Jaguar Land Rover

PAN Projects
Robot to SCA Sealing Programming
Standard
for
FANUC’s R30iB Controller
 Robot To SCA Sealing
Standard Programming

Issue No. Details of the Update Author

1.0 Initial Release JP
2.0 Added in General corrections and 3rd argument on Pre JP
Dispense
3.0 Added in 4th Argument on PRE_DISPNSE added in the JP
beginnings of the quiss interface, Added Purge Program
4.0 Quiss Interface and examples JP

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Contents
1. Introduction ....................................................................................................................... 4
2. Safety................................................................................................................................ 5
3. Robot Configuration .......................................................................................................... 5
4. IO Interface ....................................................................................................................... 6
5. Seal Schedules ................................................................................................................. 8
6. Command Programs ....................................................................................................... 10
6.1 Pre-Dispense............................................................................................................. 10
6.2 Pre-Dispense On ....................................................................................................... 11
6.3 Post-Dispense ........................................................................................................... 11
6.4 Dock to Fill................................................................................................................. 12
6.5 Purge......................................................................................................................... 12
6.6 Fill Doser – Pedestal Mounted................................................................................... 13
7.0 Quiss Interface.............................................................................................................. 14
7.1 Quiss On ................................................................................................................... 14
7.2 Quiss Start................................................................................................................. 14
7.3 Quiss Pause .............................................................................................................. 14
7.3 Quiss End.................................................................................................................. 15
7.4 Quiss Check Repair................................................................................................... 15
7. Bead and Segments........................................................................................................ 16
Appendix 1 – Example Prog 1 Dispense ............................................................................. 18
Appendix 2 – Example Dispense Program .......................................................................... 19

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1. Introduction
This document only specifies the “SCA SYS6000 Dispensing Standard” within Fanuc’s
R30iB Robot Controller with “EtherNetIP” bus communication.

It is only relevant for JLR PAN Project installations and should be used in conjunction with
“JLR PAN Robot to PLC Standard” documentation.

The robot “SCA SYS6000 Dispensing Standard” can control 2 SCA SYS6000 systems per
robot, with each system having up to 2 nozzles with 255 programs and 255 different
segments numbers. It caters for 1 component (1C) and 2 component (2C) systems, or a
mixture of the two and can handle robot carried nozzles, pedestal nozzles and dock to fill
systems.

Bead measurement monitoring is active on both 1C and 2C component systems.

One SCA program number should be used to complete the whole dispensing sequence
(PreDispense to PostDispense) using different segment numbers to change bead flow/sizes.

The robot must have the option ‘H590 – SpotTool+’ or ‘H953 - DispenseTool’ installed and
setup correctly.

Read the Fanuc ‘DispenseTool’ or ‘SpotTool+’ application manual to understand and

implement the necessary data types and parameters to successfully apply beads.

The document should be read and understood by the end user before any commissioning
and or programming is started.

IF IN DOUBT ASK

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2. Safety
The safety of people is always of primary importance in any situation. When applying safety
measures to your robotic system, consider the following:

• External devices
• Robot(s)
• Tooling
• Workpiece

Only trained personnel should operate a Robot

For more information refer to the Safety section in the:-

• FANUC Corporation SYSTEM R-30iB and R-30iB Mate HandlingTool and LR

HandlingTool Setup and Operations Manual MAROBHT8203131E REV C

The Robot E-Stop out is wired into some Allen Bradley Safe Point I/O which is then
monitored by the Line PLC. The safety of the robot is all run over Ethernet I/P safe and
utilises the Robots Safe I/O connect feature. This can make logical decision’s on Safe Inputs
on whether to issue a robot E-Stop or fence output.

All safety systems must be fully functional without any manual overrides to ensure
the end user is fully protected from all hazards.

