Conair | S900II System | SYSTEM CONFIGURATION for S900-II robots Software

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USERGUIDE
SYSTEM CONFIGURATION
for S900-II robots
Software Version 2.1
WARNING - Reliance on this Manual Could Result in Severe Bodily Injury or Death!
This manual is out-of-date and is provided only for its technical information, data and capacities. Portions of this manual
detailing procedures or precautions in the operation, inspection, maintenance and repair of the product forming the subject
matter of this manual may be inadequate, inaccurate, and/or incomplete and cannot be used, followed, or relied upon.
Contact Conair at info@conairgroup.com or 1-800-654-6661 for more current information, warnings, and materials about
more recent product manuals containing warnings, information, precautions, and procedures that may be more adequate
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System Configuration
S900–II v2.1
I–
– CONTENTS –
I – MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
I – 1. Memory read function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
I – 2. Memory areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
I – 2. 1.Data saved in RAM (512 K x 8) 0 to 7 FFFF . . . . . . . . . . . . . . . . . .
I – 2. 2.Program addresses in the memory . . . . . . . . . . . . . . . . . . . . . . . . . . .
I – 2. 3.Data in Flashprom (1 M x 8) F10 00000 to F10 FFFFF . . . . . . . . . .
3
4
4
I – 3. Specific information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
II – INSTRUCTION CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
II – 1. Part programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
II – 2. PLC programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
III – PROGRAM CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
III – 1. Declaration of programs, subroutines and PLCs . . . . . . . . . . . . . . . . . . . . . 22
III – 2. Subroutine and program calls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
IV – VARIABLES’ ADDRESSES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
IV – 1. Output – OUT – . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
IV – 2. Input – IN – . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
IV – 3. User and system bits – BIT – . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
IV – 4. 16 bits user and system words – WRD – . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
IV – 5. 32 bit user and system words – WWRD – . . . . . . . . . . . . . . . . . . . . . . . . . . 25
IV – 6. Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
IV – 7. Time delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
IV – 7. 1.End of time delay for part program . . . . . . . . . . . . . . . . . . . . . . . . . 26
IV – 7. 2.PLC time delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
V – CPU FAULT SIGNALLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
V – 1. Flashing LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
V – 2. Fixed LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
VI – IMM ANTICIPATED RESTART . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
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System Configuration
S900–II v2.1
I – Memory
I – MEMORY
I – 1. Memory read function
Access : see next page
The address of the area in which reading is to begin is given in hexadecimal (0 to F) using the numerical
keypad and the first row of alphanumerical keys of the keyboard.
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 300).
: beginning of the MODULE where the programs are stored (0 x 800 000).
: robot serial number in RAM.
: beginning of parameters in RAM.
: beginning of the faults 200 to 204 message table in RAM.
For example : to access the beginning of the program storage area, the procedure is as follows :
[EXPLORER] –> [M_Read] –> [Address] –>
* The keys :
[
+ ] or [ – ] to change addresses 2 by 2.
[ ]
[PG
or
[ ]
to change addresses 10 by 10 (hexadecimal).
DN] or [PG UP] to change addresses 100 by 100 (hexadecimal).
Note : To access the modification function, you must enter a password that stays valid as long as you
are in the “M_Read” procedure. Certain critical system areas can only be read and all requests to
modify them will be rejected.
By default, the value given after requesting a modification is 0 x FFFF (useful for deleting words in
the memory).
As for the other functions, use the EXIT key to abort a request or exit the procedure.
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System Configuration
S900–II v2.1
I – Memory
=>
PROGR | PARAM |EXPLORER|
Choose the
memory area
that you wish to
explore using
the cursor.
To select
programming mode
|SYSTEM
MEMORY
<– option
MODULE
MODULE (SAP) <– option
FLASHPROM
<– option
DISKETTE
List
|
| Backup | Reset |M_Read
or Restore
To copy all the programs
to (Backup) or from the
diskette (Restore).
1, 2, 3, 4
then ENTER
To delete the program area
in the selected memory.
Addres| Modif | Search | Print |StopPr
To find a value in the
memory
To specify the
address to be
viewed.
To stop printing
To print the memory contents starting from
the address displayed (to find the faulty instructions that are printed as ????. The
printing stops after 3 faulty instructions).
To change the
contents of the
address being viewed.
Confg|
|
Reset |
|ResetT
To reset several variables
and the display to zero.
Trying to rectify memory
|
| Manual |
Beginning of area to be deleted
Beginning of area to be moved
Confirm deletion by ENTER
Are you sure ?
2
|
General deletion of the
memory and restoration of
the default parameters
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System Configuration
S900–II v2.1
I – Memory
I – 2. Memory areas
I – 2. 1.Data saved in RAM (512 K x 8) 0 to 7 FFFF
Address in
Hexadecimal
00000
Contents
Variables used by Philips (BOOT)
027FF
02800
“Fixed” SEPRO variables, see table below for
details of the variables
0A4FF
0A500
SEPRO parameters in RAM
0B2FF
0B300
PRG storage area (128 K × 8)
2A6FF
2A700
SEPRO variables / work tables
37FFF
38000
Temporary transfer area (128 K x 8)
57FFF
58000
Piles and heaps used by the ERM kernel
7FFFF
02800
02810
02890
028A0
029A0
02AA0
02AE0
02B20
02B40
04AA0
04BC0
04BC4
04C04
05254
05710
05D60
0621C
06230
06430
09430
En Ordre = RAM contents correct indicator (GIRLAFRIDOU).
Bit_U_S = System and user bits table.
Bit_Tpo = PLC timer bits table.
Imag_S = Images of the 255 ON/OFF outputs.
Imag_E = Image of the 255 ON/OFF inputs.
Word_U = User words table (16–bit WORD).
Word_S = System words table (see Programming Level 2 manual for description).
Tpo_Aut = PLC timers table.
Compt = Counters table (standard and stacking).
Pile_Def = Pile of historic faults.
Comptime = Times basic counter.
Dir_RAM = PRG / PLC directory in editing area.
Dir_PP = PRG directory in save area.
Dir_PLC = PLC directory in save area.
Mod_PP = PRG directory in the module.
Mod_PLC = PLC directory in the module.
Tab_temps = Robot times table.
WWord_U = Double words table (32 bits).
Ram_PP = PRG editing area.
Ram_PLC = PLC editing area.
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System Configuration
S900–II v2.1
I – Memory
I – 2. 2.Program addresses in the memory
The PRG and PLC programs are stored in the RAM memory, starting from the address 0xB300.
The maximum length of a PRG is 12286 bytes ; 4096 bytes for a PLC.
This area reserved for the permanent storage varies depending on the option 32 to 128 Kbytes.
So that it remains compatible with previous software versions, the RAM is formatted with 0xFFFF like
an EEPROM. This formatting is carried out when the robot is first started up (for the 128 Kbytes) or
when the memory is totally set to 0 [ ResetT ] (on the size provided for in the options)
The parameters are stored in FLASHPROM 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 address 0xF10E1300. Its length is fixed at
4798 bytes.
