YAY! I found a possible backup from a controls guy (I am not sure if this man initialized these or not,, but looks like his work was butchered, (these machines do not have the parellel start option,, (this may be a orginal motoman example? or ? but I like this,, and think this might be something I can splice and call my own jobs into,,, maybe)..(if I can restore this, does this look okay?) (I would like to have part numbers as job names then just call them in ,, (maybe later set up variables to change what job is called so operators can do changeovers,,) 1992 predates the xrc's so this was erc originally coded on?)
here is some of the jobs,,
main job below,,
/JOB
//NAME MAIN
//POS
///NPOS 1,0,0,0,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
C00000=-33,-58257,-130774,-164,38734,829
//INST
///DATE 1992/01/22 23:44
///ATTR SC,RW
///GROUP1 RB1
NOP
MOVJ C00000 VJ=20.00
DOUT OT#(25) OFF
DOUT OT#(26) OFF
DOUT OT#(29) OFF
DOUT OT#(33) ON
*LOOP
CALL JOB:A_SIDE IF IN#(25)=ON
CALL JOB:B_SIDE IF IN#(26)=ON
TIMER T=0.10
JUMP *LOOP
END
side a
/JOB
//NAME A_SIDE
//POS
///NPOS 14,0,0,0,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
C00000=-35,-58270,-130798,-165,38729,829
C00001=-23223,-58270,-90935,-165,38728,829
C00002=-53290,-54561,-96191,-23577,46584,19658
C00003=-53351,-48598,-108700,-36702,55891,27214
C00004=-56216,-44380,-105048,-39222,55297,29341
C00005=-51728,-53239,-105376,-25977,51401,21119
C00006=-8715,-63179,-91238,6638,35489,-6105
C00007=-53290,-54561,-96191,-23577,46584,19658
C00008=-52084,-46336,-105501,-29733,54688,23662
C00009=-55526,-41622,-101564,-32710,54253,26212
C00010=-52370,-54711,-106795,-26223,51048,21381
C00011=-33496,-75784,-121763,-10088,50299,8025
C00012=-9068,-84404,-102584,260,21981,2018
C00013=-35,-58270,-130798,-165,38729,829
//INST
///DATE 1992/01/24 16:23
///ATTR SC,RW
///GROUP1 RB1
NOP
MOVJ C00000 VJ=20.00
'********************************
'********************************
'********************************
'START ROBOT 2 A SIDE WELD 1
DOUT OT#(25) ON
WAIT IN#(27)=ON
WAIT IN#(29)=OFF
WAIT IN#(32)=OFF
DOUT OT#(25) OFF
'********************************
'********************************
'********************************
'START WELD 1
MOVJ C00001 VJ=20.00
CALL JOB:ENTER_ZN
MOVL C00002 V=250.0
MOVL C00003 V=250.0
ARCON AC=290 AV=20.0 V=5.5
MOVL C00004 V=8.5
ARCOF
MOVL C00005 V=84.7
MOVL C00006 V=250.0
CALL JOB:EXIT_ZN
'WELD 1 FINISHED
'********************************
'********************************
'********************************
'WAIT ROBOT 2 A SIDE WELD 1 DONE
WAIT IN#(25)=ON
'START ROBOT 2 A SIDE WELD 2
DOUT OT#(29) ON
WAIT IN#(29)=ON
DOUT OT#(29) OFF
'********************************
'********************************
'********************************
'WELD 2
CALL JOB:ENTER_ZN
MOVL C00007 V=250.0
MOVL C00008 V=250.0
ARCON AC=290 AV=20.0 V=5.5
MOVL C00009 V=8.5
ARCOF
MOVL C00010 V=84.7
MOVL C00011 V=84.7
CALL JOB:EXIT_ZN
'WELD 2 FINISHED
'********************************
'********************************
'********************************
'WAIT ROBOT 2 A SIDE WELD 2 DONE
WAIT IN#(32)=ON
MOVL C00012 V=84.7
CALL JOB:CLEAN
MOVL C00013 V=211.7
END