3. Robot Configuration
Along with the standard package loaded into every JLR robot, as discussed in the ‘Robot to
PLC Standard Programming’ manual, every Dispensing Robot will have another package
loaded into it. This will contain the following:

 Dispensing Teach Pendant (TP) Programs:- These are stored in the TPP memory
allocation on the SRAM (non-volatile) memory of the Robot. TP programs are the
routines the Robot runs when in automatic to complete a task. All the Dispensing
TP programs will have Dispense selected as their Application Process within the
‘Detail’ of the program (Program Detail explained later in the manual).
 Karel Programs are loaded in to the Robot to conduct certain tasks that are unable
to be done in TP language. The code for these programs isn’t visible and the
Integrator/End User are unable to edit these without the source code. Karel
programs can be called to run from TP programs just in the same way as any other
programs. For dispensing all the ‘DEBUG_TEXT’ and ‘DCP_FAULTS’ are dealt with
within Karel Programs.
 PMC (Programmable Machine Controller) is ladder logic that runs in the
background of the robot and is used to the communicate with the PLC, TP
Programs and third party equipment around the cell. Fundamentally PMC is a PLC

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built into the robot controller as standard. This has been written and proven by
FANUC UK Ltd and MUST not be changed by the Integrator/End User.

As all the robots are configured with FANUC’s standard software package “SpotTool+” they
are able to be configured to do:-

 Spot Welding
 Dispensing
 Handling

Any robot that is going to be used as a Dispensing Robot has already been configured in a
Controlled Start. If they robot has been configured to be a Dispensing Robot and a Handling
Robot you can Toggle between the 2 Application Tools by:-

FCTN (Key) 0(Next)5(Change Appl-Tool)

4. IO Interface
The fieldbus communication is EthernetIP and the robot acts as the master for all the SCA
SYS6000 controllers fitted.

The integrator/end user must set the IP address of the SCA SYS6000 controller with the
EtherNetIP settings within the robot. This should be done in accordance with the JLR
Standard and Controls Department allocation Sheet. Follow the procedure below to set the
IP address for the SCA unit within Fanuc’s EtherNetIP settings:-

1. Press the Menu Key

2. Cursor down to I/O (5) and Press Enter
3. Press F1 (Type) and Select EtherNetIP
4. Cursor Down to the SCA controller you want to setup, it will be commented up as
SCA, then cursor across to the Enable Column Press F5(False)
5. Cursor back onto the Description Column and Press F4(Config)
6. Press Enter on the IP Address and enter in the correct IP address using the Key pad
on the Teach Pendant followed by enter,
7. Press the previous key on the Teach Pendant, cursor back to the enable column of
the SCA and press F4(True)

The interface is made up of 10 Bytes of Input Data and 10 Bytes of Output Data, all these
signals are pre-defined and should not be altered by the integrator/End User.

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The interface also interacts with the PLC via the Robots PMC so that the process is
monitored and decisions can be made as and when necessary.

PLC Inputs DI[65:Glue Inspect]

DI[66:Glue Repair]
DI[67:Glue Reject]
DI[68:Glue Ok]
DI[69-70: Reserved]
DI[71:SCA1 Purge]
DI[72:SCA Reset Overtemp]
DI[73:SCA1 Reset Pump]
DI[74-82:Reserved]
DI[83:SCA2 Purge]
DI[84:SCA2 Reset Overtemp]
DI[85:SCA2 Reset Pump]

PLC Outputs DO[65:At Glue Inspect]

DO[66:At Glue Repair]
DO[67:SCA1 Ready]
DO[68:SCA1 Pump On]
DO[69:SCA1 Heating On]
DO[70:SCA1 Heating Ready]
DO[71:SCA1 Purge Required]
DO[72:SCA1 Purge Complete]
DO[73: SCA1 Barrel Change Req]
DO[74:SCA1 Upper Limit Error]
DO[75:SCA1 Lower Limit Error]
DO[76:SCA1 Material Error]
DO[77:SCA1 System Error]
DO[78:SCA1 Cumulative Error]
DO[79:SCA2 Ready]
DO[80:SCA2 Pump On]
DO[81:SCA2 Heating On]
DO[82:SCA2 Heating Ready]
DO[83:SCA2 Purge Required]
DO[84:SCA2 Purge Complete]
DO[85:SCA2 Barrel Change Req]
DO[86:SCA2 Upper Limit Fault]
DO[87:SCA2 Lower Limit Fault]
DO[88:SCA2 Material Error]
DO[89:SCA2 System Error]
DO[90:SCA2 Cumulative Error]

