Lincoln Electric IM8002 POWER WAVE MANAGER - Manual (Page 112)

Appendix B. FANUC Robots FANUC® Robot Application (Prior to v7.70P/21)
B.6 Power Wave® Manager User Manual IM8002
 PM_ON
 ALERT_1, ALERT_2, ALERT_3, ALERT_4, ALERT_5, ALERT_10
Listing of Program PM_SEL
1: R[1] = AR[1] - 1;
2: IF R[1]<0 OR R[1]>31, CALL ALERT(10);
3: LBL[1];
4: ! set profile selection
5: CALL WR_AL_AT(1,17,1008,R[1],3,4);
6: ! verify that the write was ok
7: IF R[3]<>0,JMP LBL[1];
8: IF R[4]<>0,JMP LBL[1];
9: ! read limit counts
10: R[1] = R[1] * 25;
11: R[1] = R[1] + 2013;
12: ! Get runt counts
13: LBL[3];
14: CALL RD_AL_AT(1,17,R[1]);
15: IF $ARCLINK_ATR.$STATUS<>0 JMP LBL[3];
16: R[5] = $ARCLINK_ATR.$INT_VALUE;
17: R[1] = R[1] + 1;
18: ! Get Time Limit counts
19: LBL[4];
20: CALL RD_AL_AT(1,17,R[1]);
21: IF $ARCLINK_ATR.$STATUS<>0 JMP LBL[4];
22: R[6] = $ARCLINK_ATR.$INT_VALUE;
23: R[1] = R[1] + 1;
24: ! Get I Limit counts
25: LBL[5];
26: CALL RD_AL_AT(1,17,R[1]);
27: IF $ARCLINK_ATR.$STATUS<>0 JMP LBL[5];
28: R[7] = $ARCLINK_ATR.$INT_VALUE;
29: R[1] = R[1] + 1;
30: ! Get V Limit counts
31: LBL[6];
32: CALL RD_AL_AT(1,17,R[1]);
33: IF $ARCLINK_ATR.$STATUS<>0 JMP LBL[6];
34: R[8] = $ARCLINK_ATR.$INT_VALUE;
35: R[1] = R[1] + 1;
35: ! Get WFS limit counts
37: LBL[7];
38: CALL RD_AL_AT(1,17,R[1]);
39: IF $ARCLINK_ATR.$STATUS<>0 JMP LBL[7];
40: R[9] = $ARCLINK_ATR.$INT_VALUE;
END