The programs, parameters and SAP messages are transferred via a temporary buffer of 12286 bytes
at the address 0x38000. (This buffer can be extended to 128 Kbytes).
I – 2. 3.Data in Flashprom (1 M x 8) F10 00000 to F10 FFFFF
Block
number
Address in
Hexadecimal
F10 00000
Contents
ERM kernel + SEPRO program
1st block
F10 0FFFF
F10 10000
SEPRO code (1)
F10 1FFFF
F10 20000
2nd block
SEPRO code (2)
F10 3FFFF
F10 40000
3rd block
SEPRO code (3)
F10 5FFFF
F10 60000
4th block
SEPRO code (4)
F10 7FFFF
F10 80000
5th block
SEPRO code (5)
F10 9FFFF
F10 A0000
6th block
Reserved for extension of SEPRO code
F10 BFFFF
4
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System Configuration
S900–II v2.1
Block
number
I – Memory
Address in
Hexadecimal
F10 C0000
Contents
Messages in language 1
F10 CEBEF
F10 CEBF0
Messages in language 2
F10 DD7DF
F10 DD7E0
Font robot 1
F10 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 DFDFF
F10 DFE00
Code converter table Printer 2
F10 DFFFF
F10 E0000
SEPRO parameters
8th block
Parameters
and SAP
F10 E0DFF
F10 E1300
SAP messages
F10 E25FF
F10 E2600
SAP and PLC programs (64Kb)
F10 F25FF
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System Configuration
S900–II v2.1
I – Memory
I – 3. Specific information
This is directly accessed using the Memory Read function followed by the request [Address] and a
letter :
–
to access the memory area containing the serial number and the type of robot.
B2E0
B2E2
B2E4
B2E6
B2E8
B2EA
B2EC
B2EE
Operating time.
Operating time in automatic.
00
04
00
73
00
00
35
98
Robot serial number :
E.g. 1024
Robot type :
E.g. 350 BB (000) –> 3503000–D –> 357398–H
Model
Type Specific
0 BX
1 BY
2 BZ
3 BB
4 BC
5 AX
6 AY
7 AZ
6
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System Configuration
S900–II v2.1
II – Instruction codes
II – INSTRUCTION CODES
II – 1. Part programs
Type of
instruction
Display
ACTION
ACT 00 –> 99 *
Codop (hexadecimal)
A000 [oper. 16 bits]
Examples
A000000C = ACT12
Action number
OUTPUT
OUT 000 –> 255
A001 [oper. 16 bits]
A0010050 = OUT 080
Output number
INPUT
Normal
IN 000 –> 255
INPUT
Reverse
IN/ 000 –> 255
A002 [oper. 16 bits]
A002000A = IN 010
Input number
A003 [oper. 16 bits]
A0030020 = IN/ 032
Input number
TIME 001 –> 999
TIME DELAY
SAP Marker
number
TIME W_00 –> 15
A004000A = TIME 010
A004300A = TIME 010
Value in
Marker V03
1/10s
A004[oper.4bits]0[oper.11bits]
A004 0000 1 [oper.11bits]
A004080A = TIME W10
A004080F = TIME W15
Word
number
BIT
BIT 000 –> 127
/ BIT 000 –> 127
A005 [oper. 16 bits]
A006 [oper. 16 bits]
A0050063 = BIT 99
A006007D = / BIT 127
Bit number
* The actions and outputs replaced by text (e.g.: part grip 1) keep the same CODOP
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System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
FUNCTIONS (FUNC)
SPEED in % of the speed set in the parameters
VEL . X
VEL . Y
VEL . Z
VEL . B
VEL . C
001 –> 100
001 –> 100
001 –> 100
001 –> 100
001 –> 100
B000[oper.4bits][oper.12bits]
B001[oper.4bits][oper.12bits]
B002[oper.4bits][oper.12bits]
B003[oper.4bits][oper.12bits]
B004[oper.4bits][oper.12bits]
SAP Marker
N°
B0000062 = VEL.X 098
B001000A = VEL.Y 010
B0020012 = VEL.Z 018
B0030064 = VEL.B 100
B004A032 = VEL.C 050
Marker V10
Value in
1/10s
SPEED in mm/s programmed directly (or in °/s for a rotating axis)
VEL . X ABS speed
VEL . Y ABS speed
VEL . Z ABS speed
VEL . B ABS speed
VEL . C ABS speed
B070[oper.4bits][oper.24bits]
B071[oper.4bits][oper.24bits]
B072[oper.4bits][oper.24bits]
B073[oper.4bits][oper.24bits]
B074[oper.4bits][oper.24bits]
SAP Marker
N°
B07003E8 = VEL.X ABS 1000.0
B07105DC = VEL.Y ABS 1500.0
B07207D0 = VEL.Z ABS 2000.0
B073005A = VEL.B ABS 90.0
B074002D = VEL.C ABS 45.0
Value in
1/10s
SPEED in mm/s programmed in a WWORD (or in °/s for a rotating axis)
VEL . X WW_*nn
VEL . Y WW_*nn
VEL . Z WW_*nn
VEL . B WW_*nn
VEL . C WW_*nn
*(nn = 00 à 55 and 66 à 67)
B050 0000 [oper.12bits]
B051 0000 [oper.12bits]
B052 0000 [oper.12bits]
B053 0000 [oper.12bits]
B054 0000 [oper.12bits]
B0500042 = VEL.X WW066
B0510043 = VEL.Y WW067
B0520042 = VEL.Z WW066
B0530042 = VEL.B WW066
B0540043 = VEL.C WW067
wword N°
SPEED linked to the mould speed
VEL . X MOULD
VEL . Y MOULD
VEL . Z MOULD
VEL . B MOULD
VEL . C MOULD
B0C0
B0C1
B0C2
B0C3
B0C4
Reserved
SPEED linked to the ejector speed
VEL . X EJECT
VEL . Y EJECT
VEL . Z EJECT
VEL . B EJECT
VEL . C EJECT
B0D0
B0D1
B0D2
B0D3
B0D4
8
Reserved
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29.7.99
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
ACCELERATION in % of the acceleration set in the parameters
ACC . X 001 –> 100
ACC . Y 001 –> 100
ACC . Z 001 –> 100
ACC . B 001 –> 100
ACC . C 001 –> 100
B010 [oper. 16 bits]
B011 [oper. 16 bits]
B012 [oper. 16 bits]
B013 [oper. 16 bits]
B014 [oper. 16 bits]
B010000F = ACC.X 015
B0110064 = ACC.Y 100
B0120044 = ACC.Z 068
B0130005 = ACC.B 005
B0140032 = ACC.C 050
Value in %
Master MOUVEMENT
MASTER . X
MASTER . Y
MASTER . Z
MASTER . B
MASTER . C
B030
B031
B032
B033
B034
IMPRECISION*
IMP . X
IMP . Y
IMP . Z
IMP . B
IMP . C
B040[oper.4bits][oper.12bits]
B041[oper.4bits][oper.12bits]
B042[oper.4bits][oper.12bits]
B043[oper.4bits][oper.12bits]
B044[oper.4bits][oper.12bits]
SAP Marker
N°
B04031F4 = IMP X 50.0 I3
B04125DC = IMP Y 150.0 I2
B0420384 = IMP Z 90.0
B0430190 = IMP B 400.0
B0440DAC = IMP C 350.0
Value in
1/10 mm
* The imprecise values must not be greater than 400.0 mm if they use an SAP marker.