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5. Seal Schedules
Within the SpotTool+ software there are as standard 100 Seal Schedules. These schedules
contain all the relevant settings for robot control over the dispensing and contain the
following information:-

Item Description
This item defines how the flow of the material is going to be
Flow Type
measured. As standard this should be Volts.
This item specifies the kind of flow model applied on the current
Flow Model schedule. Linear and
Square flow models are available.
This item specifies the desired rate of material flow. The units
used correspond to the flow type you have selected. This
Flow Rate
information is displayed on the DETAIL screen as "Flow Rate"
and on the LISTING screen as "Value."
Equip. Ant-time This item indicates the anticipation time between when the robot
Default:0ms reaches the taught position and when material is dispensed from
Min: 0ms the gun. This information is displayed only on the DETAIL
Max: 1000ms screen.
Eq.Additin ant-time This item indicates the additional anticipation time of the
Default:0ms equipment. Additional anticipation times might be required when
Min: -1000ms equipment receives a decreasing flow rate command signal. This
Max: 1000ms item only applies to the flow type of TCPP or PROG.
This item indicates the anticipation time between when the robot
reaches the destination position and when the gun is turned on. If
Gun on ant-time
you want the gun to turn on before the robot reaches the
Default:0ms
destination position, set Gun on ant-time to a positive number. If
Min: -1000ms
you want the gun to turn on after the robot reaches the
Max: 1000ms
destination position, set Gun on ant-time to a negative number.
This information is displayed only on the DETAIL screen.
This item indicates the anticipation time between when the robot
reaches the destination position and when the gun is turned off. If
Gun off ant-time
you want the gun to turn off before the robot reaches the
Default:0ms
destination position, set Gun off ant-time to a positive number. If
Min: -1000ms
you want the gun to turn off after the robot reaches the
Max: 1000ms
destination position, set Gun off ant-time to a negative number.
This information is displayed only on the DETAIL screen.
Pre-pressure time This item is used to adjust the invoking time of the pre-pressure
Default:0ms signal.

De-pressure time This item is used to adjust the invoking time of the de-pressure
Default:0ms signal.

Correction Factor This item allows you to fine tune material flow. This is especially
Default:1.0 useful when dispensing material around corners. This information
Min: 0.1 is displayed only on the DETAIL screen.
Max: 10.0

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This item allows you to adjust the bead width of corners which
reside within the seal segment. This value does not affect the
Correction Bias bead width of any straight line paths. When the Square flow
model is enabled, this item is used to adjust the bead width of
whole seal segment.
This item allows you to adjust the time interval between the gun
SS Time offset
on signal and the flow rate signal.
This item allows you to adjust the time interval between the gun
SE Time Offset
off signal and flow rate signal.

Schedule number 1 (SS[1]) will be the datum schedule with some predefined values, these
values can be changed by the integrator/end user using the table above. It is also possible to
use any of the other schedules within the robot for certain beads that require different
settings to get the desired results. As standard when a new schedule is going to be use it is
recommended that the data with SS[1] is copied into the new SS[x] and then modified to suit
the application. Then to activate the new schedule in the program on the Seal Start point you
would specify the new schedule number not 1.

Example:- Schedule’s

L P[1:Start SS(1)] 200mm/sec CNT100 SS[1]

L P[2:End SS(1)] 200mm/sec CNT100 SE
L P[3:Start SS(2)] 200mm/sec CNT100 SS[2]
L P[1:End SS(2)] 200mm/sec CNT100 SE

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6. Command Programs
The command routines are used by the integrator/end user to sequence with the PLC, all the
command programs are contained within the FANUC R30iB controller. These programs
should not be altered by the integrator/end user. See Appendix 1 for Example sealing
program.

