{"id":1730,"date":"2025-05-08T15:18:58","date_gmt":"2025-05-08T15:18:58","guid":{"rendered":"https:\/\/sparkonelabs.com\/home\/?p=1730"},"modified":"2025-05-08T15:50:43","modified_gmt":"2025-05-08T15:50:43","slug":"gm6851y1-ls-analysis-and-system-info-extraction","status":"publish","type":"post","link":"https:\/\/sparkonelabs.com\/home\/2025\/05\/08\/gm6851y1-ls-analysis-and-system-info-extraction\/","title":{"rendered":"GM6851Y1.LS Analysis and System Info Extraction"},"content":{"rendered":"\n

Let’s find out what kind of signal processing and system interconnection are involved in typical press robot operations. A random program was selected and analyzed.<\/p>\n\n\n\n

1: DO[1:Clamp Close]=ON
2: DO[2:CLAMP ENABLE]=ON
3: DO[3:EJECT RETRACT]=ON
4: DO[4:EJECT FORWARD]=ON
5: DO[5:CORE PULL]=ON
6: DO[6:CORE SET]=ON
7: LBL[1]
8: MONITOR SIM_MON
9:J P[21] 100% FINE
10: DO[4:EJECT FORWARD]=OFF
11: IF DI[8:FULL AUTO]=OFF
12: CALL PAUSE
13: OVERRIDE=85%
14: WAIT DI[14:WHISKER SWITCH]=ON
15: WAIT DI[1:Clamp Open]=ON AND
: DI[12:THERMO LIVE]=ON AND
: DI[12:THERMO LIVE]=ON AND
: DI[8:FULL AUTO]=ON
16: DO[1:Clamp Close]=OFF
17: WAIT 1.00(sec)
18: DO[2:CLAMP ENABLE]=OFF
19:L P[1] 1800mm\/sec CNT100
20:L P[3] 1800mm\/sec FINE
21:L P[4] 500mm\/sec FINE
22: RO[1:VAC 1]=ON
23: OVERRIDE=65%
24: DO[6:CORE SET]=OFF
25: DO[5:CORE PULL]=ON
26: WAIT .25(sec)
27: WAIT DI[6:CORE PULL]=ON
28: WAIT RI[1:Vac 1]=ON
29: RO[3:GRIPPER 1]=ON
30: RO[4:GRIPPER 2]=ON
31: WAIT .30(sec)
32:L P[5] 150mm\/sec FINE
33: WAIT .50(sec)
34:L P[27] 500mm\/sec FINE
35:L P[28] 500mm\/sec FINE
36:L P[6] 500mm\/sec CNT50
37: WAIT RI[1:Vac 1]=ON
38: DO[5:CORE PULL]=OFF
39: DO[6:CORE SET]=PM
40: OVERRIDE=85%
41:L P[8] 1800mm\/sec CNT50
42:L P[9] 1800mm\/sec CNT10
43: CALL RJG
44:
45: WAIT DI[5:CORE SET]=ON
46: DO[1:Clamp Close]=ON
47: DO[2:CLAMP ENABLE]=ON
48:L P[10] 1500mm\/sec CNT25
49:L P[11] 1500mm\/sec CNT25
50:L P[12] 800mm\/sec FINE
51: DO[7:OUT TO DEGATOR]
52: WAIT 1.50(sec)
53: WATI DI[11:IN FROM DEGATE]=ON
54: LBL[2]
55: OVERRIDE=65%
56:L P[24] 1000mm\/sec CNT3
57:L P[13] 1500mm\/sec CNT15
58:L P[14] 1500mm\/sec CNT15
59:L P[7] 500mm\/sec CNT3
60: IF DI[15:ELEVATOR BLOCKED]=OFF
: CALL GRINDER_OFF
61: LBL[654]
62:L P[25] 500mm\/sec FINE
63: IF RI[1:Vac 1]=OFF, JMP LBL[82]
64: RO[3:GRIPPER 1]=OFF
65: WAIT 1.00(sec)
66: LBL[82]
67:L P[15] 1500mm\/sec CNT3
68:L P[23] 800mm\/sec FINE
69:L P[26] 500mm\/sec FINE
70: RO[4:GRIPPER 2]=OFF
71: RO[3:GRIPPER 1]=OFF
72: WAIT .30(sec)
73: RO[1:VAC 1]=OFF
74: RO[2:VAC 2]=OFF
75: WAIT 1.00(sec)
76:L P[19] 500mm\/sec FINE
77:L P[16] 1000mm\/sec CNT3
78: DO[11:CONVEYER]=PULSE,2.0sec
79: P[17] 1500mm\/sec CNT100
80: P[18] 1500mm\/sec CNT15
81:J P[20] 100% CNT5
82: JMP LBL[1]
[End]<\/p>\n\n\n\n