SLOW APPROACH in % of the maximum Slow Approach speed set in the parameters
APL . X 001 –> 100
APL . Y 001 –> 100
APL . Z 001 –> 100
APL . B 001 –> 100
APL . C 001 –> 100
B020 [oper. 16 bits]
B021 [oper. 16 bits]
B022 [oper. 16 bits]
B023 [oper. 16 bits]
B024 [oper. 16 bits]
Value in %
Free MOVEMENT
X . FREE
Y . FREE
Z . FREE
B . FREE
C . FREE
C040
C041
C042
C043
C044
LINEARIZATION
LIN.
B046
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B0200026 = APL.X 026
B0210034 = APL.Y 034
B0220090 = APL.Z 090
B0230100 = APL.B 100
B0240010 = APL.C 010
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
MOTORIZED MOTIONS (Numerical operands)
ABSOLUTE
X . ABS_L distance
Y . ABS_L distance
Z . ABS_L distance
B . ABS_L distance
C . ABS_L distance
C000[oper.8bits][oper.24bits]
C001[oper.8bits][oper.24bits]
C002[oper.8bits][oper.24bits]
C003[oper.8bits][oper.24bits]
C004[oper.8bits][oper.24bits]
C00000000664=X.ABS.L163.6
C001000F423F=Y.ABS.L99999.9
C00200000320=Z.ABS.L80.0
C0030000003F=B.ABS.L6.3
C0040000050C=C.ABS.L150.0
X . ABS_R angle
Y . ABS_R angle
Z . ABS_R angle
B . ABS_R angle
C . ABS_R angle
C100[oper.8bits][oper.24bits]
C101[oper.8bits][oper.24bits]
C102[oper.8bits][oper.24bits]
C103[oper.8bits][oper.24bits]
C104[oper.8bits][oper.24bits]
C10000000664=X.ABS.R00163.6
C101000005DC=Y.ABS.R00150.0
C10200000320=Z.ABS.R00080.0
C1030000003F=B.ABS.R00006.3
C10400000159=C.ABS.R00034.5
X . STK_L distance
Y . STK_L distance
Z . STK_L distance
B . STK
C . STK
C010[oper.8bits][oper.24bits]
C011[oper.8bits][oper.24bits]
C012[oper.8bits][oper.24bits]
C053
C054
C01000008ACF=X.STK.L3453.5
C01100030DE3=Y.STK.L20016.3
C01200000159=Z.STK.L34.5
Reserved for general stackings
Absolute distances from the header
X . STK_R angle
Y . STK_R angle
Z . STK_R angle
C110[oper.8bits][oper.24bits]
C111[oper.8bits][oper.24bits]
C112[oper.8bits][oper.24bits]
C11000008ACF=X.STK.R03453.5
C11100030DE3=Y.STK.R20016.3
C11200000159=Z.STK.R00034.5
X . REL_L distance
Y . REL_L distance
Z . REL_L distance
B . REL_L distance
C . REL_L distance
C020[oper.8bits][oper.24bits]
C021[oper.8bits][oper.24bits]
C022[oper.8bits][oper.24bits]
C023[oper.8bits][oper.24bits]
C024[oper.8bits][oper.24bits]
C020800000A0=X.REL.L–0016.0
C021000000A0=Y.REL.L–0016.0
C0228001869F=Z.REL.L–9999.9
C02300002706=B.REL.L+0999.9
C0240000000A=C.REL.L+0001.0
X . REL_R angle
Y . REL_R angle
Z . REL_R angle
B . REL_R angle
C . REL_R angle
C120[oper.8bits][oper.24bits]
C121[oper.8bits][oper.24bits]
C122[oper.8bits][oper.24bits]
C123[oper.8bits][oper.24bits]
C124[oper.8bits][oper.24bits]
C120000001C2=X.REL.R+45.0
C121800001C2=Y.REL.R–45.0
C122000000C8=Z.REL.R+20.0
C12380000159=B.REL.R–34.5
C1240000003F=C.REL.R+06.3
STACKING
RELATIVE
Value in 1/10
mm or 1/10°
SAP Marker N°
10
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29.7.99
System Configuration
S900–II v2.1
Display
II – Instruction codes
Codop (hexadecimal)
Examples
X . CTL_L distance
Y . CTL_L distance
Z . CTL_L distance
B . CTL_L distance
C . CTL_L distance
C030[oper.8bits][oper.24bits]
C031[oper.8bits][oper.24bits]
C032[oper.8bits][oper.24bits]
C033[oper.8bits][oper.24bits]
C034[oper.8bits][oper.24bits]
X . CTL_R angle
Y . CTL_R angle
Z . CTL_R angle
B . CTL_R angle
C . CTL_R angle
C130[oper.8bits][oper.24bits]
C131[oper.8bits][oper.24bits]
C132[oper.8bits][oper.24bits]
C133[oper.8bits][oper.24bits]
C134[oper.8bits][oper.24bits]
C03000000664=X.CTL.L00163.6
C031000F423F=Y.CTL.L9999.9
C03200000320=Z.CTL.L00080.0
C0330000003F=B.CTL.L00006.3
C0340500050C=C.CTL.L00150.0
Marker P05
C13000000664=X.CTL.R00163.6
C131000F423F=Y.CTL.R9999.9
C13200000320=Z.CTL.R00080.0
C1330000003F=B.CTL.R00006.3
C1340000050C=C.CTL.R00150.0
CHECKING
SAP Marker N°
Value in 1/10
mm or 1/10°
TEACHING
|___| Teach
|C___| [oper.8bits]AAAAAA
C01000AAAAAA=X.STK.L Teach
C10200AAAAAA=Z.ABS.R Teach
Previous
instruction
Instruction SAP Marker N°
code
MOTORIZED MOTIONS (Words)
ABSOLUTE
X . ABS_L WW *nn
Y . ABS_L WW *nn
Z . ABS_L WW *nn
B . ABS_L WW *nn
C . ABS_L WW *nn
C200[oper.16bits]
C201[oper.16bits]
C202[oper.16bits]
C203[oper.16bits]
C204[oper.16bits]
C200000A = X.ABS.L WW10
X . ABS_R WW *nn
Y . ABS_R WW *nn
Z . ABS_R WW *nn
B . ABS_R WW *nn
C . ABS_R WW *nn
C300[oper.16bits]
C301[oper.16bits]
C302[oper.16bits]
C303[oper.16bits]
C304[oper.16bits]
C300000A = X.ABS.R WW10
X . STK_L WW *nn
Y . STK_L WW *nn
Z . STK_L WW *nn
C210[oper.16bits]
C211[oper.16bits]
C212[oper.16bits]
C210000B = X.STK.L WW11
X . STK_R WW *nn
Y . STK_R WW *nn
Z . STK_R WW *nn
C310[oper.16bits]
C311[oper.16bits]
C312[oper.16bits]
C3100020 = X.STK.R WW32
STACKING
01T01496_1
29.7.99
11
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
RELATIVE
X . REL_L WW *nn
Y . REL_L WW *nn
Z . REL_L WW *nn
B . REL_L WW *nn
C . REL_L WW *nn