6.1 Pre-Dispense
 Used to check that the SCA equipment is ready and send the required program and
bead number over on Group Outputs
 Program Name:- PRE_DISPENSE
 TP usage/notation – CALL PRE_DISPENSE(1,1,1,1) – Argument Values
o Argument 1:- Program Number
o Argument 2:- Bead Number
o Argument 3:- Robot Mounted or Ped Mounted Gun
o Argument 4:- Check Purge Allowed
 Associated I/O GO[12-13] and GI[12-13]

The PRE_DISPENSE program is used independent of which program and bead number is
required. To do this arguments, of integer type, are passed into the program and the values
of these arguments dictate which program and bead are selected within the SCA controller.
The SCA controller then sends an acknowledge back via the group inputs and the robot
checks these match what has been requested.

Within the Pre-Dispense program the robot will automatically check to see if the gun needs
filling/purging and if it does the robot will Dock and Fill/Purge before carrying on. (For Dock
to fill systems Argument 3 =1) For the Fill/Purge to happen the Check Purge Allowed
(Argument 4) must be a 1 (Set by the programmer when the PRE_DISPENSE program is
called).

This program should be called at the start of each dispensing program before any sealing
begins. If the PLC is controlling the robot to go into an area the PRE_DISPENSE should be
after the “CALL AREA_IN_REQ” else if executed before the SCA controller may not be
ready and the PLC holds the robot at Area request due to the gun requiring purging etc.

The third argument indicates whether the robot is a Dock and Fill type or Ped-mounted Type.
With the argument value set to a 1 it indicates to the program that this robot is a Dock and
Fill system and allows the robot to enter into the DOCKFILLSTAND Routine when the Doser
needs filling.

The forth argument indicates if the robot is allowed to Fill/Purge at the point the
PRE_DISPENSE program was called. There will be times that at the point the
PRE_DISPENSE program is called that it isn’t possible for a Dock-to-Fill system to move to
the docking stand or for a Pedestal Gun to Purge if the part is located under the nozzle.

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Example Program:-

!Request Area Zone 1

CALL AREA_IN_REQ(1,1)
!Call Program 1
CALL PROG1
 CALL PRE_DISPENSE(1,1,1,1)

6.2 Pre-Dispense On
 Used to check that the SCA equipment is ready and send the required program and
bead number over on Group Outputs
 Program Name:- PRE_DISP_ON
 TP usage/notation – CALL PRE_DISP_ON(1,1) – Argument Values
o Argument 1:- Program Number
o Argument 2:- Bead Number
 Associated I/O GO[12-13] and GI[12-13]

This program works in the same manner as Pre-Dispense outlined in section 6.1. the
difference here is that this program is used to change SCA program numbers in cycle and
doesn’t check to see if the Doser needs filling as in cycle filling is not possible.

6.3 Post-Dispense
 Used to issue the SCA cycle complete as well as checking for and handling any
errors that have occurred during the dispensing operation.
 Program Name:- POST_DISPENSE
 TP usage/notation – CALL POST_DISPENSE
 Associated I/O DO[708], DI[697-701] and DI[709]

The POST_DISPENSE program is used at the end of a dispensing sequence or when a

different program is required from the SCA controller. The program issues the cycle
complete command which initiates the material measuring within the SCA controller which in
turn ends that current cycle. The POST_DISPENSE does not need to be called if it is only
the Bead (segment) number that is being changed, as this can be done in process.

The POST_DISPENSE also does all the Error Handling for the end of sequence such as
Low/High Material Limit.

Example Program:-

L P[12:Dis End] 200mm/sec CNT35 SE – SEAL END COMMAND

CALL POST_DISPENSE

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6.4 Dock to Fill

 Used to Fill and Purge the gun on the filling stand (for a Dock to Fill system only)
 Program name:- DOCKFILLSTAND
 TP usage/notation:- CALL DOCKFILLSTAND

The DOCKFILLSTAND program uses to other programs call within to complete the action of
docking and filling the gun, these are:-

1. CHECK_READY_TO_DOCK
a. This program checks that the I/O associated with the docking stand is in the
correct state to allow docking procedure to happen successfully. If any of the
condition aren’t met the DCP faults are handled within this program.
2. PURGEFILL
a. This program initiates either the filling routine of the purging routine of the gun
depending on which action has been requested from the SCA controller or
PLC. It checks and monitors all the relevant I/O and if anytime the conditions
aren’t met the DCP faults are handled within this program

The robot checks for Filling and Purging before each dispensing operation within the
PRE_DISPENSE program and then checks for only purging with the POST_DISPENSE
program.