Analysis of FANUC Robot Program GM6851Y1.LS<\/h1>\n\n\n\n

This program appears to be controlling a FANUC robot in a plastic injection molding automation cell. The robot interfaces with an injection molding press, a degator robot (M20iA), and an RJG quality monitoring system. Let me analyze the program components:<\/p>\n\n\n\n

Program Overview<\/h2>\n\n\n\n

This program orchestrates a typical injection molding automation sequence where the robot:<\/p>\n\n\n\n

    \n
  1. Waits for appropriate signals<\/li>\n\n\n\n
  2. Enters the mold area<\/li>\n\n\n\n
  3. Removes a part using vacuum and gripper<\/li>\n\n\n\n
  4. Presents the part to a degator system<\/li>\n\n\n\n
  5. Places the finished part on a conveyor<\/li>\n\n\n\n
  6. Returns to start position to repeat the cycle<\/li>\n<\/ol>\n\n\n\n

    Position Registers Analysis<\/h2>\n\n\n\n

    There are 18 unique position registers<\/strong> referenced in the program:<\/p>\n\n\n\n

    \n
    \n
    <\/pre>\n\n\n\n
    Position<\/td>Line Numbers<\/td>Description<\/td><\/tr>
    P[1]<\/td>19<\/td>Approach to mold area<\/td><\/tr>
    P[3]<\/td>20<\/td>Pre-entry position<\/td><\/tr>
    P[4]<\/td>21<\/td>Part pickup position inside mold<\/td><\/tr>
    P[5]<\/td>32<\/td>Position after part grip<\/td><\/tr>
    P[6]<\/td>36<\/td>Position for mold exit<\/td><\/tr>
    P[7]<\/td>59<\/td>Position during part handling<\/td><\/tr>
    P[8]<\/td>41<\/td>Movement position during cycle<\/td><\/tr>
    P[9]<\/td>42<\/td>Position before RJG call<\/td><\/tr>
    P[10]<\/td>48<\/td>Position during clamp sequence<\/td><\/tr>
    P[11]<\/td>49<\/td>Position during clamp sequence<\/td><\/tr>
    P[12]<\/td>50<\/td>Position for degator handoff<\/td><\/tr>
    P[13]<\/td>57<\/td>Position during part transport<\/td><\/tr>
    P[14]<\/td>58<\/td>Position during part transport<\/td><\/tr>
    P[15]<\/td>67<\/td>Position after part release<\/td><\/tr>
    P[16]<\/td>77<\/td>Position near conveyer<\/td><\/tr>
    P[17]<\/td>79<\/td>Position during return cycle<\/td><\/tr>
    P[18]<\/td>80<\/td>Position during return cycle<\/td><\/tr>
    P[19]<\/td>76<\/td>Position during part handling<\/td><\/tr>
    P[20]<\/td>81<\/td>Final position before cycle restart<\/td><\/tr>
    P[21]<\/td>9<\/td>Initial position at cycle start (Home)<\/td><\/tr>
    P[23]<\/td>68<\/td>Position before part release<\/td><\/tr>
    P[24]<\/td>56<\/td>Position during part transport<\/td><\/tr>
    P[25]<\/td>62<\/td>Position for part release check<\/td><\/tr>
    P[26]<\/td>69<\/td>Position for part release<\/td><\/tr>
    P[27]<\/td>34<\/td>Position during part extraction<\/td><\/tr>
    P[28]<\/td>35<\/td>Position during part extraction<\/td><\/tr><\/tbody><\/table><\/figure>\n<\/div>\n<\/div>\n\n\n\n
    Total: 26 position registers<\/strong><\/p>\n\n\n\n
    I\/O Signals Analysis<\/h2>\n\n\n\n
    Digital Inputs (DI)<\/h3>\n\n\n\n
    Input<\/td>Lines<\/td>Description<\/td><\/tr>
    DI[1]<\/td>15<\/td>Clamp Open confirmation<\/td><\/tr>
    DI[5]<\/td>45<\/td>Core Set position confirmation<\/td><\/tr>
    DI[6]<\/td>27<\/td>Core Pull position confirmation<\/td><\/tr>
