core           SGDG 
Socket Messaging      R636 
Soft Limit            SLMT 
TCPP Extention        TCPE 
VCalibration Common   VCCM 
VisShift I/F Common   CVVC 
Vision Shift Common   CVVS 
istdpnl               IPNL 
iPendant HMI Setup    U001 
RM HELP INCL VIS PKGS U004 
SMB TP Backup         U006 
RIPE GET_VAR FIX      U007 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
FLEXTOOL: ADD  U008 
CVIS ADD EP ADV PKG   U009 
CVIS NO WTWTEST LOAD  U010 
LOAD HELP FOR SELECT  U011 
FALSE ALARM CPMO-130  U012 
MD: HANG FROM INTP    U013 
R709 DRAM AVAILCHECKS U014 
CVIS VPCS SUPP LIMCHK U015 
CVIS VPFF POS DIF FIX U016 
8-12 CHARACTER PROGRA U017 
SAVE       U018 
TP Enable NOAM        U026 
STRCTURE SHADOW UPDAT U027 
RIPE STATICS TOO MUCH U028 
TIMQ MOTN-003         U030 
ROBOGUIDE DAUGHTER    U032 
Disable touch in Edit U033 
PATH NODE MOVETO      U035 
RIPEREMOVE TIME RETRY U038 
VMXPACK MAY ASSERT    U039 
CYCLE DATA MAY BE COR U040 
TOO MANY ARC OPTIONS  U043 
PMC Display wait fix  U044 
APSH-171 fix          U045 
SLOW T1 MOTN          U046 
GET_POS_TPE fix       U047 
jog disable by app wa U048 
CVIS VPEP HIST RT FIX U049 
MXSPD TB CPMO003      U050 
CVIS BARCODE ENHANCE  U051 
prv save may not work U052 
High RIPE traffic fix U053 
print from sysvar scr U054 
PROGRAM ADJUST FOR SH U058 
RIPE/GETSET ERROR HAN U060 
IPENDANT SCREEN UNREA U061 
HANDLE PART CORRECTIO U064 
NO  ED U066 
CVIS EP PKG INCL SVIP U067 
SIX DIGIT VERSIONS    U068 
CVIS NEW VERSION P06  U069 
IMAGE SAVE LOAD       U070 
DISP PROC ISSUE       U071 
REPLAN JOINT DELTA    U078 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
TP EDIT CALLFROM FIX  U079 
CVIS FIX IPNDT RT IMG U080 
$coord_mask default   U084 
R719 ENHANCEMNT/FIXES U085 
Local Hold TIMQ Adjus U097 
PG: CHDELMON can caus U100 
CVIS: 3D multi-view d U101 
Increase Number of FD U103 
KAREL CANNOT ACCESS M U104 
Robot Settings are lo U108 
PAINT - Wait/Release  U109 
FlexTool: Backward mo U114 
PAINT - PaintPRO Repa U117 
EDIT SCREEN IS CLOSED U500 
ANTIDEFECT UIF FIX    U507 
PNIO V750 FIX1        U509 
FIX LOADING DB SYSVAR U510 
FIX EDGE DETECTION    U511 
ONLINE HELP BUGFIX    U512 
CVIS: CAM CALIB FIX   U514 
DISP CUSTOM FOR SSGUN U515 
FIX ABC JARKY MOTION  U517 
MILLIMETER CONVERSION U518 
GARBLED STR REG       U519 
ALARM TEXT BUG FIX    U520 
DISP CUST DRY FOR SSG U521 
IMPROVE LWR DETECTION U523 
CVIS FREEZE VLOG TASK U525 
VP2S MM CONVERSION    U526 
FIX TP FREEZE IBPX    U527 
FX DB/TB BUSY RUNNING U528 
RECORD CALIBRATION LO U529 
DIV CALCULATION FIX   U530 
FIX FOR BWD RETURN    U531 
CONDITION MONITOR FIX U532 
VOFS: UNEXP ALARM FIX U533 
FIX SERVO GUN TEXT    U534 
FIX FENCE SVEMG ABNML U535 
DCS CC_SAFEIO ALARM   U537 
IMPROVED GUN TOUCHUP  U540 
FIX GUN CHG WITH DNET U541 
UPDATE GUNTCH PAEAMS  U542 
DOT PETTERN BUG       U543 
CVIS: IRVISION BUG FI U544 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
UPDATE SVGN ERROR TXT U545 
FIX TOOLCHG WITH DNET U546 
MLOCK CHK WITH GUNCHG U547 
MECH COMP FOR GUNTCH  U549 
IMPROVE GUNTCH PARAMS U550 
VISION MEMORY LEAK    U551 
FIX UNWANTED MESSAGE  U552 
SUPPORT DET SOFT WORK U553 
CVIS:SPEC CHANGE OF V U554 
GRID DETECT BUG FIX   U559 
 
MOTOR:: 
    GR: AX:     MOTOR ID AND INFO: 
     1   1   ACaiSR30/3000 80A  H1 DSP1-L 
     1   2   ACaiSR30/3000 80A  H2 DSP1-M 
     1   3   ACaiSR30/3000 80A  H3 DSP1-J 
     1   4    ACa12/4000iS 40A  H4 DSP1-K 
     1   5    ACa12/4000iS 40A  H5 DSP2-L 
     1   6    ACa12/4000iS 40A  H6 DSP2-M 
     1   7      aiF22/3000 80A   H  DSP - 
     2   1       aiS8/4000 80A   H  DSP - 
 
SERVO:: 
GROUP: AXIS:  SERVO PARAM ID: 
     1   1    P02.06 
     1   2    P02.06 
     1   3    P02.06 
     1   4    P02.06 
     1   5    P02.06 
     1   6    P02.06 
     1   7    P00.39 
     2   1    P00.39 
 
 

Memory Detail

【TOP】
 
 
MEMORY USAGE:: 
 
MEMORY DETAIL (MAIN): 
Pools        TOTAL     AVAILABLE      LARGEST 
TPP          800.0KB     577.8KB     555.0KB 
PERM        1978.0KB     371.6KB     366.5KB 
SYSTEM      7182.0KB       2.5KB       2.5KB 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
SHADOW      5894.5KB    5556.5KB      32.0KB 
TEMP       21052.5KB    1422.8KB     714.2KB 
FROM       31857.0KB    9258.0KB        .0KB 
HARDWARE 
FROM      32MB 
DRAM      32MB 
SRAM       2MB 
 