C220[oper.16bits]
C221[oper.16bits]
C222[oper.16bits]
C223[oper.16bits]
C224[oper.16bits]
C2200041 = X.REL.L WW65
X . REL_R WW *nn
Y . REL_R WW *nn
Z . REL_R WW *nn
B . REL_R WW *nn
C . REL_R WW *nn
C320[oper.16bits]
C321[oper.16bits]
C322[oper.16bits]
C323[oper.16bits]
C324[oper.16bits]
C3200001 = X.REL.R WW01
X . CTL_L WW *nn
Y . CTL_L WW *nn
Z . CTL_L WW *nn
B . CTL_L WW *nn
C . CTL_L WW *nn
C230[oper.16bits]
C231[oper.16bits]
C232[oper.16bits]
C233[oper.16bits]
C234[oper.16bits]
C2300010 = X.CTL.L WW16
X . CTL_R WW *nn
Y . CTL_R WW *nn
Z . CTL_R WW *nn
B . CTL_R WW *nn
C . CTL_R WW *nn
C330[oper.16bits]
C331[oper.16bits]
C332[oper.16bits]
C333[oper.16bits]
C334[oper.16bits]
C3300041 = X.CTL.R WW65
CHECKING
WWord N°
* nn = 00 –> 55 and 64 –> 65
12
01T01496_1
29.7.99
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
MOTORIZED MOTIONS (cont’d)
POS ANA
X = POS ANA + distance
Y = POS ANA + distance
Z = POS ANA + distance
B = POS ANA + distance
C = POS ANA + distance
C060[oper.32bits]
C061[oper.32bits]
C062[oper.32bits]
C063[oper.32bits]
C064[oper.32bits]
X = POS ANA + angle
Y = POS ANA + angle
Z = POS ANA + angle
B = POS ANA + angle
C = POS ANA + angle
C160[oper.32bits]
C161[oper.32bits]
C162[oper.32bits]
C163[oper.32bits]
C164[oper.32bits]
POS NUM
X = POS NUM + distance
Y = POS NUM + distance
Z = POS NUM + distance
B = POS NUM + distance
C = POS NUM + distance
C070[oper.32bits]
C071[oper.32bits]
C072[oper.32bits]
C073[oper.32bits]
C074[oper.32bits]
X = POS NUM + angle
Y = POS NUM + angle
Z = POS NUM + angle
B = POS NUM + angle
C = POS NUM + angle
C170[oper.32bits]
C171[oper.32bits]
C172[oper.32bits]
C173[oper.32bits]
C174[oper.32bits]
VEL ANA INTEGRAL
X = VEL ANA
Y = VEL ANA
Z = VEL ANA
B = VEL ANA
C = VEL ANA
C090
C091
C092
C093
C094
Linear axis
X = VEL ANA
Y = VEL ANA
Z = VEL ANA
B = VEL ANA
C = VEL ANA
C190
C191
C192
C193
C194
Rotating axis
VEL NUM NORMAL
X = VEL NUM_N
Y = VEL NUM_N
Z = VEL NUM_N
B = VEL NUM_N
C = VEL NUM_N
C0A0
C0A1
C0A2
C0A3
C0A4
X = VEL NUM_N
Y = VEL NUM_N
Z = VEL NUM_N
B = VEL NUM_N
C = VEL NUM_N
C1A0
C1A1
C1A2
C1A3
C1A4
01T01496_1
29.7.99
13
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
VEL NUM NORMAL
X = VEL NUM_N
Y = VEL NUM_N
Z = VEL NUM_N
B = VEL NUM_N
C = VEL NUM_N
C0A0
C0A1
C0A2
C0A3
C0A4
X = VEL NUM_N
Y = VEL NUM_N
Z = VEL NUM_N
B = VEL NUM_N
C = VEL NUM_N
C1A0
C1A1
C1A2
C1A3
C1A4
VEL NUM INTEGRAL
X = VEL NUM_I
Y = VEL NUM_I
Z = VEL NUM_I
B = VEL NUM_I
C = VEL NUM_I
C0B0
C0B1
C0B2
C0B3
C0B4
X = VEL NUM_I
Y = VEL NUM_I
Z = VEL NUM_I
B = VEL NUM_I
C = VEL NUM_I
C1B0
C1B1
C1B2
C1B3
C1B4
TEACHING
|___| Teach
|C___| [oper.8bits]AAAAAA
C16000AAAAAA=X.POS ANA + Teach
C17200AAAAAA=Z.POS NUM + Teach
Previous
Instruction
Instruction SAP Marker N°
code
Teaching is possible for the POS ANA and POS NUM instructions.
POS MOULD
X = POS MOULD + distance
Y = POS MOULD + distance
Z = POS MOULD + distance
B = POS MOULD + distance
C = POS MOULD + distance
C0C0[oper.32bits]
C0C1[oper.32bits]
C0C2[oper.32bits]
C0C3[oper.32bits]
C0C4[oper.32bits]
POS EJECT
X = POS EJECT + distance
Y = POS EJECT + distance
Z = POS EJECT + distance
B = POS EJECT + distance
C = POS EJECT + distance
C0D0[oper.32bits]
C0D1[oper.32bits]
C0D2[oper.32bits]
C0D3[oper.32bits]
C0D4[oper.32bits]
14
01T01496_1
29.7.99
System Configuration
S900–II v2.1
Display
II – Instruction codes
Codop (hexadecimal)
Examples
IF INSTRUCTION ONE OPERAND
IF BIT 000 –> 127
IF /BIT 000 –> 127
D000 [oper. 16 bits]
D010 [oper. 16 bits]
IF OUT 000 –> 255
IF/OUT 000 –> 255
D001 [oper. 16 bits]
D011 [oper. 16 bits]
IF IN/000 –> 255
IF IN 000 –> 255
IF/IN 000 –> 255
D002 [oper. 16 bits]
D003 [oper. 16 bits]
D013 [oper. 16 bits]
IF TIM 00 –> 15
IF/TIM 00 –> 15
D004 [oper. 16 bits]
D014 [oper. 16 bits]
Operand number
IF INSTRUCTION TWO OPERANDS : WORD
IF WRD 000 –> 4095
IF /WRD 000 –> 4095
= 0 –> 9999
> = 0 –> 9999
< = 0 –> 9999
AND 0 –> 9999
D300 [oper. 16 bits]
D310 [oper. 16 bits]
D400 [oper. 16 bits]
D401 [oper. 16 bits]
D402 [oper. 16 bits]
D403 [oper. 16 bits]
= 0 –> FFFF
> = 0 –> FFFF
< = 0 –> FFFF
AND 0 –> FFFF
D410 [oper. 16 bits]
D411 [oper. 16 bits]
D412 [oper. 16 bits]
D413 [oper. 16 bits]
= CNT 00 –> 15
> = CNT 00 –> 15
< = CNT 00 –> 15
AND CNT 00 –> 15
D420 [oper. 16 bits]
D421 [oper. 16 bits]
D422 [oper. 16 bits]
D423 [oper. 16 bits]
= IN 000 –> 240
> = IN 000 –> 240
< = IN 000 –> 240
AND IN 000 –> 240
D430 [oper. 16 bits]
D431 [oper. 16 bits]
D432 [oper. 16 bits]
D433 [oper. 16 bits]
= WRD 0000 –> 4095
> = WRD 0000 –> 4095
< = WRD 0000 –> 4095
AND WRD 0000 –> 4095
D440 [oper. 16 bits]
D441 [oper. 16 bits]
D442 [oper. 16 bits]
D443 [oper. 16 bits]
01T01496_1
29.7.99
15
Note : If the decimal value cannot
exceed 9,999, the hexadecimal
value goes up to 65,535.