    DI[8]<\/td>11, 15<\/td>Full Auto mode status<\/td><\/tr>
    DI[11]<\/td>53<\/td>Signal from degator confirming operation<\/td><\/tr>
    DI[12]<\/td>15<\/td>Thermoformer status (appears duplicated in code)<\/td><\/tr>
    DI[14]<\/td>14<\/td>Whisker switch (safety\/presence sensor)<\/td><\/tr>
    DI[15]<\/td>60<\/td>Elevator blocked status<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
    Total: 8 Digital Inputs<\/strong><\/p>\n\n\n\n
    Digital Outputs (DO)<\/h3>\n\n\n\n
    Output<\/td>Lines<\/td>Description<\/td><\/tr>
    DO[1]<\/td>1, 16, 46<\/td>Clamp Close control<\/td><\/tr>
    DO[2]<\/td>2, 18, 47<\/td>Clamp Enable control<\/td><\/tr>
    DO[3]<\/td>3<\/td>Eject Retract control<\/td><\/tr>
    DO[4]<\/td>4, 10<\/td>Eject Forward control<\/td><\/tr>
    DO[5]<\/td>5, 25, 38<\/td>Core Pull control<\/td><\/tr>
    DO[6]<\/td>6, 24, 39<\/td>Core Set control<\/td><\/tr>
    DO[7]<\/td>51<\/td>Signal to detector<\/td><\/tr>
    DO[11]<\/td>78<\/td>Conveyer control (pulsed)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
    Total: 8 Digital Outputs<\/strong><\/p>\n\n\n\n
    Robot Inputs (RI)<\/h3>\n\n\n\n
    Input<\/td>Lines<\/td>Description<\/td><\/tr>
    RI[1]<\/td>28, 37, 63<\/td>Vacuum 1 status confirmation<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
    Total: 1 Robot Input<\/strong><\/p>\n\n\n\n
    Robot Outputs (RO)<\/h3>\n\n\n\n
    Output<\/td>Lines<\/td>Description<\/td><\/tr>
    RO[1]<\/td>22, 73<\/td>Vacuum 1 control<\/td><\/tr>
    RO[2]<\/td>74<\/td>Vacuum 2 control<\/td><\/tr>
    RO[3]<\/td>29, 64, 71<\/td>Gripper 1 control<\/td><\/tr>
    RO[4]<\/td>30, 70<\/td>Gripper 2 control<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
    Total: 4 Robot Outputs<\/strong><\/p>\n\n\n\n
    Total I\/O Signals: 21<\/strong> (8 DI + 8 DO + 1 RI + 4 RO)<\/p>\n\n\n\n
    Program Routine Analysis<\/h2>\n\n\n\n
    The program also includes calls to several subroutines:<\/p>\n\n\n\n
      \n
    • PAUSE<\/code> (line 12): Used when not in full auto mode<\/li>\n\n\n\n
    • RJG<\/code> (line 43): Likely interfaces with the RJG quality monitoring system<\/li>\n\n\n\n
    • GRINDER_OFF<\/code> (line 60): Called when elevator is not blocked<\/li>\n\n\n\n
    • SIM_MON<\/code> (line 8): Monitor being tracked during execution<\/li>\n<\/ul>\n\n\n\n
      Summary<\/h2>\n\n\n\n
      This program controls a robot in an injection molding cell with:<\/p>\n\n\n\n
        \n
      • 26 position registers defining the robot’s movements<\/li>\n\n\n\n
      • 21 I\/O signals for communication with peripheral equipment<\/li>\n\n\n\n
      • 4 subroutines for additional functionality<\/li>\n\n\n\n
      • Presence of safety checks (whisker switch, elevator blocked status)<\/li>\n\n\n\n
      • Integration with a degator robot and RJG quality monitoring system<\/li>\n<\/ul>\n\n\n\n
        The program follows a typical plastic injection molding automation sequence including part extraction, handling, and placement while coordinating with mold movements and auxiliary equipment.Retry<\/p>\n\n\n\n
        ES<\/p>\n\n\n\n
        Make a list of each command and any likely byte values associated with it in .TP binary form.Edit<\/p>\n\n\n\n