MEMORY DETAIL (COMM): 
Pools        TOTAL     AVAILABLE      LARGEST 
TPP            0.0KB       0.0KB       0.0KB 
PERM          48.0KB      47.8KB      47.8KB 
SYSTEM      6144.0KB    5553.0KB    5553.0KB 
SHADOW      5894.5KB    5556.5KB      32.0KB 
TEMP        9844.5KB    8201.3KB    7949.9KB 
 

Program Status Information

【TOP】
 
 
TASK STATES: 
 
1        RESET status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: RESET                              
Line:     1       Program: RESET                            
 
2     STHICHNG status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: STHICHNG                          
Line:   128       Program: STHICHNG                        
 
3      PNLINST status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: PNLINST                            
Line:   223       Program: PNLINST                          
 
4       PSCOLD status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: PSCOLD                            
Line:    93       Program: PSCOLD                          
1 / 1 
Type: TP 
Type: PC 
Type: PC 
Type: PC 
  
         
   
          
  
         
   
          
发那科机器人焊接应用IO配置(总线型) 
 
5     SYRSRUTL status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: SYRSRUTL                             
Line:    63       Program: SYRSRUTL                              Type: PC     
 
6       SVGNCH status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: SVGNCH                               
Line:   287       Program: SVGNCH                             
 
7     SGDIAINI status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: SGDIAINI                             
Line:   204       Program: SGDIAINI                             
 
8      ATSHELL RUNNING @ 1055 in ATSHELL of ATSHELL 
 
******  History Data  ****** 
Routine depth: 0  Routine: ATSHELL                              
Line:  1055       Program: ATSHELL                             
 
9     LOADCELL status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: PBCORE                               
Line:     0       Program: PBCORE                             
 
10     MHGRSHLL RUNNING @ 1213 in MHGRSHLL of MHGRSHLL 
 
******  History Data  ****** 
Routine depth: 0  Routine: MHGRSHLL                             
Line:  1213       Program: MHGRSHLL                           
 
11     SWAXTSK1 RUNNING @ 758 in PROCESSAMR of SWAXTCMN 
 
******  History Data  ****** 
Routine depth: 1  Routine: PROCESSAMR                           
Line:   758       Program: SWAXTCMN                          
 
Routine depth: 0  Routine: SWAXTSK1                             
1 / 1 
 Type: PC    
Type: PC     
Type: PC     
 Type: 0 
 Type: PC    
  Type: PC   
   
 
  
  
   
    
发那科机器人焊接应用IO配置(总线型) 
Line:   172       Program: SWAXTSK1                              Type: PC     
 
12     SWAXTSK2 RUNNING @ 758 in PROCESSAMR of SWAXTCMN 
 
******  History Data  ****** 
Routine depth: 1  Routine: PROCESSAMR                           
Line:   758       Program: SWAXTCMN                              Type: PC     
 
Routine depth: 0  Routine: SWAXTSK2                             
Line:   120       Program: SWAXTSK2                            
 
13     SLCUSTOM RUNNING @ 1647 in SLCUSTOM of SLCUSTOM 
 
******  History Data  ****** 
Routine depth: 0  Routine: SLCUSTOM                             
Line:  1647       Program: SLCUSTOM                            
 
14      SWIMSET status = ABORTED 
 
******  History Data  ****** 
Routine depth: 0  Routine: SWIMSET                              
Line:   348       Program: SWIMSET                             
 
 

I/O status information

 
 
IO STATUS:: 
 
DIN【   1】 OFF   
DIN【   2】 OFF   
DIN【   3】 OFF   
DIN【   4】 OFF   
DIN【   5】 OFF  UPPER TIP RESET 
DIN【   6】 OFF  LOWER TIP RESET 
DIN【   7】 OFF  TEST RUN 
DIN【   8】 OFF  TIP CHANGE COMPLETE 
DIN【   9】 OFF   
DIN【  10】 OFF   
DIN【  11】 OFF  DRESS_1 COMPLETE 
DIN【  12】 OFF  DRESS_2 COMPLETE 
DIN【  13】 OFF  DRESS_1  
DIN【  14】 OFF  DRESS_2  
DIN【  15】 OFF  DRESS_1  
1 / 1 
Type: PC     
Type: PC     
Type: PC     
  
  
  
