Specification of ‘$M’ header in CIOPRG.LST

The top of the Concurrent I/O Ladder program (CIOPRG.LST) contains a section labeled //$M. This is used to populate a group of M Registers, M550 – M489.

//$M
40,10,2,3,5,1,1,3,0,0
40,10,2,3,5,1,1,3,0,0
40,10,2,3,5,1,1,3,0,0
40,10,2,3,5,1,1,3,0,0
0,0,0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0,0,0

//$M
R1 = M550, M551, M552, M553, M554, M555, M556, M557, M558, M559
R2 = M540, M541, M542, M543, M544, M545, M546, M547, M548, M549
R3 = M530, M531, M532, M533, M534, M535, M536, M537, M538, M539
R4 = M520, M521, M522, M523, M524, M525, M526, M527, M528, M529
R5 = M510, M511, M512, M513, M514, M515, M516, M517, M518, M519
R6 = M500, M501, M502, M503, M504, M505, M506, M507, M508, M509
R7 = M490, M491, M492, M493, M494, M495, M496, M497, M498, M499
R8 = M480, M481, M482, M483, M484, M485, M486, M487, M488, M489

The purpose of the registers varies based on the Application of the robot.

Arc Welding

M5x0 = ARC RESPONSE ERROR (CURRENT) [MISSING ARC GENERATION FAULT DELAYS]
M5x1 = STICKING CHECK (CURRENT)
M5x2 = NO STICKING CHECK (CURRENT)
M5x3 = ANTI-STICKING (CURRENT)
M5x4 = WIRE OPERATION SWITCH (CURRENT)
M5x5 = STICKING RELEASE (CURRENT)
M5x6 = RESTART (CURRENT)
M5x7 = STICKING RELEASE (CURRENT)
M5x8 = NO WIRE STICKING CHECK (MOVING)
M5x9 = WIRE STICKING CHECK (MOVING)

Spot Welding

M5x0 = TIMER COOL ERROR (PRESENT VALUE)
M5x1 = GUN COOL ERROR (PRESENT VALUE)
M5x2 = AIR PRESSURE LOWERED (PRESENT VALUE)

Painting

M5x7 = SERVO ON READY
M5x8 = SERVO ON LED OFF
M5x9 = AIR PURGE RESET COMPLETE