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System Configuration

S900II

III – Program codes

01T01350_0

2.2.98

III – PROGRAM CODES

III – 1. Declaration of programs, subroutines and PLCs

Header codes of PRG, SP,..., SR, PLC

F9b xn

= Main program

b = 0, standard PRG (encoded on 15 bits)

b = 1 , SAP PRG (encoded on 15 bits)

FAnn

= STD, STK.. // subroutine (see stacking header)

FBnn

= Return subroutine (see home return header)

FCnn

= PLC program

FEnn

= FREE

STEP TRANSITION codes

EC00 + Step number 0 to 999

E.g. : EC12 => Step number 18 (decimal)

E.g. : ED00 => Step number 256 (decimal)

END of PRG, SP..., SR, PLC codes

F0nn

= End of ”standard” SP nn.

F1nn

= End of ”standard” stacking SP nn.

F2nn

= End of ”general” stacking SP nn.

F3nn

= End of SP // nn.

F4nn

= End of simple or total SR nn.

F8nn

= End of simple or total SR with return to step 0 of PRG 00.

F5nn

= End of PLC nn.

F7nn

= End of main program (PRG) nn.

PRG architecture in the memory area

previous program

F9 nn

F7 nn

PRG (text)

FA xx

F1 xx

FB pp

F4 pp

F9 mm

PRG nn

following PRG

Содержание S900II System

Страница 1: ...CONFIGURATION for S900II robots Software Version 1 0 Corporate Office 412 312 6000 l Instant Access 24 7 Parts and Service 800 458 1960 l Parts and Service 814 437 6861 U S E R G U I D E www conairne...

Страница 2: ......

Страница 3: ...Certain areas are directly accessible from the keyboard beginning of the PRG editing area 0 x 006 430 beginning of the PLC editing area 0 x 009 430 beginning of the program storage in RAM area 0 x 00B...

Страница 4: ...s which will be printed as StopPr to stop sending the memory contents to the printer Note To access the modification function a password is necessary which remains valid as long as the user does not e...

Страница 5: ...s table 02890 Bit_Tpo PLC timer bits table 028A0 Imag_S Images of the 255 ON OFF outputs 029A0 Imag_E Image of the 255 ON OFF inputs 02AA0 Word_U User words table 16 bit WORD 02AE0 Word_S System words...

Страница 6: ...at the address 0xF10E0000 An image of this address is stored in RAM at the address 0xA500 The length of the parameters is fixed at 2800 bytes The SAP message file is stored in FLASHPROM at the addres...

Страница 7: ...0 DE7EF F10 DE7F0 Font robot 2 7th block F10 DF7FF F10 DF800 Messages Code converter table IMM 1 F10 DF9FF F10 DFA00 Code converter table IMM 2 F10 DFBFF F10 DFC00 Code converter table Printer 1 F10 D...

Страница 8: ...cess edition Password to access parameters Password to access maintenance Password to block the modes Password to block the selection of the PRG N to be executed 00 04 00 00 00 73 35 98 Robot serial n...

Страница 9: ...010 Normal INPUT IN 000 to 255 A003 oper 16 bits A0030020 IN 032 Reverse TIMER TIME 001 to 999 A004 oper 4bits 0 oper 11bits A004000A TIME010 A004300A TIME010 BIT BIT 000 to 127 A005 oper 16 bits A005...

Страница 10: ...acceleration ACC Z 001 to 100 B012 oper 16 bits B0120044 ACC Z 068 ACC B 001 to 100 B013 oper 16 bits B0130005 ACC B 005 ACC C 001 to 100 B014 oper 16 bits B0140032 ACC C 050 Master MOVEMENT MASTER X...

Страница 11: ...C023 oper 8bits oper 24bits C02300002706 B REL L 0999 9 C REL_L distance C024 oper 8bits oper 24bits C0240000000A C REL L 0001 0 CHECKING X CTL_L distance C030 oper 8bits oper 24bits C03000000664 X CT...

Страница 12: ...oper 16 bits STACKING X STK_L WW nn C210 oper 16 bits C210000B X STK L WW11 Y STK_L WW nn C211 oper 16 bits Z STK_L WW nn C212 oper 16 bits RELATIVE X REL_L WW nn C220 oper 16 bits C2200041 X REL L W...

Страница 13: ...Z REL_R WW nn C322 oper 16 bits B REL_R WW nn C323 oper 16 bits C REL_R WW nn C324 oper 16 bits CHECKING X CTL_R WW nn C330 oper 16 bits C3300041 X CTL R WW65 Y CTL_R WW nn C331 oper 16 bits Z CTL_R W...

Страница 14: ...e C081 oper 32 bits Z VEL ANA_N distance C082 oper 32 bits B VEL ANA_N distance C083 oper 32 bits C VEL ANA_N distance C084 oper 32 bits VEL ANA INTEGRAL X VEL ANA_I distance C090 oper 32 bits Y VEL A...