发那科机器人焊接应用IO配置(总线型) 
DIN【  16】 OFF  DRESS_2  
DIN【  17】 OFF   
DIN【  18】 OFF   
DIN【  19】 OFF  TC1 5STEP 1 
DIN【  20】 OFF  TC1 5STEP 2 
DIN【  21】 OFF  TC1 5STEP 3 
DIN【  22】 OFF  TC1 5STEP 4 
DIN【  23】 OFF  TC2 5STEP 1 
DIN【  24】 OFF  TC2 5STEP 2 
DIN【  25】DIN【  26】DIN【  27】DIN【  28】DIN【  29】DIN【  30】DIN【  31】DIN【  32】DIN【  33】DIN【  34】DIN【  35】DIN【  36】DIN【  37】DIN【  38】DIN【  39】DIN【  40】DIN【  41】DIN【  42】DIN【  43】DIN【  44】DIN【  45】DIN【  46】DIN【  47】DIN【  48】DIN【  49】DIN【  50】DIN【  51】DIN【  52】DIN【  53】DIN【  54】DIN【  55】DIN【  56】DIN【  57】DIN【  58】DIN【  59】OFF  TC2 5STEP 3 
OFF  TC2 5STEP 4 
OFF  POP WELD COMPLETE 
OFF   
OFF   
OFF   
OFF  GUN COVER OPEN 
 ON  GUN COVER CLOSE LS 
OFF  HAND COVER OPEN 
 ON  HAND COVER CLOSE 
OFF  AHC COVER-3 OPEN LS 
OFF  AHC COVER-3 CLOSE LS 
OFF  AHC COVER-4 OPEN LS 
OFF  AHC COVER-4 CLOSE LS 
OFF  GUN1 2ND ST OPEN LS 
OFF  GUN2 2ND ST OPEN LS 
OFF  CHUCK OPEN CONFIRM 
 ON  CHUCK CLOSE CONFIRM 
 ON  AHC FACE 
OFF   
OFF   
OFF   
OFF  ROBOT 2ND START 
OFF   
OFF  WELD COMPLETE 
OFF   
OFF   
OFF   
OFF   
OFF   
 ON  STYLE1 
OFF  STYLE2 
OFF  STYLE4 
OFF  STYLE8 
OFF  STYLE16 
1 / 1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
发那科机器人焊接应用IO配置(总线型) 
DIN【  60】 OFF  STYLE32 
DIN【  61】 OFF  STYLE64 
DIN【  62】 OFF  STYLE128 
DIN【  63】 OFF  GUN1 STEAD  
DIN【  64】 OFF  HAND STEAD  
DIN【  65】 OFF  TOOL STEAD 3 
DIN【  66】 OFF  TOOL STEAD 4 
DIN【  67】 OFF   
DIN【  68】 OFF   
DIN【  69】DIN【  70】DIN【  71】DIN【  72】DIN【  73】DIN【  74】DIN【  75】DIN【  76】DIN【  77】DIN【  78】DIN【  79】DIN【  80】DIN【  81】DIN【  82】DIN【  83】DIN【  84】DIN【  85】DIN【  86】DIN【  87】DIN【  88】DIN【  89】DIN【  90】DIN【  91】DIN【  92】DIN【  93】DIN【  94】DIN【  95】DIN【  96】DIN【  97】DIN【  98】DIN【  99】DIN【 100】DIN【 101】DIN【 102】DIN【 103】OFF   
OFF   
OFF  Jig Non-int. 
OFF  Shuttle Nnn-int. 
OFF   
OFF  Weld Enable 1 
OFF  Weld Enable 2 
 ON  Robot_G Weld Comp.1 
OFF   
OFF   
 ON  Pick Up Ok Feeder 
OFF   
OFF  Hand Jig Conf. 
OFF  Hand Rock Adv Comp 
OFF  Jig Cover Close Comp. 
OFF  Hand Rock Ret Comp. 
OFF  Jig Cover Open Comp. 
 ON  Robct_G I/L1 
 ON  Robot_G I/L2 
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF  Sealer Hold 
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF    
OFF   
OFF   
1 / 1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
发那科机器人焊接应用IO配置(总线型) 
DIN【 104】 OFF    
DIN【 105】 OFF   
DIN【 106】 OFF  PART IN STATION CONFIRM 
DIN【 107】  ON  ROBOT AWAY FROM STATION 
DIN【 108】 OFF   
DIN【 109】  ON  GUN IN STATION 
DIN【 110】 OFF  HANDKING IN STATION 
DIN【 113】  ON  SEALING MATERIAL OK 
DIN【 114】 OFF  SEALING MATERIAL LACKING 
DIN【 115】DIN【 116】DIN【 117】DIN【 118】DIN【 119】DIN【 120】DIN【 121】DIN【 122】DIN【 123】DIN【 124】DIN【 125】DIN【 126】DIN【 127】DIN【 128】DIN【 129】DIN【 130】DIN【 131】DIN【 132】DIN【 133】DIN【 134】DIN【 135】DIN【 136】DIN【 137】DIN【 138】DIN【 139】DIN【 140】DIN【 141】DIN【 142】DIN【 143】DIN【 144】DIN【 145】DIN【 146】DIN【 147】DIN【 148】DIN【 149】OFF   
OFF  HEATING NOT OK 
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF  Clamp 1 open 
 ON  Clamp 1 closed 
OFF  Clamp 2 open 
 ON  Clamp 2 closed 
OFF  Clamp 3 open 
 ON  Clamp 3 closed 
OFF  Clamp 4 open 
 ON  Clamp 4 closed 
OFF  Clamp 5 open 
 ON  Clamp 5 closed 
OFF  Clamp 6 open 
 ON  Clamp 6 closed 
OFF  _ 
OFF  _ 
OFF  _ 
OFF  _ 
OFF  Part present 1 
OFF  Part present 2 
OFF   
OFF   
OFF  2-1-ON 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
DIN【 150】  ON  2-1-OFF 
DIN【 151】 OFF  2-2-ON 
DIN【 152】  ON  2-2-OFF 
DIN【 153】  ON  2-3-OFF 
DIN【 154】  ON  2-4-OFF 
DIN【 155】 OFF   
DIN【 156】 OFF   
DIN【 157】  ON  3-1-OFF 
DIN【 158】 OFF  3-1-ON 
DIN【 159】  ON  3-2-OFF 
DIN【 160】 OFF  3-2-ON 
DOUT【   1】 OFF  ROBOT USER ALARM 
DOUT【   2】 OFF  STYLE VAERITY FAULT 
DOUT【   3】 OFF   
DOUT【   4】 OFF   
DOUT【   5】 OFF  GUN COVER OPEN 
DOUT【   6】 OFF  GUN COVER CLOSE 
DOUT【   7】 OFF  HAND COVER OPEN 
DOUT【   8】 OFF  HAND COVER CLOSE 
DOUT【   9】 OFF  AHC COVER-3 OPEN 
DOUT【  10】 OFF  AHC COVER-3 CLOSE 
DOUT【  11】 OFF  AHC COVER-4 OPEN  
DOUT【  12】 OFF  AHC COVER-4 CLOSE 
DOUT【  13】 OFF   
DOUT【  14】 OFF  TIP WEAR OVER MOVE 
DOUT【  15】 OFF  TIP WEAR OVER FIX 
DOUT【  16】 OFF  TIP CHANGE POSITION 
DOUT【  17】 OFF  TC1  GUN FAULT CHECK 
DOUT【  18】 OFF  TC1 OFF_SET MEASURING  
DOUT【  19】 OFF   
DOUT【  20】 OFF   
DOUT【  21】 OFF   
DOUT【  22】 OFF   
DOUT【  23】 OFF   
DOUT【  24】 OFF   
DOUT【  25】 OFF   
DOUT【  26】 OFF   
DOUT【  27】 OFF   
DOUT【  28】 OFF   
DOUT【  29】 OFF  DRESSOR-1 START 
DOUT【  30】 OFF  DRESSOR-2 START 
DOUT【  31】 OFF  DRESSOR SHIFT1  
DOUT【  32】 OFF  DRESSOR SHIFT2  
DOUT【  33】 OFF  POP START1 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
DOUT【  34】 OFF  POP START2 
DOUT【  35】 OFF  POP START3 
DOUT【  36】 OFF  POP START4 
DOUT【  37】 OFF  POP WELD CONDITION 1 
DOUT【  38】 OFF  POP WELD CONDITION 2 
DOUT【  39】 OFF  POP WELD CONDITION 4 
DOUT【  40】 OFF  POP WELD CONDITION 8 
DOUT【  41】 OFF  POP WELD CONDITION 16 
DOUT【  42】 OFF  POP WELD CONDITION 32 
DOUT【  43】DOUT【  44】DOUT【  45】DOUT【  46】DOUT【  47】DOUT【  48】DOUT【  49】DOUT【  50】DOUT【  51】DOUT【  52】DOUT【  53】DOUT【  54】DOUT【  55】DOUT【  56】DOUT【  57】DOUT【  58】DOUT【  59】DOUT【  60】DOUT【  61】DOUT【  62】DOUT【  63】DOUT【  64】DOUT【  65】DOUT【  66】DOUT【  67】DOUT【  68】DOUT【  69】DOUT【  70】DOUT【  71】DOUT【  72】DOUT【  73】DOUT【  74】DOUT【  75】DOUT【  76】DOUT【  77】OFF  POP SWING ADV. 