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
IF INSTRUCTION TWO OPERANDS : CNT
IF CNT 000 –> 15
IF /CNT 000 –> 15
= 0 –> 9999
> = 0 –> 9999
< = 0 –> 9999
AND 0 –> 9999
D340 [oper. 16 bits]
D350 [oper. 16 bits]
D900 [oper. 32 bits]
D901 [oper. 32 bits]
D902 [oper. 32 bits]
D903 [oper. 32 bits]
= 0 –> FFFF
> = 0 –> FFFF
< = 0 –> FFFF
AND 0 –> FFFF
D910 [oper. 32 bits]
D911 [oper. 32 bits]
D912 [oper. 32 bits]
D913 [oper. 32 bits]
= CNT 00 –> 15
> = CNT 00 –> 15
< = CNT 00 –> 15
AND CNT 00 –> 15
D920 [oper. 16 bits]
D921 [oper. 16 bits]
D922 [oper. 16 bits]
D923 [oper. 16 bits]
= IN 000 –> 240
> = IN 000 –> 240
< = IN 000 –> 240
AND IN 000 –> 240
D930 [oper. 16 bits]
D931 [oper. 16 bits]
D932 [oper. 16 bits]
D933 [oper. 16 bits]
= WRD 0000 –> 4095
> = WRD 0000 –> 4095
< = WRD 0000 –> 4095
AND WRD 0000 –> 4095
D940 [oper. 16 bits]
D941 [oper. 16 bits]
D942 [oper. 16 bits]
D943 [oper. 16 bits]
16
01T01496_1
29.7.99
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
IF INSTRUCTION TWO OPERANDS : WWORD
IF WWRD 000 –> 127
IF /WWRD 000 –> 127
= 0 –> 9999999
> = 0 –> 9999999
< = 0 –> 9999999
AND 0 –> 9999999
D320 [oper. 16 bits]
D330 [oper. 16 bits]
D500 [oper. 32 bits]
D501 [oper. 32 bits]
D502 [oper. 32 bits]
D503 [oper. 32 bits]
= 0 –> FFFFFFFF
> = 0 –> FFFFFFFF
< = 0 –> FFFFFFFF
AND 0 –> FFFFFFFF
D510 [oper. 32 bits]
D511 [oper. 32 bits]
D512 [oper. 32 bits]
D513 [oper. 32 bits]
= CNT 00 –> 15
> = CNT 00 –> 15
< = CNT 00 –> 15
AND CNT 00 –> 15
D520 [oper. 16 bits]
D521 [oper. 16 bits]
D522 [oper. 16 bits]
D523 [oper. 16 bits]
= IN 000 –> 240
> = IN 000 –> 240
< = IN 000 –> 240
AND IN 000 –> 240
D530 [oper. 16 bits]
D531 [oper. 16 bits]
D532 [oper. 16 bits]
D533 [oper. 16 bits]
= WRD 0000 –> 4095
> = WRD 0000 –> 4095
< = WRD 0000 –> 4095
AND WRD 0000 –> 4095
D540 [oper. 16 bits]
D541 [oper. 16 bits]
D542 [oper. 16 bits]
D543 [oper. 16 bits]
= WWRD 0000 –> 127
> = WWRD 0000 –> 127
< = WWRD 0000 –> 127
AND WWRD 0000 –> 127
D550 [oper. 16 bits]
D551 [oper. 16 bits]
D552 [oper. 16 bits]
D553 [oper. 16 bits]
Note : If the decimal value cannot
exceed 9,999,999, the hexadecimal
value
goes
up
to
4,294,967,295.
INCREMENTATION / DECREMENTATION
INC CNT 00 –> 15
INC CNT 0041 –> 9980
D01B 00[oper. 8 bits]
D01B [oper. 8 bits][oper. 8 bits]
PRG number
DEC CNT 00 –> 15
DEC 0041 –> 9980
D01C 00[oper. 8 bits]
D01C [oper. 8 bits][oper. 8 bits]
PRG number
01T01496_1
29.7.99
SP number
17
SP number
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
INITIALIZATION ONE OPERAND
SET BIT 032 –> 127
D015 [oper. 16 bits]
RST BIT 032 –> 127
D017 [oper. 16 bits]
SET OUT 000 –> 255
RST OUT 000 –> 255
D016 [oper. 16 bits]
D018 [oper. 16 bits]
RST WRD 0000 –> 4095
D019 [oper. 16 bits]
RST WWRD 0000 –> 63
D01D [oper. 16 bits]
RST CNT 00 –> 15
D01A 00[oper. 8 bits]
RST CNT 0041 –> 9980
D01A [oper. 8 bits][oper. 8 bits]
PRG number
SP number
INITIALIZATION TWO OPERANDS : WORD
SET WRD 000 –> 4095
D600 [oper. 16 bits]
= 0 –> 9999
D700 [oper. 16 bits]
+ 0 –> 9999
D701 [oper. 16 bits]
– 0 –> 9999
D702 [oper. 16 bits]
x 0 –> 9999
D703 [oper. 16 bits]
/ 0 –> 9999
D704 [oper. 16 bits]
AND 0 –> 9999
D705 [oper. 16 bits]
OR 0 –> 9999
D706 [oper. 16 bits]
= 0 –> FFFF
D710 [oper. 16 bits]
+ 0 –> FFFF
D711 [oper. 16 bits]
– 0 –> FFFF
D712 [oper. 16 bits]
x 0 –> FFFF
D713 [oper. 16 bits]
/ 0 –> FFFF
D714 [oper. 16 bits]
AND 0 –> FFFF
D715 [oper. 16 bits]
OR 0 –> FFFF
D716 [oper. 16 bits]
= CNT 00 –> 15
D720 [oper. 16 bits]
+ CNT 00 –> 15
D721 [oper. 16 bits]
– CNT 00 –> 15
D722 [oper. 16 bits]
x CNT 00 –> 15
D723 [oper. 16 bits]
/ CNT 00 –> 15
D724 [oper. 16 bits]
AND CNT 00 –> 15
D725 [oper. 16 bits]
OR CNT 00 –> 15
D726 [oper. 16 bits]
= IN 000 –> 240
D730 [oper. 16 bits]
+ IN 000 –> 240
D731 [oper. 16 bits]
– IN 000 –> 240
D732 [oper. 16 bits]
x IN 000 –> 240
D733 [oper. 16 bits]
/ IN 000 –> 240
D734 [oper. 16 bits]
AND IN 000 –> 240
D735 [oper. 16 bits]
OR IN 000 –> 240
D736 [oper. 16 bits]