Страница 15: ...ANA_N angle C181 oper 32 bits Z VEL ANA_N angle C182 oper 32 bits B VEL ANA_N angle C183 oper 32 bits C VEL ANA_N angle C184 oper 32 bits VEL ANA INTEGRAL X VEL ANA_I angle C190 oper 32 bits Y VEL ANA...

Страница 16: ...999 D400 oper 16 bits 0000 to 9999 D401 oper 16 bits 0000 to 9999 D402 oper 16 bits AND 0000 to 9999 D403 oper 16 bits with hexadecimal value 0000 to FFFF D410 oper 16 bits 0000 to FFFF D411 oper 16 b...

Страница 17: ...12 D532 oper 16 bits AND IN 000 to 112 D533 oper 16 bits with Word 16 bits WRD 0000 to 4095 D540 oper 16 bits WRD 0000 to 4095 D541 oper 16 bits WRD 0000 to 4095 D542 oper 16 bits AND WRD 0000 to 4095...

Страница 18: ...s on Word 0 RST WRD 0000 to 4095 D019 oper 16 bits on WWord 0 RST WWRD 00 to 63 D01D oper 16 bits on Counter 0 RST CNT 0000 to 0015 D01A 00 oper 8 bits RST CNT 0041 to 9980 D01A oper 8 bits oper 8 bit...

Страница 19: ...s AND WRD 0000 to 4095 D745 oper 16 bits OR WRD 0000 to 4095 D746 oper 16 bits on WWord 32 bits SET WWRD 000 to 127 D620 oper 16 bits 1st Operand with decimal value 00000000 to 09999999 D800 oper 32 b...

Страница 20: ...oper 16 bits AND WWRD nn D855 oper 16 bits OR WWRD nn D856 oper 16 bits on Counter SET CNT 0000 to 0015 D640 oper 8 bits Standard counter 1st Operand SET CNT 0041 to 9980 D640 oper 8 bits oper 8 bits...

Страница 21: ...to 112 DA36 oper 16 bits with Word 16 bits WRD 0000 to 4095 DA40 oper 16 bits WRD 0000 to 4095 DA41 oper 16 bits WRD0000 to 4095 DA42 oper 16 bits x WRD 0000 to 4095 DA43 oper 16 bits WRD 0000 to 409...

Страница 22: ...VAL 0000 to FFFF D020 oper 16 bits oper 16 bits 0000 to 0015 TIMER xx VALUE xxxx TIMER 00 to 15 VAL 0000 to 9999 D021 oper 16 bits oper 16 bits AND FUNCTION on BIT AND BIT 000 to 127 D022 oper 16 bit...

Страница 23: ...E STEP TRANSITION codes G EC00 Step number 0 to 999 G E g EC12 Step number 18 decimal G E g ED00 Step number 256 decimal END of PRG SP SR PLC codes G F0nn End of standard SP nn G F1nn End of standard...

Страница 24: ...I Lmm nn 61 to 80 mm 00 to 99 Parallel SP SP nn L00 nn 81 to 99 The operand contains high order word the LABEL number bit 0 x 8000 at 0 indicates DIRECT bit 0 x 8000 at 1 indicates REVERSE low order...

Страница 25: ...A0 2A9F 2 9AB IN 011 not used Number logical address Physical address Structures Functions IV 3 User and system bits BIT Each address corresponds to an 8 bit structure in memory 0281x BIT 0 not used F...

Страница 26: ...supporting the stacking subroutine counters CNT 0041 to CNT 9980 16 user Words read write supporting the PLC timers TIM 00 to TIM 15 Number logical address Physical address Structures Functions IV 5 3...

Страница 27: ...ral stacking counters No 0061 to 9980 For the definition of these counters see the Programming Level 2 manual paragraph I6 IV 7 Timers IV 7 1 End of timer for part program Accessible in read and write...

Страница 28: ...roblem during the PREPARATION phase code node 8 Problem during the START phase code node 9 The network does not correspond to the parametered configuration code node 10 Node guarding problem code node...

Страница 29: ...k 3 Problem during the opening of the EUROMAP 17 link 4 Problem during the opening of the printer 2 link 5 Problem during the opening of the CAN link 6 Message not present in Flashprom 7 Problem with...

Страница 30: ...restart effective if G offset wait is not valid parameter 451 G and if the robot is in automatic G and if Kv equals 100 G and if there is a SET WWRD63 in step 0 of the program G and if the value of WW...

Страница 31: ...e SBD relay contact from the interface board which therefore means that the software safety that manages the SBD relay with a hard wired safety device is doubled When there is a fault robot position n...

Страница 32: ...or the anticipated restart safety circuit is integrated into the software this input must be monitored and a fault must be generated using the monitoring PLC RELANCE ANTICIPEE NON CONFORME in French A...

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Conair S900II System, Руководство по настройке системы

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