        Let me analyze the FANUC robot program commands and their likely byte values in .TP binary form. While I don’t have access to the exact binary structure, I can provide an overview of each command and its conceptual representation in the binary format.<\/p>\n\n\n\n
        FANUC TP Commands and Binary Structure<\/h1>\n\n\n\n
        FANUC TP files are binary files with specific structures for each command type. Here’s a breakdown of the commands in the program and their likely binary representation concepts:<\/p>\n\n\n\n
        Motion Commands<\/h2>\n\n\n\n
        Command<\/td>Example in Program<\/td>Binary Representation Concepts<\/td><\/tr>
        J (Joint Motion)<\/td>J P[21] 100% FINE<\/td>Command type byte (0x01), position register reference, speed value, termination type<\/td><\/tr>
        L (Linear Motion)<\/td>L P[1] 1800mm\/sec CNT100<\/td>Command type byte (0x02), position register reference, speed value, termination type<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
        I\/O Commands<\/h2>\n\n\n\n
        Command<\/td>Example in Program<\/td>Binary Representation Concepts<\/td><\/tr>
        DO (Digital Output)<\/td>DO[1:Clamp Close]=ON<\/td>Command type byte, output number, output value (0x01 for ON)<\/td><\/tr>
        DO with PULSE<\/td>DO[11:CONVEYER]=PULSE,2.0sec<\/td>Command type byte, output number, pulse flag, time value<\/td><\/tr>
        RO (Robot Output)<\/td>RO[1:VAC 1]=ON<\/td>Command type byte, robot output number, output value<\/td><\/tr>
        WAIT for DI<\/td>WAIT DI[14:WHISKER SWITCH]=ON<\/td>Command type byte, input type, input number, expected value<\/td><\/tr>
        WAIT for RI<\/td>WAIT RI[1:Vac 1]=ON<\/td>Command type byte, input type, input number, expected value<\/td><\/tr>
        WAIT with AND conditions<\/td>WAIT DI[1:Clamp Open]=ON AND…<\/td>Command type byte, complex condition encoding, multiple input references<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
        Program Flow Control<\/h2>\n\n\n\n
        Command<\/td>Example in Program<\/td>Binary Representation Concepts<\/td><\/tr>
        LBL (Label)<\/td>LBL[1]<\/td>Command type byte, label number<\/td><\/tr>
        JMP (Jump)<\/td>JMP LBL[1]<\/td>Command type byte, target label number<\/td><\/tr>
        Conditional JMP<\/td>IF RI[1: Vac 1]=OFF, JMP LBL[82]<\/td>Command type byte, condition type, input reference, target label<\/td><\/tr>
        CALL<\/td>CALL RJG<\/td>Command type byte, program name reference<\/td><\/tr>
        Conditional CALL<\/td>IF DI[8:FULL AUTO]=OFF CALL PAUSE<\/td>Command type byte, condition type, input reference, program name reference<\/td><\/tr>
        MONITOR<\/td>MONITOR SIM_MON<\/td>Command type byte, program name reference<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
        Timing Commands<\/h2>\n\n\n\n
        Command<\/td>Example in Program<\/td>Binary Representation Concepts<\/td><\/tr>
        WAIT (Time)<\/td>WAIT 1.00(sec)<\/td>Command type byte, time value<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
        Other Commands<\/h2>\n\n\n\n