= WRD 0000 –> 4095
D740 [oper. 16 bits]
+ WRD 0000 –> 4095
D741 [oper. 16 bits]
– WRD 0000 –> 4095
D742 [oper. 16 bits]
x WRD 0000 –> 4095
D743 [oper. 16 bits]
/ WRD 0000 –> 4095
D744 [oper. 16 bits]
AND WRD 0000 –> 4095
D745 [oper. 16 bits]
OR WRD 0000 –> 4095
D746 [oper. 16 bits]
18
01T01496_1
29.7.99
System Configuration
S900–II v2.1
Display
II – Instruction codes
Codop (hexadecimal)
Examples
INITIALIZATION TWO OPERANDS : WWORD
SET WWRD 000 –> 127
D620 [oper. 16 bits]
= 0 –> 9999999
+ 0 –> 9999999
– 0 –> 9999999
x 0 –> 9999999
/ 0 –> 9999999
AND 0 –> 9999999
OR 0 –> 9999999
D800 [oper. 32 bits]
D801 [oper. 32 bits]
D802 [oper. 32 bits]
D803 [oper. 32 bits]
D804 [oper. 32 bits]
D805 [oper. 32 bits]
D806 [oper. 32 bits]
= 0 –> FFFFFFFF
+ 0 –> FFFFFFFF
– 0 –> FFFFFFFF
x 0 –> FFFFFFFF
/ 0 –> FFFFFFFF
AND 0 –> FFFFFFFF
OR 0 –> FFFFFFFF
D810 [oper. 32 bits]
D811 [oper. 32 bits]
D812 [oper. 32 bits]
D813 [oper. 32 bits]
D814 [oper. 32 bits]
D815 [oper. 32 bits]
D816 [oper. 32 bits]
= CNT 00 –> 15
+ CNT 00 –> 15
– CNT 00 –> 15
x CNT 00 –> 15
/ CNT 00 –> 15
AND CNT 00 –> 15
OR CNT 00 –> 15
D820 [oper. 16 bits]
D821 [oper. 16 bits]
D822 [oper. 16 bits]
D823 [oper. 16 bits]
D824 [oper. 16 bits]
D825 [oper. 16 bits]
D826 [oper. 16 bits]
= IN 000 –> 240
+ IN 000 –> 240
– IN 000 –> 240
x IN 000 –> 240
/ IN 000 –> 240
AND IN 000 –> 240
OR IN 000 –> 240
D830 [oper. 16 bits]
D831 [oper. 16 bits]
D832 [oper. 16 bits]
D833 [oper. 16 bits]
D834 [oper. 16 bits]
D835 [oper. 16 bits]
D836 [oper. 16 bits]
= WRD 0000 –> 4095
+ WRD 0000 –> 4095
– WRD 0000 –> 4095
x WRD 0000 –> 4095
/ WRD 0000 –> 4095
AND WRD 0000 –> 4095
OR WRD 0000 –> 4095
D840 [oper. 16 bits]
D841 [oper. 16 bits]
D842 [oper. 16 bits]
D843 [oper. 16 bits]
D844 [oper. 16 bits]
D845 [oper. 16 bits]
D846 [oper. 16 bits]
= WWRD 0000 –> 127*
+ WWRD 0000 –> 127
– WWRD 0000 –> 127
x WWRD 0000 –> 127
/ WWRD 0000 –> 127
AND WWRD 0000 –> 127
OR WWRD 0000 –> 127
D850 [oper. 16 bits]
D851 [oper. 16 bits]
D852 [oper. 16 bits]
D853 [oper. 16 bits]
D854 [oper. 16 bits]
D855 [oper. 16 bits]
D856 [oper. 16 bits]
01T01496_1
29.7.99
19
* also possible with
WWORD 200 –> 202
System Configuration
S900–II v2.1
II – Instruction codes
Display
Codop (hexadecimal)
Examples
INITIALIZATION TWO OPERANDS : CNT
SET CNT 00 –> 15
SET CNT 0041 –> 9980
D640 00[oper. 8 bits]
D640 [oper. 8 bits][oper. 8 bits]
PRG number
Standard counter
Stacking counter
SP number
= 0 –> 9999
+ 0 –> 9999
– 0 –> 9999
x 0 –> 9999
/ 0 –> 9999
AND 0 –> 9999
OR 0 –> 9999
DA00 [oper. 16 bits]
DA01 [oper. 16 bits]
DA02 [oper. 16 bits]
DA03 [oper. 16 bits]
DA04 [oper. 16 bits]
DA05 [oper. 16 bits]
DA06 [oper. 16 bits]
= 0 –> FFFF
+ 0 –> FFFF
– 0 –> FFFF
x 0 –> FFFF
/ 0 –> FFFF
AND 0 –> FFFF
OR 0 –> FFFF
DA10 [oper. 16 bits]
DA11 [oper. 16 bits]
DA12 [oper. 16 bits]
DA13 [oper. 16 bits]
DA14 [oper. 16 bits]
DA15 [oper. 16 bits]
DA16 [oper. 16 bits]
= CNT 00 –> 15
+ CNT 00 –> 15
– CNT 00 –> 15
x CNT 00 –> 15
/ CNT 00 –> 15
AND CNT 00 –> 15
OR CNT 00 –> 15
D920 [oper. 16 bits]
D921 [oper. 16 bits]
D922 [oper. 16 bits]
D923 [oper. 16 bits]
D924 [oper. 16 bits]
D925 [oper. 16 bits]
D926 [oper. 16 bits]
= IN 000 –> 240
+ IN 000 –> 240
– IN 000 –> 240
x IN 000 –> 240
/ IN 000 –> 240
AND IN 000 –> 240
OR IN 000 –> 240
DA30 [oper. 16 bits]
DA31 [oper. 16 bits]
DA32 [oper. 16 bits]
DA33 [oper. 16 bits]
DA34 [oper. 16 bits]
DA35 [oper. 16 bits]
DA36 [oper. 16 bits]
= WRD 0000 –> 4095
+ WRD 0000 –> 4095
– WRD 0000 –> 4095
x WRD 0000 –> 4095
/ WRD 0000 –> 4095
AND WRD 0000 –> 4095
OR WRD 0000 –> 4095
DA40 [oper. 16 bits]
DA41 [oper. 16 bits]
DA42 [oper. 16 bits]
DA43 [oper. 16 bits]
DA44 [oper. 16 bits]
DA45 [oper. 16 bits]
DA46 [oper. 16 bits]
20
01T01496_1
29.7.99
System Configuration
S900–II v2.1
II – Instruction codes
II – 2. PLC programs
Type of instruction
PROG.PLC xx header (num)
Display
Codop (hexadecimal)
PLC xx
FC [oper. 16 bits]
PLC number
TEST CONDITION
IF ...
