Résumé du contenu de la page N° 1
www.conairnet.com
USERGUIDE
SYSTEM 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
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System Configuration I – Memory S900II I – MEMORY I – 1. Accessing the memory After accessing ”Memory Management” by pressing [Memo_M] (programming menu), pressing the [M_Read] key gives access to the read (or modification) function of the user and system RAM or EEPROM memory (at the address of the memory box by default if necessary). The address of the area at 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 k
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System Configuration I – Memory S900II * The function keys F1 to F5 : [Address] to change the address. [Modif] to change the contents of the memory area displayed (word). [Search] to search for a particular word (e.g. : FA1B) [Print] to print the memory contents from the displayed address (in order to search for the incorrect instructions which will be printed as ????). [StopPr] to stop sending the memory contents to the printer. Note : To access the modification function, a password i
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System Configuration I – Memory S900II I – 2. Memory areas I – 2. 1.Data saved in RAM (512 K x 8) 0 to 7 FFFF Address in Contents Hexadecimal 00000 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 En Ordr
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System Configuration I – Memory S900II I – 2. 2.Program addressing in 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 if formatted with 0xFFFF like an EEPROM. This formatting is carried out when the robot is first starte
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System Configuration I – Memory S900II Block Address in Contents number Hexadecimal F10 C0000 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 F10 E0DFF F1
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System Configuration I – Memory S900II I – 3. Specific information These are directly accessed using the Memory Read function followed by the request [Address] and a letter : – to access the memory area containing the passwords. – to access the memory area containing the serial number and the type of robot. 15 0 B2A0 Password to access edition (....) 00 00 B2A2 00 00 B2A4 Password to access parameters (....) 00 00 04 D2 B2A6 B2A8 Password to access maintenance (....) 00 00 B2AA 00 00 B2AC 00
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System Configuration II – Instruction codes S900II II – INSTRUCTION CODES II – 1. Part programs Type Display Codop (hexadecimal) Examples of Instruction ACTION ACT 00 (to 99) * A000 [oper. 16 bits] A000000C = ACT12 Action No. OUTPUT OUT 000 (to 255) * A001 [oper. 16 bits] A0010050 = OUT080 Output No. INPUT IN 000 (to 255) A002 [oper. 16 bits] A002000A = IN010 Normal Input No. INPUT IN/000 (to 255) A003 [oper. 16 bits] A0030020 = IN/032 Reverse Input No. TIMER TIME 001 to 999 A004[oper.4bits]0[o
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction FUNCTIONS (FUNC) SPEED VEL.X 001 to 100 B000[oper.4bits][oper.12bits] B0000062 = VEL.X 098 in % of the VEL.Y 001 to 100 B001[oper.4bits][oper.12bits] B001000A = VEL.Y 010 parametered speed VEL.Z 001 to 100 B002[oper.4bits][oper.12bits] B0020012 = VEL.Z 018 VEL.B 001 to 100 B003[oper.4bits][oper.12bits] B0030064 = VEL.B 100 VEL.C 001 to 100 B004[oper.4bits][oper.12bits] B004A032 = VEL.C 050
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction MOTORIZED MOTIONS SLOW APPROACH SLA.X 001 to 100 B020 [oper. 16 bits] B0200026 = SLA.X 026 in % of the maximum SLA.Y 001 to 100 B021 [oper. 16 bits] B0210034 = SLA.Y 034 parametered speed SLA.Z 001 to 100 B022 [oper. 16 bits] B0220090 = SLA.Z 090 SLA.B 001 to 100 B023 [oper. 16 bits] B0230100 = SLA.B 100 SLA.C 001 to 100 B024 [oper. 16 bits] B0240010 = SLA.C 010 Value in % LINEAR ABSOLUTE
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction CHECKING X.CTL_R Angle C130[oper.8bits][oper.24bits] C13000000664=X.CTL.R00163.6 Y.CTL_R Angle C131[oper.8bits][oper.24bits] C131000F423F=Y.CTL.R9999.9 Z.CTL_R Angle C132[oper.8bits][oper.24bits] C13200000320=Z.CTL.R00080.0 B.CTL_R Angle C133[oper.8bits][oper.24bits] C1330000003F=B.CTL.R00006.3 C.CTL_R Angle C134[oper.8bits][oper.24bits] C1340000050C=C.CTL.R00150.0 Angle in SAP Marker No.