OFF   
OFF  WORK COMPLETE 
 ON  Shuttle Run Enable 
OFF  2nd Work Comp. 
OFF  GUN1 PRESS 
OFF   
OFF   
OFF  UNCHUCK POSITION 
OFF  AHC Face 
OFF  CHUCK OPEN 
 ON  CHUCK CLOSE 
OFF  Sealer Fault 
OFF  Sealer  
OFF  Sealer Low 
OFF  SEAL AIR PRESS 
OFF   
OFF   
OFF  WELD CONDITION 1 
OFF  WELD CONDITION 2 
OFF  WELD CONDITION 4 
OFF  WELD CONDITION 8 
OFF  WELD CONDITION16 
OFF  WELD CONDITION32 
OFF  WELD CONDITION64 
OFF  WELD CONDITION128 
 ON  Jig Non-int. 
 ON  Shuttle Non-int. 
OFF  Tip Change Run. 
OFF  Tip Dress Run. 
OFF   
OFF   
OFF   
OFF   
 ON  Fdr. Non-int. 
1 / 1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
发那科机器人焊接应用IO配置(总线型) 
DOUT【  78】 OFF  Fdr. unload comp. 
DOUT【  79】 OFF   
DOUT【  80】 OFF  Jig Hand Clamp 
DOUT【  81】 OFF  Jig Cover Close 
DOUT【  82】 OFF  Jig Hand Unclamp 
DOUT【  83】 OFF  Jig Cover Open 
DOUT【  84】  ON  Robot_G I/L1 
DOUT【  85】  ON  Robot_G I/L2 
DOUT【  86】 OFF   
DOUT【  87】DOUT【  88】DOUT【  89】DOUT【  90】DOUT【  91】DOUT【  92】DOUT【  93】DOUT【  94】DOUT【  95】DOUT【  96】DOUT【  97】DOUT【  98】DOUT【  99】DOUT【 100】DOUT【 101】DOUT【 102】DOUT【 103】DOUT【 104】DOUT【 105】DOUT【 106】DOUT【 107】DOUT【 108】DOUT【 113】DOUT【 114】DOUT【 115】DOUT【 116】DOUT【 117】DOUT【 118】DOUT【 119】DOUT【 120】DOUT【 121】DOUT【 122】DOUT【 123】DOUT【 124】DOUT【 125】OFF   
OFF   
OFF   
OFF  SEALING MATERIAL LACKING 
OFF  SEALING HEATING NOT OK 
OFF  SEALING GUN OPEN 
OFF   
OFF  CC-LINK STATUS  
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS   
OFF  CC-LINK STATUS 
OFF  CC-LINK STATUS 
OFF   
OFF    
OFF  JIG CLAMP OPEN REQUEST 
OFF   
OFF  PART IN STATION 
OFF   
OFF   
OFF  SEALING START 
 ON  SEALING STOP 
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
OFF   
1 / 1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
发那科机器人焊接应用IO配置(总线型) 
DOUT【 126】 OFF   
DOUT【 127】 OFF   
DOUT【 128】 OFF   
DOUT【 129】 OFF  SPARE 
DOUT【 130】 OFF  SPARE 
DOUT【 131】 OFF  CLAMP_3_ON 
DOUT【 132】  ON  CLAMP_3_OFF 
DOUT【 133】 OFF  CLAMP_2_ON 
DOUT【 134】  ON  CLAMP_2_OFF 
DOUT【 135】 OFF  CLAMP_1_ON 
DOUT【 136】  ON  CLAMP_1_OFF 
DOUT【 137】 OFF  SPARE 
DOUT【 138】 OFF  SPARE 
DOUT【 139】 OFF  _ 
DOUT【 140】 OFF  _ 
DOUT【 141】 OFF  _ 
DOUT【 142】 OFF  _ 
DOUT【 143】 OFF  _ 
DOUT【 144】 OFF  _ 
GIN【   1】    1 Style No. 
GOUT【   1】    0 
UI【   1】  ON  *IMSTP 
UI【   2】  ON  *Hold 
UI【   3】  ON  *SFSPD 
UI【   4】 OFF  Cycle stop 
UI【   5】 OFF  Fault reset 
UI【   6】 OFF  Start 
UI【   7】 OFF  Home 
UI【   8】  ON  Enable 
UI【   9】 OFF  RSR1/PNS1 
UI【  10】 OFF  RSR2/PNS2 
UI【  11】 OFF  RSR3/PNS3 
UI【  12】 OFF  RSR4/PNS4 
UI【  13】 OFF  RSR5/PNS5 
UI【  14】 OFF  RSR6/PNS6 
UI【  15】 OFF  RSR7/PNS7 
UI【  16】 OFF  RSR8/PNS8 
UI【  17】 OFF  PNS strobe 
UI【  18】 OFF  Prod start 
UO【   1】  ON  Cmd enabled 
UO【   2】  ON  System ready 
UO【   3】 OFF  Prg running 
UO【   4】 OFF  Prg paused 
UO【   5】 OFF  Motion held 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
UO【   6】 OFF  Fault 
UO【   7】  ON  At perch 
UO【   8】 OFF  TP enabled 
UO【   9】 OFF  Batt alarm 
UO【  10】 OFF  Busy 
UO【  11】 OFF  ACK1/SNO1 
UO【  12】 OFF  ACK2/SNO2 
UO【  13】 OFF  ACK3/SNO3 
UO【  14】 OFF  ACK4/SNO4 
UO【  15】 OFF  ACK5/SNO5 
UO【  16】 OFF  ACK6/SNO6 
UO【  17】 OFF  ACK7/SNO7 
UO【  18】 OFF  ACK8/SNO8 
UO【  19】 OFF  SNACK 
UO【  20】 OFF  Reserved 
SI【   1】 OFF  Fault reset 
SI【   2】  ON  Remote 
SI【   3】  ON  Hold 
SI【   4】 OFF  User PB#1 
SI【   5】 OFF  User PB#2 
SI【   6】 OFF  Cycle start 
SI【   7】 OFF   
SI【   8】  ON  CE/CRｓｅｌｅｃｔb0 
SI【   9】  ON  CE/CRｓｅｌｅｃｔb1 
SI【  10】 OFF   
SI【  11】 OFF   
SI【  12】 OFF   
SI【  13】 OFF   
SI【  14】 OFF   
SI【  15】 OFF   
SI【  16】  ON   
SO【   1】 OFF  Cycle start 
SO【   2】 OFF  Hold 
SO【   3】 OFF  Fault LED 
SO【   4】 OFF  Batt alarm 
SO【   5】 OFF  User LED#1 
SO【   6】  ON  User LED#2 
SO【   7】 OFF  TP enabled 
SO【   8】 OFF   
SO【   9】 OFF   
SO【  10】 OFF   
SO【  11】 OFF   
SO【  12】 OFF   
SO【  13】 OFF   
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
SO【  14】 OFF   
SO【  15】 OFF   
SO【  16】  ON   
UI【   1】  ON  *IMSTP 
UI【   2】  ON  *Hold 
UI【   3】  ON  *SFSPD 
UI【   4】 OFF  Cycle stop 
UI【   5】 OFF  Fault reset 
UI【   6】 OFF  Start 
UI【   7】 OFF  Home 
UI【   8】  ON  Enable 
UI【   9】 OFF  RSR1/PNS1 
UI【  10】 OFF  RSR2/PNS2 
UI【  11】 OFF  RSR3/PNS3 
UI【  12】 OFF  RSR4/PNS4 
UI【  13】 OFF  RSR5/PNS5 
UI【  14】 OFF  RSR6/PNS6 
UI【  15】 OFF  RSR7/PNS7 
UI【  16】 OFF  RSR8/PNS8 
UI【  17】 OFF  PNS strobe 
UI【  18】 OFF  Prod start 
UO【   1】  ON  Cmd enabled 
UO【   2】  ON  System ready 
UO【   3】 OFF  Prg running 
UO【   4】 OFF  Prg paused 
UO【   5】 OFF  Motion held 
UO【   6】 OFF  Fault 
UO【   7】  ON  At perch 
UO【   8】 OFF  TP enabled 
UO【   9】 OFF  Batt alarm 
UO【  10】 OFF  Busy 
UO【  11】 OFF  ACK1/SNO1 
UO【  12】 OFF  ACK2/SNO2 
UO【  13】 OFF  ACK3/SNO3 
UO【  14】 OFF  ACK4/SNO4 
UO【  15】 OFF  ACK5/SNO5 
UO【  16】 OFF  ACK6/SNO6 
UO【  17】 OFF  ACK7/SNO7 
UO【  18】 OFF  ACK8/SNO8 
UO【  19】 OFF  SNACK 
UO【  20】 OFF  Reserved 
RI【   1】 OFF   
RI【   2】 OFF   
RI【   3】 OFF   
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
RI【   4】 OFF   
RI【   5】 OFF   
RI【   6】 OFF   
RI【   7】 OFF   
RI【   8】 OFF   
RO【   1】 OFF   
RO【   2】 OFF   
RO【   3】 OFF   
RO【   4】 OFF   
RO【   5】 OFF   
RO【   6】 OFF   
RO【   7】 OFF   
RO【   8】 OFF   
 