See part programs
INITIALIZATION
SET ...
RST ...
INC ...
DEC ...
See part programs
COMPARISON CNT xxxx >
= xxxx
CMP CNT 00 –> 15 VAL 0000 –> FFFF
CMP CNT 0041 –> 9980 VAL 0000 –> FFFF
D020 [oper. 16 bits][oper. 16 bits]
Counter number
TIMER xx VALUE xxxx
TIMER 00 –> 15 VAL 0 –> 9999
Value
D021 [oper. 16 bits][oper. 16 bits]
Timer number preselection
value
AND FUNCTION on BIT
AND BIT 000 –> 127
D022 [oper. 16 bits]
AND FUNCTION on OUTPUT
AND OUT 000 –> 255
D023 [oper. 16 bits]
OR FUNCTION on BIT
OR BIT 000 –> 127
D024 [oper. 16 bits]
OR FUNCTION on OUTPUT
OR OUT 000 –> 255
D025 [oper. 16 bits]
END OF PROGRAM
END
F5 [oper. 16 bits]
PLC number
01T01496_1
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21
System Configuration
S900–II v2.1
III – Program codes
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
PRG (text)
F7 nn
FA xx
SP
PRG nn
F1 xx
FB pp
SR
F4 pp
F9 mm
following PRG
22
01T01496_1
29.7.99
System Configuration
S900–II v2.1
III – Program codes
III – 2. Subroutine and program calls
SPECIFIC
codes for SP, SR, PLC as an instruction
E000 [oper. 16 bits] :
Standard SP
SP nn Lmm (nn = 01 to 40) (mm = 00 to 99)
Regular Stacking SP SP nn D Lmm (or I Lmm) (nn = 41 to 60) (mm = 00 to 99)
General Stacking SP SP nn D Lmm (or 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 word
–> the SP number.
E.g. : E000 0103 –> SP 03 L01
E.g. : E000 8229 –> SP 41 I L02
E100 [oper. 16 bits] : PLC prog. – Display : PLC 00 (to 99)
E500 [oper. 16 bits] : Home Return – Display : SR 01 (to 99)
Return
label
E600 [oper. 16 bits] : Labels ”L” for SP – Display : L00 to L99
E700 [oper. 16 bits] : Labels ”R” for SR – Display : R00 to R99
01T01496_1
29.7.99
23
System Configuration
S900–II v2.1
IV – Variables’ addresses
IV – VARIABLES’ ADDRESSES
IV – 1. Output – OUT –
Accessible in read and write.
Number
(logical address)
Physical
address
OUT 000
28A0
OUT 255
299F
Structures / Functions
not used
2 A1D
Forcing
(Extended monitor)
OUT 125
Continuous status
(See Param. No 14)
IV – 2. Input – IN –
Accessible in read.
Number
(logical address)
Physical
address
IN 000
29A0
IN 255
2A9F
Structures / Functions
not used
2 9AB
IN 011
IV – 3. User and system bits – BIT –
Each address corresponds to an 8 bit structure in memory.
not used
0281x
Forcing
(Extended monitor)
BIT 0
x = bit number in hexadecimal (e.g.: Bit 31, address = 0282F).
Only the low order word is used.
– System bits accessible in Read – No. 0 to 30.
– System bits accessible in Read and Write – No. 31 to 33.
– User bits accessible in Read and Write – No. 34 to 127.
For the definition of these bits, see the Programming Level 2 manual, paragraph I3.
24
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System Configuration
S900–II v2.1
IV – Variables’ addresses
IV – 4. 16 bits user and system words – WRD –
Number
(logical address)
Physical
address
WRD 0000
2AA0
32 user Words (read/write) with no predefined functions.
WRD 0031
2ADF
16 bit structure available
WRD 0032
2AE0
WRD 0063
2B1E
WRD 0064
2B20
WRD 0079
2B3F
WRD 0080
2B40
WRD 0095
2B5F
WRD 0096
2B60
WRD 4096
3A9F
Structures / Functions
B15
0
32 system Words (read only). For the definition of these
words, see the Programming Level 2 manual, paragraph
I4
16 user Words (read/write) supporting the PLC timers
(TIM 00 to TIM 15).
16 user Words (read/write) supporting the standard
counters (CNT 00 to CNT 15).
4000 user Words (read/write) supporting the stacking
subroutine counters (CNT 0041 to CNT 9980).
IV – 5. 32 bit user and system words – WWRD –
Number
(logical address)
WWRD 000
Physical
address
6230
Structures / Functions
64 user Words (read/write) with no predefined functions.
b31
WWRD 063
6327
WWRD 064
6328
WWRD 127
642C
WWRD 0116
WWRD 0117
6400
6404
32 bit structure available
64 system Words (read only). For the definition of these
words, see the Programming Level 2 manual, paragraph
I5
Specific words
Values for calculating the automatic anticipated restart.
Values for calculating the automatic anticipated restart.
See chapter VI – page 29.
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0
25
System Configuration
S900–II v2.1
IV – Variables’ addresses
IV – 6. Counters
Each address corresponds to a 16 bit structure in the memory.
WRD0088
b15
b0
2 B4x
CNT0008
. values from 0000 to 9999 in decimal
. values from 0000 to FFFF in hexadecimal
x = bit number in hexadecimal (e.g.: CNT 0008, address = 2 B50).
– Standard counters – No. 0000 to 0015 (0x2B40 to 0x2B5E).
– Regular stacking counters – No. 0041 to 9960 (as from 0x2 B60).
– General 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.
Number
(logical address)
TIM00
TIM01
TIM02
TIM03
TIM04
TIM05
TIM06
TIM07
TIM08
TIM09
TIM10
TIM11
TIM12
TIM13
TIM14
TIM15
Physical
address
Structures / Functions
2 890
2 891
2 892
2 893
2 894
2 895
2 896
2 897
2 898
2 899
2 89A
2 89B
2 89C
2 89D
2 89E
2 89F
2 897
not used
TIM07
Only the low order word is used
IV – 7. 2.End of timer for PLC
TIM00 to 15 = WRD 0064 to 0079 see chapter .
Accessible in read and write.
26
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System Configuration
S900–II v2.1
V – CPU fault signalling
V – CPU FAULT SIGNALLING
V – 1. Flashing LEDs
These signal a CAN network fault by displaying the problem number in binary on the LEDs at the
bottom of the CPU, and the node number (if concerned) on the LEDs at the top if the pendant is not
functioning.
1 = CAN driver initialization fault
3
0
2 = Write problem in Flashprom
5 = A double (or more) node on the network (code + node)
6 = Problem during the CONNECTION phase (code + node)
7 = Problem 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). Communication fault with the pendant ;
this may be due to the CAN speed being too great for the length of the cable used, or a bad
line adaptation, or interference, etc.