Example Program:-

IF (DI[71:SCA1 Purge]=ON or DI[705:SCA Fill Request]=ON or DI[706:SCA Purge

Request]=ON) AND (AR[3] = 1), CALL DOCKFILLSTAND
 CALL CHECK_READY_TO_DOCK
 Robot Moves and Docks
 CALL PURGEFILL

6.5 Purge
 Used to Purge the gun, Docked and Pedestal
 Program name:- PURGE
 TP usage/notation:- CALL PURGE(1) – Argument Values
 Used within PRE_DISPENSE and DOCKFILLSTAND

This program is used to initiate a Purge Routine for the SCA gun whether it is a Pedestal
mounted gun or a Dock and Fill type gun. This program can be called from within the
PRE_DISPENSE program based on Digital Inputs 71/706.

The Argument value passed into the Purge program indicates whether it is a Pedestal
mounted gun or a Dock and Fill Gun, where a 0 indicates a Pedestal and a 1 indicates and
dock to fill. The reasoning for this is that with a Dock and Fill gun control is required over the
Mandrill on the docking station during a purging cycle, where as it is isn’t during a Pedestal
mounted cycle.

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6.6 Fill Doser – Pedestal Mounted

 Used to Fill the Doser, Pedestal Mounted
 Program name:- FILLDOSER
 TP usage/notation:- CALL FILLDOSER(1,1) – Argument Values

This program is used to Fill the Doser with a Pedestal mounted gun. It has two arguments
passed into the program.

1. Argument 1 = Equipment Number

2. Argument 2 = Wait/No Wait

With Argument 2 it sets whether the robot waits for the filling off the doser to be full before
carrying on. If the filling doser is executed after a bead has been put down and the robots
next operation is to go and put the part down somewhere, it will save time for the robot not to
wait for the doser to finishing filling before carrying on to its next task. However if its next
task is to do a bead the robot would have to wait for the doser to finish filling before carrying
on.

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7.0 Quiss Interface

The Quiss interface is the vision system used by SCA to repair segments missing within the
bead. The idea behind the interface is every bead that the robot lays down is taught to the
vision system and each time the bead is dispensed it is tracked by the Quiss. If the Quiss
system sees a gap in the bead it will be flagged up at the end of the Dispense cycle and the
robot will then Automatically retry and only fill in the gaps. The JLR Specification is that the
robot will only try 1 automatic retry and then will generate a DCP fault and then be sent to
Glue Inspect.

7.1 Quiss On
 Used to turn the Quiss system/interface to the robot on.
 Program name:- QUISS_ON
 TP usage/notation:- CALL QUISS_ON(1) – Argument Values
 Used within the main sealing program.

The program is used to turn on the Quiss system and should be called at the beginning of
the sealing program, a good distance before the first Seal Start Command (SS[]) and the
PRE_DISPENSE. The argument value that is passed in is the Program number within the
Quiss that is to be ran in conjunction with the bead the robot will run.

When a Bead Repair signal has been issued by the Quiss and the robot is in the ‘Repair
Loop’ the robot will run this program again and Automatically reset any errors that the Quiss
has and turn on the ‘Release Bead Repair’ Output which will then put the Quiss in control of
opening and closing the Dispense Nozzle on the next run.

7.2 Quiss Start

 Used to Start the Quiss system monitoring the current bead
 Program name:- QUISS_START
 TP usage/notation:- CALL QUISS_START(1) – Argument Values
 Used within the main sealing program.

The program is used to start the Quiss system monitoring the current bead that the robot is
dispensing. The program should be Called/Ran on the line before the Seal Start Command
(SS[]). The argument value that is passed in is the Program number within the Quiss that is
to be ran in conjunction with the bead the robot will run.