        Command<\/td>Example in Program<\/td>Binary Represenation Concepts<\/td><\/tr>
        OVERRIDE<\/td>OVERRIDE=85%<\/td>Command type byte, percentage value<\/td><\/tr>
        IF statement<\/td>IF DI[15:ELEVATOR BLOCKED]=OFF…<\/td>Command type byte, condition type, input reference<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
        Header\/Footer Information (Not visible in .LS)<\/h2>\n\n\n\n
        Component<\/td>Purpose<\/td>Binary Representation Concepts<\/td><\/tr>
        Header<\/td>Program metadata<\/td>Program name, version, creation date, controller type<\/td><\/tr>
        Position Register Table<\/td>Position data<\/td>Each P[n] would have coordinates, (X,Y,Z,W,P,R) or joint positions<\/td><\/tr>
        UFrame\/UTool References<\/td>Frame references<\/td>Tool number, user frame number<\/td><\/tr>
        End Marker<\/td>Program termination<\/td>End of program marker<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
        Each FANUC TP file typically includes:<\/p>\n\n\n\n
          \n
        1. A header with program metadata<\/li>\n\n\n\n
        2. The command sequence (each command with its specific binary structure)<\/li>\n\n\n\n
        3. A position register table with coordinate data for each P[n] reference<\/li>\n\n\n\n
        4. Configuration settings like tool number, user frame, etc.<\/li>\n\n\n\n
        5. End marker<\/li>\n<\/ol>\n\n\n\n
          The exact byte-level structure of FANUC TP files is proprietary, but understanding these conceptual components helps in working with and analyzing these files. Each command type would have a unique identifier byte followed by specific parameters for that command type.<\/p>\n","protected":false},"excerpt":{"rendered":"
          Let’s find out what kind of signal processing and system interconnection are involved in typical press robot operations. A random program was selected and analyzed. 1: DO[1:Clamp Close]=ON2: DO[2:CLAMP ENABLE]=ON3: DO[3:EJECT RETRACT]=ON4: DO[4:EJECT FORWARD]=ON5: DO[5:CORE PULL]=ON6: DO[6:CORE SET]=ON7: LBL[1]8: MONITOR SIM_MON9:J P[21] 100% FINE10: DO[4:EJECT FORWARD]=OFF11: IF DI[8:FULL AUTO]=OFF12: CALL PAUSE13: OVERRIDE=85%14: WAIT DI[14:WHISKER SWITCH]=ON15:<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"nf_dc_page":"","om_disable_all_campaigns":false,"pagelayer_contact_templates":[],"_pagelayer_content":"","_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_hide_featured_image":false,"_jetpack_featured_image_duplicate_dismissed":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1730","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"\nGM6851Y1.LS Analysis and System Info Extraction - SparkOne() Labs Official Site<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/sparkonelabs.com\/home\/2025\/05\/08\/gm6851y1-ls-analysis-and-system-info-extraction\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"GM6851Y1.LS Analysis and System Info Extraction - SparkOne() Labs Official Site\" \/>\n<meta property=\"og:description\" content=\"Let’s find out what kind of signal processing and system interconnection are involved in typical press robot operations. 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