11 = CPU emission problem
12 = CPU reception problem
13 = Topology fault of the remote I/O
15 = EMERGENCY message received (code + node). Problem on the pendant or with
communication between the pendant and the CPU (see 10)
Note : In the event of a NODE GUARDING fault, fault 15 may appear alternately with fault 10.
01T01496_1
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27
System Configuration
S900–II v2.1
V – CPU fault signalling
V – 2. Fixed LEDs
These signal a fault when powering up by giving the problem number in binary on the LEDs at the
bottom of the CPU, and the node number (if concerned) on the LEDs at the top if the pendant is not
functioning.
1 = Problem with recovering the parameters in Flashprom
2 = Problem during the opening of the PC link
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 the CPU’s RAM
8 = Problem with the Flashprom’s checksum
9 = Problem with the axes defined and the axes’ boards present
10 = The configuration has changed
11 = Problem during the initialization of the axes’ boards by the CPU
15 = Communication problem with the pendant during powering up. The CAN speed
may be changed by transferring the parameters with the PC at 2400 Bds, slave = 1.
28
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System Configuration
S900–II v2.1
VI – IMM Anticipated Restart
VI – IMM ANTICIPATED RESTART
Parameter
174 : type of IMM anticipated restart
0 : no anticipated restart
1 : anticipated restart
2 : programmed delay anticipated restart –> WWRD 63 programmed in step 0.
Parameter
175 : basic value of the auto–adaptative delay and double the minimum value of
the programmed delay
Parameter
176 : minimum value of the auto–adaptative delay (safety margin)
Anticipated restart effective if :
offset wait is not valid (parameter 451)
and if the robot is in automatic
and if Kv equals 100 %
and if there is a SET WWRD63 in step 0 of the program
and if the value of WWRD63 is greater than or equal to parameter 175
2
in the case of
restart with
programmed
delay
VCM
VCM
programmed
Tr = WWRD 116
P176
BHM
Tm = WWRD 117
MO
Tr = robot disengaging time in 1/10 s (WWRD 116)
Tm = IMM motion start time in 1/10 s (WWRD 117)
Rt = theoretical delay = Tr – Tm + P176 or 0 if the result is negative
Rapp = Applied delay
Rapp > Rt
yes
no
Rapp = Rt
Rapp = 66% of (Rt – Rapp)
There is a fault if mould open (or OPA) goes to 0 and BHM = 0
D_5 : MOVEMENT OUTSIDE CAMS (if there is no anticipated restart running)
D_32: PREMATURE MACHINE RESTART (if there is an anticipated restart running)
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29
System Configuration
S900–II v2.1
VI – IMM Anticipated Restart
Safety
circuit principle.
A hard–wired circuit controls the respective positions of the moving mould (“MO” = Mould Open
signal) and of the robot (“ZBD” = Arm Free Area / “ZHM” = Outside Mould Area signal).
The output of this hard–wired circuit (”MO” + ”ZBD” + ”ZHM” = ”KA301”) activates a power relay
(KA301 contactor).
During normal operation, the KA301 relay is activated. The KA301 contacts are used in series with
the 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 not conform compared to the moving mould position), the KA301
relay falls, which in turn activates the control relay KA16A, which is self–powered and stops the
KA301 relay becoming active (the blocking of KA301 prohibits the IMM cycle).
You must power the robot cabinet down to cancel this fault.
FOR 32 OUTPUT BOARDS : as OUTxx active at power up
ANCILLARY “ARM
FREE” SAFETY
“KA301” relay
CONTROL
ANCILLARY “ARM
FREE” SAFETY
V 2.0
Robot
“KA301” relay
CONTROL
Enter the XX input number that controls the KA 301 relay in parameter 499.
If the input defined in this parameter goes to 1, the following fault message is displayed.
D_35: ANTICIPATED RESTART NOT CONFORM
30
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Conair has made the largest investment in customer support in
the plastics industry. Our service experts are available to help
with any problem you might have installing and operating
your equipment. Your Conair sales representative also can help
analyze the nature of your problem, assuring that it did not
result from misapplication or improper use.
To contact Customer Service personnel, call:
WE’RE HERE
TO HELP
HOW TO CONTACT
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SERVICE
From outside the United States, call: 814-437-6861
You can commission Conair service personnel to provide onsite service by contacting the Customer Service Department.
Standard rates include an on-site hourly rate, with a one-day
minimum plus expenses.
If you do have a problem, please complete the
following checklist before calling Conair:
❒ Make sure you have all model, serial and parts list numbers for your particular equipment. Service personnel will
need this information to assist you.
BEFORE YOU
CALL ...
❒ Make sure power is supplied to the equipment.
❒ Make sure that all connectors and wires within and
between loading control and related components have been
installed correctly.
❒ Check the troubleshooting guide of this manual
for a solution.
❒ Thoroughly examine the instruction manual(s)
for associated equipment, especially controls.
Each manual may have its own troubleshooting
guide to help you.
❒ Check that the equipment has been operated as
described in this manual.
❒ Check accompanying schematic drawings for
information on special considerations.
SERVICE INFORMATION
Additional manuals and
prints for your Conair
equipment may be
ordered through the
Customer Service or
Parts Departments for
a nominal fee.
APPENDIX A-1
EQUIPMENT
GUARANTEE
PERFORMANCE
WARRANTY
Conair guarantees the machinery and equipment on this
order, for a period as defined in the quotation from date of
shipment, against defects in material and workmanship
under the normal use and service for which it was recommended (except for parts that are typically replaced after
normal usage, such as filters, liner plates, etc.). Conair’s
guarantee is limited to replacing, at our option, the part or
parts determined by us to be defective after examination.
The customer assumes the cost of transportation of the
part or parts to and from the factory.
Conair warrants that this equipment will perform at or
above the ratings stated in specific quotations covering the
equipment or as detailed in engineering specifications,
provided the equipment is applied, installed, operated and
maintained in the recommended manner as outlined in our
quotation or specifications.
Should performance not meet warranted levels, Conair at
its discretion will exercise one of the following options:
● Inspect the equipment and perform alterations or
adjustments to satisfy performance claims. (Charges
for such inspections and corrections will be waived
unless failure to meet warranty is due to misapplication, improper installation, poor maintenance practices
or improper operation.)
● Replace the original equipment with other Conair
equipment that will meet original performance claims
at no extra cost to the customer.
● Refund the invoiced cost to the customer. Credit is subject to prior notice by the customer at which time a
Return Goods Authorization Number (RGA) will be
issued by Conair’s Service Department. Returned
equipment must be well crated and in proper operating
condition, including all parts. Returns must be prepaid.
Purchaser must notify Conair in writing of any claim and
provide a customer receipt and other evidence that a claim
is being made.
WARRANTY
LIMITATIONS
APPENDIX A-2
Except for the Equipment Guarantee and Performance
Warranty stated above, Conair disclaims all other warranties with respect to the equipment, express or
implied, arising by operation of law, course of dealing,
usage of trade or otherwise, including but not limited to
the implied warranties of merchantability and fitness for
a particular purpose.
WARRANTY INFORMATION
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