side b
/JOB
//NAME B_SIDE
//POS
///NPOS 4,0,0,0,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
C00000=-35,-58270,-130798,-165,38729,829
C00001=49436,-63180,-91241,6638,35489,-6104
C00002=49436,-60301,-107133,7900,44286,-7122
C00003=-35,-58271,-130801,-164,38729,828
//INST
///DATE 1992/01/23 21:30
///ATTR SC,RW
///GROUP1 RB1
NOP
MOVJ C00000 VJ=20.00
'********************************
'********************************
'********************************
'START ROBOT 2 B SIDE WELD 1
DOUT OT#(26) ON
WAIT IN#(28)=ON
WAIT IN#(29)=OFF
WAIT IN#(32)=OFF
DOUT OT#(26) OFF
'********************************
'********************************
'********************************
'START WELD 1
MOVJ C00001 VJ=20.00
TIMER T=5.00
'WELD 1 FINISHED
'********************************
'********************************
'********************************
'WAIT ROBOT 2 B SIDE WELD 1 DONE
WAIT IN#(26)=ON
'START ROBOT 2 B SIDE WELD 2
DOUT OT#(29) ON
WAIT IN#(29)=ON
DOUT OT#(29) OFF
'********************************
'********************************
'********************************
'WELD 2
MOVJ C00002 VJ=20.00
TIMER T=5.00
'WELD 2 FINISHED
'********************************
'********************************
'********************************
'WAIT ROBOT 2 B SIDE WELD 2 DONE
MOVJ C00003 VJ=20.00
WAIT IN#(32)=ON
END
zn
/JOB
//NAME ENTER_ZN
//POS
///NPOS 0,0,0,0,0,0
//INST
///DATE 1992/01/23 14:59
///ATTR SC,RW
///GROUP1 RB1
NOP
'********************************
'********************************
'********************************
'WAIT ROBOT 2 CLR OF ZONE
WAIT IN#(33)=ON
DOUT OT#(33) OFF
TIMER T=0.30
WAIT IN#(33)=ON
END
zn out
/JOB
//NAME EXIT_ZN
//POS
///NPOS 0,0,0,0,0,0
//INST
///DATE 1992/01/23 14:59
///ATTR SC,RW
///GROUP1 RB1
NOP
DOUT OT#(33) ON
END
cleaner
/JOB
//NAME CLEAN
//POS
///NPOS 13,0,0,0,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
C00000=-47530,-63002,-85032,-22633,30749,22399
C00001=-96789,-38830,-82271,-42179,22767,45221
C00002=-96789,-34370,-89693,-44527,26671,48096
C00003=-96789,-38830,-82271,-42179,22767,45221
C00004=-92415,-48225,-91700,-41717,24042,43576
C00005=-92633,-43164,-100436,-44637,28487,47010
C00006=-92397,-42781,-100495,-44762,28747,47077
C00007=-92660,-43319,-100311,-44567,28382,46941
C00008=-92441,-48205,-91830,-41743,24077,43615
C00009=-97997,-29019,-70594,-42266,22379,45648
C00010=-97997,-25430,-77150,-44195,25704,48069
C00011=-97997,-29019,-70594,-42266,22379,45648
C00012=-32072,-54021,-76020,-19205,27698,14297
//INST
///DATE 1992/01/24 15:10
///ATTR SC,RW
///GROUP1 RB1
NOP
MOVJ C00000 VJ=20.00
CALL JOB:ENTER_ZN
MOVL C00001 V=250.0
WAIT IN#(8)=ON
MOVL C00002 V=100.0 PL=0
DOUT OT#(6) ON
TIMER T=0.50
DOUT OT#(5) ON
TIMER T=2.00
WAIT IN#(8)=OFF
DOUT OT#(5) OFF
TIMER T=2.00
WAIT IN#(8)=ON
DOUT OT#(6) OFF
TIMER T=1.00
MOVL C00003 V=250.0
MOVL C00004 V=250.0
MOVL C00005 V=250.0
MOVL C00006 V=50.0 PL=0
PULSE OT#(191) T=0.50
TIMER T=1.00
DOUT OT#(7) ON
TIMER T=0.50
DOUT OT#(7) OFF
TIMER T=0.50
MOVL C00007 V=16.7
MOVL C00008 V=83.3
MOVL C00009 V=83.3
MOVL C00010 V=83.3 PL=0
DOUT OT#(8) ON
TIMER T=0.50
DOUT OT#(8) OFF
MOVL C00011 V=83.3
MOVL C00012 V=250.0
CALL JOB:EXIT_ZN
END