7.3 Quiss Pause

 Used to pause the Quiss system
 Program name:- QUISS_PAUSE
 TP usage/notation:- CALL QUISS_PAUSE
 Used within the main sealing program.

This program is used to pause the monitoring of the bead, this is need when the robot is
using air moves to get from the end of one segment to the beginning of another. The progam

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should be ran after the Seal End Command (SE[]). Then when the monitoring of the bead is
needed to be started again the QUISS_START would be used again as described in section
7.2.

7.3 Quiss End

 Used to end the Monitoring of the Quiss Bead
 Program name:- QUISS_END
 TP usage/notation:- CALL QUISS_END
 Used within the main sealing program.

This program is used to end the monitoring of the bead and imitates the Quiss system to
review the data it has just recorded to determine if the bead was of good quality or not.

7.4 Quiss Check Repair

 Used to Check the results of the Quiss System
 Program name:- QUISS_CHK_REPAIR
 TP usage/notation:- CALL QUISS_CHK_REPAIR
 Used within the main sealing program.

This program is used to check the results of the Quiss System after it has monitored the
bead that has been laid down. If the result of the Quiss is OK then the robot will continue
through the program and end the Dispense program as normal. If however the Quiss has
detected a fault with the bead that has just been laid down it will set a Flag so the robot will
repeat the Dispense program but give the control of the Nozzle opening to the Quiss
System. At this point the robot will automatically reset any faults on the SCA System, in JLR
Spec this is the only time that the robot is allowed to automatically reset the SCA system.

After the Quiss has tried to repair the bead it still fails the robot will not be allowed to try
again. At this point the robot will display a DCP fault, once this has been acknowledged by
the operated the PLC will send the robot to Glue Inspect.

This program should be ran when the robot has moved to a position where it is possible to
either redo the gluing path or get the Glue Inspect.

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7. Bead and Segments

Only one bead should be used for the whole of the dispensing path (see below) but this can
be broken down into segments if the process requires the bead thickness to increase or
decrease at a given point.

It is possible for the Segment value to be changed in process without needing to stop the
robot or close the gun. To do this the robot can use Distance/Time before commands on the
end of a position within a teach pendant (TP) program. This distance/time before command
can then issue an I/O command, in this case Group Output (GO), to change the current
segment in the SCA Controller. See example below of the notation used:-

Example:-

CALL PRE_DISPENSE(1,1,1,1) – (Bead, Segment, Purge)

J PR[2:P01 Pounce] 100% CNT100
L P[1:Bead Start] 200mm/sec CNT35 SS[xx] – SS[xx] denotes Seal Start and which Schedule to use, standard SS[1]
L P[2] 200mm/sec CNT100 DB 1.0mm GO[12: SCA Segment Select] = 2
L P[3:Bead End] 200mm/sec CNT100 SE – SE denotes Seal End
J PR[2:P01 Pounce] 100% CNT100
CALL POST_DISPENSE

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In this above example the robot starts with Bead 1, Segment 1 for move P[1] to P[2] then
1.0mm before reaching P[2] the robot requests that Segment 2 is activated using the DB
(Distance Before) command 1.0mm before. This distance can be changed by the
integrator/End user to get the new segment activating exactly where they need to. Instead of
using DB you could use TB (Time Before) and specify and time in seconds before the robot
reaches P[2] that the SCA controller is sent the request for a new segment.

The robot uses a Background TP program which scales the amount of material sent to the
SCA controller based on the current TCP speed of the robot and the maximum dispense
speed. This program is constantly running and looping while the robot is turn on and
automatically restarts running after a robot is turn on after being off.