I/O Configuration Information

【TOP】
 
IO CONFIGURATION:: 
 
DIN【   5】  UPPER TIP RESET 
DIN【   6】  LOWER TIP RESET 
DIN【   7】  TEST RUN 
DIN【   8】  TIP CHANGE COMPLETE 
DIN    1  -   8   RACK:  81   SLOT:  15   PORT:  19 
DIN【  11】  DRESS_1 COMPLETE 
DIN【  12】  DRESS_2 COMPLETE 
DIN【  13】  DRESS_1  
DIN【  14】  DRESS_2  
DIN【  15】  DRESS_1  
DIN【  16】  DRESS_2  
DIN    9  -  16   RACK:  81   SLOT:  15   PORT:  27 
DIN【  19】  TC1 5STEP 1 
DIN【  20】  TC1 5STEP 2 
DIN【  21】  TC1 5STEP 3 
DIN【  22】  TC1 5STEP 4 
DIN【  23】  TC2 5STEP 1 
DIN【  24】  TC2 5STEP 2 
DIN   17  -  24   RACK:  81   SLOT:  15   PORT:  35 
DIN【  25】  TC2 5STEP 3 
DIN【  26】  TC2 5STEP 4 
DIN【  27】  POP WELD COMPLETE 
DIN【  31】  GUN COVER OPEN 
DIN【  32】  GUN COVER CLOSE LS 
DIN   25  -  32   RACK:  81   SLOT:  15   PORT:  43 
DIN【  33】  HAND COVER OPEN 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
DIN【  34】  HAND COVER CLOSE 
DIN【  35】  AHC COVER-3 OPEN LS 
DIN【  36】  AHC COVER-3 CLOSE LS 
DIN【  37】  AHC COVER-4 OPEN LS 
DIN【  38】  AHC COVER-4 CLOSE LS 
DIN【  39】  GUN1 2ND ST OPEN LS 
DIN【  40】  GUN2 2ND ST OPEN LS 
DIN   33  -  40   RACK:  81   SLOT:  15   PORT:  51 
DIN【  41】  CHUCK OPEN CONFIRM 
DIN【  42】DIN【  43】DIN【  47】DIN   41  - 
DIN【  49】DIN【  55】DIN【  56】DIN   49  - 
DIN【  57】DIN【  58】DIN【  59】DIN【  60】DIN【  61】DIN【  62】DIN【  63】DIN【  64】DIN   57  - 
DIN【  65】DIN【  66】DIN【  71】DIN【  72】DIN   65  - 
DIN【  74】DIN【  75】DIN【  76】DIN【  79】DIN   73  - 
DIN【  81】DIN【  82】DIN【  83】DIN【  84】DIN【  85】DIN【  86】DIN【  87】DIN   81  - 
CHUCK CLOSE CONFIRM 
AHC FACE 
ROBOT 2ND START 
48   RACK:  81   SLOT: 
WELD COMPLETE 
STYLE1 
STYLE2 
56   RACK:  81   SLOT: 
STYLE4 
STYLE8 
STYLE16 
STYLE32 
STYLE64 
STYLE128 
GUN1 STEAD  
HAND STEAD  
64   RACK:  81   SLOT: 
TOOL STEAD 3 
TOOL STEAD 4 
Jig Non-int. 
Shuttle Nnn-int. 
72   RACK:  81   SLOT: 
Weld Enable 1 
Weld Enable 2 
Robot_G Weld Comp.1 
Pick Up Ok Feeder 
80   RACK:  81   SLOT: 
Hand Jig Conf. 
Hand Rock Adv Comp 
Jig Cover Close Comp. 
Hand Rock Ret Comp. 
Jig Cover Open Comp. 
Robct_G I/L1 
Robot_G I/L2 
88   RACK:  81   SLOT: 
15   PORT: 
15   PORT: 
15   PORT: 
15   PORT: 
15   PORT: 
15   PORT: 
1 / 1 
59 
67 
75 
83 
91 
99 
  