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction RELATIVE X.REL_R WW *nn C320 [oper. 16 bits] C3200001 = X.REL.R WW01 Y.REL_R WW *nn C321 [oper. 16 bits] 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 WW *nn C332 [oper. 16 bits] B.CTL_R WW *nn C333 [oper. 16 bits] C.
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction LINEAR POS_ANA X = POS ANA + distance C060 [oper. 32 bits] Y = POS ANA + distance C061 [oper. 32 bits] Z = POS ANA + distance C062 [oper. 32 bits] B = POS ANA + distance C063 [oper. 32 bits] C = POS ANA + distance C064 [oper. 32 bits] POS_NUM X = POS NUM + distance C070 [oper. 32 bits] Y = POS NUM + distance C071 [oper. 32 bits] Z = POS NUM + distance C072 [oper. 32 bits] B = POS NUM + dis
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction ROTATING POS_ANA X = POS ANA + angle C160 [oper. 32 bits] Y = POS ANA + angle C161 [oper. 32 bits] Z = POS ANA + angle C162 [oper. 32 bits] B = POS ANA + angle C163 [oper. 32 bits] C = POS ANA + angle C164 [oper. 32 bits] POS_NUM X = POS NUM + angle C170 [oper. 32 bits] Y = POS NUM + angle C171 [oper. 32 bits] Z = POS NUM + angle C172 [oper. 32 bits] B = POS NUM + angle C173 [oper. 32 bits
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction TEST, CONDITIONS . 1 Operand on Bit IF BIT 000 (to 127) D000 [oper. 16 bits] IF/BIT 000 (to 127) D010 [oper. 16 bits] on Output IF OUT 000 (to 255) D001 [oper. 16 bits] IF/OUT 000 (to 255) D011 [oper. 16 bits] on Input IF IN/000 (to 255) D002 [oper. 16 bits] IF IN 000 (to 255) D003 [oper. 16 bits] IF/IN 000 (to 255) D013 [oper. 16 bits] on Timer IF TIM 00 (to 15) D004 [oper. 16 bits] IF/TI
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction * on WWord (32 bits) IF WWRD 000 (to 127) D320 [oper. 16 bits] –> 1st Operand IF/WWRD 000 (to 127) D330 [oper. 16 bits] with decimal value = 00000000 (to 09999999) D500 [oper. 32 bits] > = 00000000 (to 09999999) D501 [oper. 32 bits] Note : If the decimal < = 00000000 (to 09999999) D502 [oper. 32 bits] value cannot exceed AND 00000000 (to 09999999) D503 [oper. 32 bits] 9,999,999, the hexade
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction with Inputs (modulo 16) = IN 000 (to 112) D930 [oper. 16 bits] > = IN 000 (to 112) D931 [oper. 16 bits] < = IN 000 (to 112) D932 [oper. 16 bits] AND IN 000 (to 112) D933 [oper. 16 bits] with Word (16 bits) = WRD 0000 (to 4095) D940 [oper. 16 bits] > = WRD 0000 (to 4095) D941 [oper. 16 bits] < = WRD 0000 (to 4095) D942 [oper. 16 bits] AND WRD 0000(to 4095) D943 [oper. 16 bits] INITIALIZATI
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction with Counter = CNT 00 (to 15) D720 [oper. 16 bits] + CNT 00 (to 15) D721 [oper. 16 bits] – CNT 00 (to 15) D722 [oper. 16 bits] x CNT 00 (to 15) D723 [oper. 16 bits] / CNT00 (to 15) D724 [oper. 16 bits] AND CNT 00 (to 15) D725 [oper. 16 bits] OR CNT 00 (to 15) D726 [oper. 16 bits] with Inputs (modulo 16) = IN 000 (to 112) D730 [oper. 16 bits] + IN 000 (to 112) D731 [oper. 16 bits] – IN 000
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System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction with Inputs (modulo 16) = IN *nn D830 [oper. 16 bits] + IN *nn D831 [oper. 16 bits] – IN *nn D832 [oper. 16 bits] *nn = 00 to 112 x IN *nn D833 [oper. 16 bits] and 136 to 240 / IN *nn D834 [oper. 16 bits] AND IN *nn D835 [oper. 16 bits] OR IN *nn D836 [oper. 16 bits] with Word (16 bits) = WRD 0000 (to 4095) D840 [oper. 16 bits] + WRD 0000 (to 4095) D841 [oper. 16 bits] – WRD 0000 (to