Example:-

R[180:TCP Speed] = $TCPSPEED.$SPEED

R[182:TCP Scale] = R[180:TCP Speed] / R[181: Max App TCP Speed]

GO[10:SCA Material Flow] = R[182:TCP Scale] x 65535

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Appendix 1 – Example Prog 1 Dispense

15: IF DI[706:SCA PURGE REQUEST]=ON OR DI[705:SCA FILL REQUEST]=ON,CALL
DOCKFILLSTAND ;
16: ;
17: CALL P01_HOME_TO_POUNCE ;
18: ;
19: CALL AREA_IN_REQ(5,1) ;
20: ;
21: IF (F[1:Return Home Flag]=ON),JMP LBL[100] ;
22: ;
23: CALL P01_A_RNZ1_300_X260COM ;
24: ;
25: //CALL AREA_GLUE_INSPECT(5,1,5,5) ;
26: ;
27: CALL JOB_DONE(5) ;
28: ;
29: CALL AREA_OUT_REL(5) ;
30: ;
31: CALL INITRS ;
32: ;
33: IF DI[705:SCA FILL REQUEST]=ON,CALL DOCKFILLSTAND ;
34: ;
35: CALL HOME ;
36: ;
37: CALL INITHOME ;
38: ;
39: TIMER[1]=STOP ;
40: ;
41: END ;
42: ;
43: LBL[100] ;
44: ;
45: CALL P01_POUNCE_TO_HOME ;
46: CALL INITHOME ;
47: ;
48: END ;
49: ;
50: LBL[999] ;
51: ABORT ;

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 Robot To SCA Sealing
Standard Programming

Appendix 2 – Example Dispense Program

1: --eg:Version 1.1 ;
2: ;
3: UFRAME_NUM=0 ;
4: UTOOL_NUM=3 ;
5: ;
6: LBL[1:Repair Loop] ;
7: ;
8: OVERRIDE=100% ;
9: ;
10:J PR[3:Area 2 Pounce] 20% CNT25 ;
11: UFRAME_NUM=3 ;
12: ;
13: CALL COLL_ZONE_REQ(1) ;
14: CALL TOOL_REQ(1) ;
15: ;
16: CALL QUISS_ON(1) ;
17: CALL PRE_DISPENSE(1,1,0,1) ;
18: ;
19:L P[1] 750mm/sec CNT25 ;
20:L P[2] 200mm/sec CNT25 ;
21: ;
22: CALL QUISS_START(1) ;
23: WAIT .25(sec) ;
24: ;
25:L P[3:Start] 200mm/sec FINE SS[1] ;
26:L P[4] 200mm/sec CNT50 ;
27:L P[18] 50mm/sec CNT50 DB .1mm,GO[12:SCA Segment Select]=2 ;
28:L P[19] 50mm/sec CNT50 ACC50 ;
29:L P[20] 200mm/sec CNT50 ;
30:L P[21] 200mm/sec CNT50 ;
31:L P[22] 50mm/sec CNT25 DB .1mm,GO[12:SCA Segment Select]=1 ;
32:L P[23] 50mm/sec CNT25 ;
33:L P[25] 50mm/sec CNT100 SE ;
34:L P[24] 200mm/sec FINE ;
35: ;
36: CALL QUISS_PAUSE ;
37: ;
38: GO[12:SCA Segment Select]=3 ;
39: ;
40:J P[5] 25% FINE ;
41: ;
42: CALL QUISS_START(1) ;
43: ;
44:L P[6] 200mm/sec FINE SS[2] ;
45:L P[7] 200mm/sec FINE SE ;
46:L P[9] 200mm/sec CNT25 ;
47: ;
48: CALL QUISS_END ;
49: ;
50:L P[8] 200mm/sec FINE ;
51: ;
52: CALL POST_DISPENSE ;

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 Robot To SCA Sealing
Standard Programming

53: ;
54: CALL COLL_ZONE_REL(1) ;
55: ;
56: UFRAME_NUM=0 ;
57: ;
58:J PR[3:Area 2 Pounce] 25% CNT100 ;
59: ;
60: --eg:Check for Bead Repair ;
61: CALL QUISS_CHK_REPAIR ;
62: ;
63: IF (F[2:Bead Repair]=ON),JMP LBL[1] ;

Jaguar Land Rover : Robot to SCA Sealing Programming Standard for FANUC’s R30iB
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