  
  
   
  
  
  
   
  
  
  
  
  
  
  
  
   
  
  
  
  
   
  
  
  
  
   
  
  
  
  
  
  
  
   
发那科机器人焊接应用IO配置(总线型) 
DIN【  94】  Sealer Hold 
DIN   89  -  96   RACK:  81   SLOT:  15   PORT: 107 
DIN【 101】    
DIN【 104】    
DIN   97  - 104   RACK:  81   SLOT:  15   PORT: 115 
DIN【 106】  PART IN STATION CONFIRM 
DIN【 107】  ROBOT AWAY FROM STATION 
DIN【 109】  GUN IN STATION 
DIN【 110】  HANDKING IN STATION 
DIN  105  - 110   RACK:  81   SLOT:  15   PORT: 123 
DIN【 113】  SEALING MATERIAL OK 
DIN【 114】  SEALING MATERIAL LACKING 
DIN【 116】  HEATING NOT OK 
DIN  113  - 120   RACK:  82   SLOT:   6   PORT:   1 
DIN  121  - 128   RACK:  82   SLOT:   6   PORT:   9 
DIN【 129】  Clamp 1 open 
DIN【 130】  Clamp 1 closed 
DIN【 131】  Clamp 2 open 
DIN【 132】  Clamp 2 closed 
DIN【 133】  Clamp 3 open 
DIN【 134】  Clamp 3 closed 
DIN【 135】  Clamp 4 open 
DIN【 136】  Clamp 4 closed 
DIN  129  - 136   RACK:  82   SLOT:   4   PORT:   1 
DIN【 137】  Clamp 5 open 
DIN【 138】  Clamp 5 closed 
DIN【 139】  Clamp 6 open 
DIN【 140】  Clamp 6 closed 
DIN【 141】  _ 
DIN【 142】  _ 
DIN【 143】  _ 
DIN【 144】  _ 
DIN  137  - 144   RACK:  82   SLOT:   4   PORT:   9 
DIN【 145】  Part present 1 
DIN【 146】  Part present 2 
DIN【 149】  2-1-ON 
DIN【 150】  2-1-OFF 
DIN【 151】  2-2-ON 
DIN【 152】  2-2-OFF 
DIN  145  - 152   RACK:  82   SLOT:   5   PORT:   1 
DIN【 153】  2-3-OFF 
DIN【 154】  2-4-OFF 
DIN【 157】  3-1-OFF 
DIN【 158】  3-1-ON 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
DIN【 159】  3-2-OFF 
DIN【 160】  3-2-ON 
DIN  153  - 160   RACK:  82   SLOT:   5   PORT:   9 
DOUT【   1】  ROBOT USER ALARM 
DOUT【   2】  STYLE VAERITY FAULT 
DOUT【   5】  GUN COVER OPEN 
DOUT【   6】  GUN COVER CLOSE 
DOUT【   7】  HAND COVER OPEN 
DOUT【   8】  HAND COVER CLOSE 
DOUT    1  - 
DOUT【   9】DOUT【  10】DOUT【  11】DOUT【  12】DOUT【  14】DOUT【  15】DOUT【  16】DOUT    9  - 
DOUT【  17】DOUT【  18】DOUT   17  - 
DOUT【  29】DOUT【  30】DOUT【  31】DOUT【  32】DOUT   25  - 
DOUT【  33】DOUT【  34】DOUT【  35】DOUT【  36】DOUT【  37】DOUT【  38】DOUT【  39】DOUT【  40】DOUT   33  - 
DOUT【  41】DOUT【  42】DOUT【  43】DOUT【  45】DOUT【  46】DOUT【  47】DOUT【  48】DOUT   41  - 
DOUT【  51】 8   RACK:  81   SLOT:  15   PORT: 
AHC COVER-3 OPEN 
AHC COVER-3 CLOSE 
AHC COVER-4 OPEN  
AHC COVER-4 CLOSE 
TIP WEAR OVER MOVE 
TIP WEAR OVER FIX 
TIP CHANGE POSITION 
16   RACK:  81   SLOT:  15   PORT: 
TC1  GUN FAULT CHECK 
TC1 OFF_SET MEASURING  
24   RACK:  81   SLOT:  15   PORT: 
DRESSOR-1 START 
DRESSOR-2 START 
DRESSOR SHIFT1  
DRESSOR SHIFT2  
32   RACK:  81   SLOT:  15   PORT: 
POP START1 
POP START2 
POP START3 
POP START4 
POP WELD CONDITION 1 
POP WELD CONDITION 2 
POP WELD CONDITION 4 
POP WELD CONDITION 8 
40   RACK:  81   SLOT:  15   PORT: 
POP WELD CONDITION 16 
POP WELD CONDITION 32 
POP SWING ADV. 
WORK COMPLETE 
Shuttle Run Enable 
2nd Work Comp. 
GUN1 PRESS 
48   RACK:  81   SLOT:  15   PORT: 
UNCHUCK POSITION 
1 / 1 
21 
29 
37 
45 
53 
61 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
发那科机器人焊接应用IO配置(总线型) 
DOUT【  52】  AHC Face 
DOUT【  53】  CHUCK OPEN 
DOUT【  54】  CHUCK CLOSE 
DOUT【  55】  Sealer Fault 
DOUT【  56】  Sealer  
DOUT   49  -  56   RACK:  81   SLOT:  15   PORT:  69 
DOUT【  57】  Sealer Low 
DOUT【  58】  SEAL AIR PRESS 
DOUT【  61】  WELD CONDITION 1 
DOUT【  62】DOUT【  63】DOUT【  64】DOUT   57  - 
DOUT【  65】DOUT【  66】DOUT【  67】DOUT【  68】DOUT【  69】DOUT【  70】DOUT【  71】DOUT【  72】DOUT   65  - 
DOUT【  77】DOUT【  78】DOUT【  80】DOUT   73  - 
DOUT【  81】DOUT【  82】DOUT【  83】DOUT【  84】DOUT【  85】DOUT   81  - 
DOUT【  90】DOUT【  91】DOUT【  92】DOUT【  94】DOUT【  95】DOUT【  96】DOUT   89  - 
DOUT【  97】DOUT【  98】DOUT【  99】DOUT【 100】DOUT【 101】WELD CONDITION 2 
WELD CONDITION 4 
WELD CONDITION 8 
64   RACK:  81   SLOT:  15   PORT:  77 
WELD CONDITION16 
WELD CONDITION32 
WELD CONDITION64 
WELD CONDITION128 
Jig Non-int. 
Shuttle Non-int. 
Tip Change Run. 
Tip Dress Run. 
72   RACK:  81   SLOT:  15   PORT:  85 
Fdr. Non-int. 
Fdr. unload comp. 
Jig Hand Clamp 
80   RACK:  81   SLOT:  15   PORT:  93 
Jig Cover Close 
Jig Hand Unclamp 
Jig Cover Open 
Robot_G I/L1 
Robot_G I/L2 
88   RACK:  81   SLOT:  15   PORT: 101 
SEALING MATERIAL LACKING 
SEALING HEATING NOT OK 
SEALING GUN OPEN 
CC-LINK STATUS  
CC-LINK STATUS 
CC-LINK STATUS 
96   RACK:  81   SLOT:  15   PORT: 109 
CC-LINK STATUS 
CC-LINK STATUS 
CC-LINK STATUS   
CC-LINK STATUS 
CC-LINK STATUS 
1 / 1 
  
  
  
 
  
  
  
  
  
  
  
  
 
  
  
  
 
  
  
  
  
  
 
  
  
  
  
  
  
 
  
  
  
  
  
发那科机器人焊接应用IO配置(总线型) 
DOUT【 103】    
DOUT【 104】  JIG CLAMP OPEN REQUEST 
DOUT   97  - 104   RACK:  81   SLOT:  15   PORT: 117 
DOUT【 106】  PART IN STATION 
DOUT  105  - 108   RACK:  81   SLOT:  15   PORT: 125 
DOUT【 113】  SEALING START 
DOUT【 114】  SEALING STOP 
DOUT  113  - 120   RACK:  82   SLOT:   6   PORT:   1 
DOUT  121  - 128   RACK:  82   SLOT:   6   PORT:   9 
DOUT【 129】  SPARE 
DOUT【 130】  SPARE 
DOUT【 131】  CLAMP_3_ON 
DOUT【 132】  CLAMP_3_OFF 
DOUT【 133】  CLAMP_2_ON 
DOUT【 134】  CLAMP_2_OFF 
DOUT【 135】  CLAMP_1_ON 
DOUT【 136】  CLAMP_1_OFF 
DOUT  129  - 136   RACK:  82   SLOT:   4   PORT:   1 
DOUT【 137】  SPARE 
DOUT【 138】  SPARE 
DOUT【 139】  _ 
DOUT【 140】  _ 
DOUT【 141】  _ 
DOUT【 142】  _ 
DOUT【 143】  _ 
DOUT【 144】  _ 
DOUT  137  - 144   RACK:  82   SLOT:   4   PORT:   9 
GIN【   1】 Style No. 
GIN    1   RACK:  81   SLOT:  15   PORT:  73   #NUM:   8 
GOUT    1   RACK:  81   SLOT:  15   PORT:  81   #NUM:   6 
UI【   1】 *IMSTP 
UI【   2】 *Hold 
UI【   3】 *SFSPD 
UI【   4】 Cycle stop 
UI【   5】 Fault reset 
UI【   6】 Start 
UI【   7】 Home 
UI【   8】 Enable 
UI    1  -   8   RACK:  81   SLOT:  15   PORT:   1 
UI【   9】 RSR1/PNS1 
UI【  10】 RSR2/PNS2 
UI【  11】 RSR3/PNS3 
UI【  12】 RSR4/PNS4 
UI【  13】 RSR5/PNS5 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
UI【  14】 RSR6/PNS6 
UI【  15】 RSR7/PNS7 
UI【  16】 RSR8/PNS8 
UI    9  -  16   RACK:  81   SLOT:  15   PORT:   9 
UI【  17】 PNS strobe 
UI【  18】 Prod start 
UI   17  -  18   RACK:  81   SLOT:  15   PORT:  17 
UO【   1】 Cmd enabled 
UO【   2】 System ready 
UO【   3】 Prg running 
UO【   4】 Prg paused 
UO【   5】 Motion held 
UO【   6】 Fault 
UO【   7】 At perch 
UO【   8】 TP enabled 
UO    1  -   8   RACK:  81   SLOT:  15   PORT:   1 
UO【   9】 Batt alarm 
UO【  10】 Busy 
UO【  11】 ACK1/SNO1 
UO【  12】 ACK2/SNO2 
UO【  13】 ACK3/SNO3 
UO【  14】 ACK4/SNO4 
UO【  15】 ACK5/SNO5 
UO【  16】 ACK6/SNO6 
UO    9  -  16   RACK:  81   SLOT:  15   PORT:   9 
UO【  17】 ACK7/SNO7 
UO【  18】 ACK8/SNO8 
UO【  19】 SNACK 
UO【  20】 Reserved 
UO   17  -  20   RACK:  81   SLOT:  15   PORT:  17 
 

Safety Status Information

【TOP】
 
 
SAFETY SIGNALS:: 
 
External ESTOP   FALSE 
SOP Estop        FALSE 
TP ESTOP         FALSE 
Hand Broken      TRUE  
OverTravel       FALSE 
Low Air Alarm    FALSE 
Fence Open       FALSE 
Belt Broken      FALSE 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
TP Enable        FALSE 
TP Deadman       FALSE 
SVOFF Detect     FALSE 
Servo Disconnect FALSE 
Non Teacher Enb  FALSE 
 

Current Position Information

【TOP】
 
 
CURRENT ROBOT POSITION:: 
Group #:  1 
  
CURRENT JOINT POSITION: 
Joint   1:     98.31 
Joint   2:    -21.86 
Joint   3:    -15.51 
Joint   4:      3.71 
Joint   5:    -60.75 
Joint   6:    227.81 
EXTAXS: 1:   1036.33 
 
Frame #:  0  Tool #:  2 
CURRENT USER FRAME POSITION: 
X:   -559.31 
Y:   1592.64 
Z:    151.27 
W:      -.58 
P:    -12.93 
R:     89.70 
CFG: N U T, 0, 0, 1 
EXTAXS: 1:   1036.33 
 
Tool #:  2 
CURRENT WORLD POSITION: 
X:   -559.31 
Y:   1592.64 
Z:    151.27 
W:      -.58 
P:    -12.93 
R:     89.70 
CFG: N U T, 0, 0, 1 
EXTAXS: 1:   1036.33 
 
CURRENT ROBOT POSITION:: 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
Group #:  2 
  
CURRENT JOINT POSITION: 
Joint   1:      0.00 
 
Frame #:  0  Tool #:  2 
CURRENT USER FRAME POSITION: 
Cartesian position cannot be calculated 
 
Tool #:  2 
CURRENT WORLD POSITION: 
Cartesian position cannot be calculated 
 

Ethernet Configuration Information

【TOP】
 
 
ETHERNET CONFIGURATION:: 
 
$HOSTNAME   :ROBOT 
TMI_ROUTER  :ROUTER 
TMI_ETHERAD :00:e0:e4:0f:09:f6 
Subnet mask :255.255.255.0 
Host Table 【17】:      QUICC0 
Host Table 【18】:      QUICC1 
Host Table 【19】:      QUICC2 
Host Table 【20】:      ROUTER 
Host Table 【21】:       PCJOG addr:192.168.0.100 
Server 【1】:         : 3 
Server 【2】:         : 3 
 

Port Setup Infromation

【TOP】
 
 
SERIAL PORT CONFIGURATION:: 
 
DEVICE: JRS16 RS-232-C P2: 
         USAGE     : Maintenance Cons 
         SPEED     : 9600 
         PARITY    : None 
         STOPBITS  : 1bit 
         TIMEOUT   : 0 
         INTERFACE : RS-232-C 
DEVICE: JD17  RS-232-C P3: 
         USAGE     : KCL/CRT 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
         SPEED     : 9600 
         PARITY    : None 
         STOPBITS  : 1bit 
         TIMEOUT   : 0 
         INTERFACE : RS-232-C 
 

Macro Setup Infromation

【TOP】
 
MACRO DEFINIIION:: 
 
【  1】NAME       :CHUCK 
     PROG NAME  :CHUCK 
     Assign type:－－ 
     Assign ID  :0 
【  2】NAME       :UNCHUCK 
     PROG NAME  :UNCHUCK 
     Assign type:－－ 
     Assign ID  :0 
【  3】NAME       :G_C_OPEN 
     PROG NAME  :G_C_OPEN 
     Assign type:－－ 
     Assign ID  :0 
【  4】NAME       :G_C_CLOS 
     PROG NAME  :G_C_CLOS 
     Assign type:－－ 
     Assign ID  :0 
【  5】NAME       :H_C_OPEN 
     PROG NAME  :H_C_OPEN 
     Assign type:－－ 
     Assign ID  :0 
【  6】NAME       :H_C_CLOS 
     PROG NAME  :H_C_CLOS 
     Assign type:－－ 
     Assign ID  :0 
【  7】NAME       :H_CLAMP 
     PROG NAME  :H_CLAMP 
     Assign type:－－ 
     Assign ID  :0 
【  8】NAME       :H_UNCLAM 
     PROG NAME  :H_UNCLAM 
     Assign type:－－ 
     Assign ID  :0 
【  9】NAME       :RESET 
     PROG NAME  :RESET 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
     Assign type:－－ 
     Assign ID  :0 
【 10】NAME       :MOVE TO PURGE 
     PROG NAME  :MOV_PURG 
     Assign type:MF 
     Assign ID  :2 
     SYSTEM MACRO 
【 11】NAME       :DISPENSE COMPLET 
     PROG NAME  :ENDJOB 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【 12】NAME       :FACE_OFF 
     PROG NAME  :FACE_OFF 
     Assign type:－－ 
     Assign ID  :0 
【 13】NAME       :FACE_ON 
     PROG NAME  :FACE_ON 
     Assign type:－－ 
     Assign ID  :0 
【 14】NAME       :JIG_ADV 
     PROG NAME  :JIG_ADV 
     Assign type:－－ 
     Assign ID  :0 
【 15】NAME       :JIG_RET 
     PROG NAME  :JIG_RET 
     Assign type:－－ 
     Assign ID  :0 
【 16】NAME       :PART_1 
     PROG NAME  :PART_1 
     Assign type:－－ 
     Assign ID  :0 
【 17】NAME       :PART_2 
     PROG NAME  :PART_2 
     Assign type:－－ 
     Assign ID  :0 
【 18】NAME       :DEFAULT ACC 
     PROG NAME  :DEF_ACC 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【 19】NAME       :PART_4 
     PROG NAME  :PART_4 
     Assign type:－－ 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
     Assign ID  :0 
【 20】NAME       :TOOL1_OF 
     PROG NAME  :TOOL1_OF 
     Assign type:－－ 
     Assign ID  :0 
【 21】NAME       :PART_3 
     PROG NAME  :PART_3 
     Assign type:－－ 
     Assign ID  :0 
【 23】NAME       :PICK_CLAMP1 
     PROG NAME  :PICK_CLAMP1 
     Assign type:－－ 
     Assign ID  :0 
【 24】NAME       :PICK_CLAMP2 
     PROG NAME  :PICK_CLAMP2 
     Assign type:－－ 
     Assign ID  :0 
【 25】NAME       :LOAD_CLAMP 
     PROG NAME  :LOAD_CLAMP 
     Assign type:－－ 
     Assign ID  :0 
【109】NAME       :Send Event 
     PROG NAME  :SENDEVNT 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【110】NAME       :Send Data 
     PROG NAME  :SENDDATA 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【111】NAME       :Send SysVar 
     PROG NAME  :SENDSYSV 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【112】NAME       :Get Data 
     PROG NAME  :GETDATA 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【113】NAME       :Request Menu 
     PROG NAME  :REQMENU 
     Assign type:－－ 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
     Assign ID  :0 
     SYSTEM MACRO 
【130】NAME       :Grip Part 
     PROG NAME  :GRIPPART 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【131】NAME       :Release Part 
     PROG NAME  :DROPPART 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【132】NAME       :Part Present 
     PROG NAME  :CHKPART 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【133】NAME       :Check No Part 
     PROG NAME  :CHKNOPRT 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【134】NAME       :Prepare to Pick 
     PROG NAME  :OKTOPICK 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【135】NAME       :Clear to Proceed 
     PROG NAME  :CLR2PRCD 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【136】NAME       :Turn ON Vacuum 
     PROG NAME  :VACUUMON 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【137】NAME       :Turn OFF Vacuum 
     PROG NAME  :VACUUMOF 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【138】NAME       :Turn OFF Blowoff 
     PROG NAME  :BLOWOFF 
1 / 1 
发那科机器人焊接应用IO配置(总线型) 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【139】NAME       :Set CurrentValve 
     PROG NAME  :SETVALVE 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【140】NAME       :Set MH Tool 
     PROG NAME  :SET_TOOL 
     Assign type:－－ 
     Assign ID  :0 
     SYSTEM MACRO 
【148】NAME       :CONNNODE 
     PROG NAME  :CONNNODE 
     Assign type:－－ 
     Assign ID  :0 
【149】NAME       :DISCNODE 
     PROG NAME  :DISCNODE 
     Assign type:－－ 
     Assign ID  :0 
 

1 / 1