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Conair S900II manual

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Table of contents for the manual

  • Page 1

    SY STEM CONFIGURA TION for S900II robots Software V ersion 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 USERGUIDE www .conairnet.com W ARNING - Reliance on this Manual Could Result in Se vere Bodily Injury or Death! This manual is out-of-date and is provided only f or i[...]

  • Page 2

    [...]

  • Page 3

    System Configuration S900II I – Memory 1 01T01350_0 2.2.98 I – MEMOR Y 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 defau[...]

  • Page 4

    System Configuration S900II I – Memory 2 01T01350_0 2.2.98 * 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. : F A1B)  [Print] to print the memory contents from the displayed address (in order to search f[...]

  • Page 5

    System Configuration S900II I – Memory 3 01T01350_0 2.2.98 I – 2. Memory areas I – 2. 1.Data saved in RAM (512 K x 8) 0 to 7 FFFF Addr ess in Hexadecimal Contents 00000 V ariables 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 sto[...]

  • Page 6

    System Configuration S900II I – Memory 4 01T01350_0 2.2.98 I – 2. 2.Program addr essing 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 Kbyte[...]

  • Page 7

    System Configuration S900II I – Memory 5 01T01350_0 2.2.98 Block number Addr ess in Hexadecimal Contents 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 DF A00 Code converter[...]

  • Page 8

    System Configuration S900II I – Memory 6 01T01350_0 2.2.98 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 Password[...]

  • Page 9

    System Configuration S900II II – Instruction codes 7 01T01350_0 2.2.98 II – INSTRUCTION CODES II – 1. Part programs T ype of Instruction Display Codop (hexadecimal) Examples ACTION ACT 00 (to 99) * A000 [oper . 16 bits] A000000C = ACT12 OUTPUT OUT 000 (to 255) * A001 [oper . 16 bits] A0010050 = OUT080 INPUT IN 000 (to 255) A002 [oper . 16 bit[...]

  • Page 10

    System Configuration S900II II – Instruction codes 8 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples VEL.X WW_*nn B050 0000 [oper .12bits] B0500042 = VEL.X WW066 VEL.Y WW_*nn B051 0000 [oper .12bits] B0510043 = VEL.Y WW067 VEL.Z WW_*nn B052 0000 [oper .12bits] B0520042 = VEL.Z WW066 VEL.B WW_*nn B053 0000 [oper .12bits[...]

  • Page 11

    System Configuration S900II II – Instruction codes 9 01T01350_0 2.2.98 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[...]

  • Page 12

    System Configuration S900II II – Instruction codes 10 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples 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.[...]

  • Page 13

    System Configuration S900II II – Instruction codes 1 1 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples RELA TIVE 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 bit[...]

  • Page 14

    System Configuration S900II II – Instruction codes 12 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples 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 [...]

  • Page 15

    System Configuration S900II II – Instruction codes 13 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples ROT A TING 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 [...]

  • Page 16

    System Configuration S900II II – Instruction codes 14 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples 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) D01 1 [oper . 16 bits] on[...]

  • Page 17

    System Configuration S900II II – Instruction codes 15 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples * on WW ord (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 0999[...]

  • Page 18

    System Configuration S900II II – Instruction codes 16 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples with Inputs (modulo 16) = IN 000 (to 1 12) D930 [oper . 16 bits] > = IN 000 (to 1 12) D931 [oper . 16 bits] < = IN 000 (to 1 12) D932 [oper . 16 bits] AND IN 000 (to 1 12) D933 [oper . 16 bits] with W ord (16 bit[...]

  • Page 19

    System Configuration S900II II – Instruction codes 17 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples 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 0[...]

  • Page 20

    System Configuration S900II II – Instruction codes 18 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples 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 1 12 x IN *nn D833 [oper . 16 bits] and 136 to 240 / IN *nn D834 [oper . 16 bits] AND I[...]

  • Page 21

    System Configuration S900II II – Instruction codes 19 01T01350_0 2.2.98 T ype of Instruction Display Codop (hexadecimal) Examples with Inputs (modulo 16) = IN 000 (to 1 12) DA30 [oper . 16 bits] + IN 000 (to 1 12) DA31 [oper . 16 bits] – IN 000 (to 1 12) DA32 [oper . 16 bits] x IN 000 (to 1 12) DA33 [oper . 16 bits] / IN 000 (to 1 12) DA34 [ope[...]

  • Page 22

    System Configuration S900II II – Instruction codes 20 01T01350_0 2.2.98 II – 2. PLC programs T ype of Instruction Display Codop (hexadecimal) PROG.PLC xx header (num) PLC xx FC [oper . 16 bits] TEST CONDITION IF ... See part programs INITIALISA TION SET ... See part programs RST ... INC ... DEC ... COMP ARISON xxxx > = xxxx CMP 0000 (to 0015[...]

  • Page 23

    System Configuration S900II III – Pr ogram codes 21 01T01350_0 2.2.98 III – PROGRAM CODES III – 1. Declaration of programs, subr outines and PLCs " Header codes of PRG, SP ,..., SR, PLC G F9b xn = Main program G b = 0, standard PRG (encoded on 15 bits) b = 1 , SAP PRG (encoded on 15 bits) G F Ann = STD, STK.. // subroutine (see stacking [...]

  • Page 24

    System Configuration S900II III – Pr ogram codes 22 01T01350_0 2.2.98 III – 2. Subroutine and pr ogram calls " SPECIFIC codes for SP , SR, PLC as an instruction G E000 [oper . 16 bits] : Standar d 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 n[...]

  • Page 25

    System Configuration S900II IV – V ariable addr essing 23 01T01350_0 2.2.98 IV – V ARIABLE ADDRESSING IV – 1. Output – OUT – Accessible in read and write. Number (logical address) Physical address Structures / Functions OUT 000 OUT 255 28A0 299F 2 A1D OUT 125 not used Forcing (Extended monitor) Continuous status (See Param. No 14) IV – [...]

  • Page 26

    System Configuration S900II IV – V ariable addr essing 24 01T01350_0 2.2.98 IV – 4. 16 bits user and system words – WRD – WRD 0000 2AA0 WRD 0031 2ADF WRD 0032 2AE0 WRD 0063 2B1E WRD 0064 2B20 WRD 0079 2B3F WRD 0080 2B40 WRD 0095 2B5F WRD 0096 2B60 WRD 4096 3A9F 32 user W ords (read/write) with no predefined functions. B15 0 16 bit structure[...]

  • Page 27

    System Configuration S900II IV – V ariable addr essing 25 01T01350_0 2.2.98 IV – 6. Counters Each address corresponds to a 16 bit structure in the memory . 2 B4x CNT0008 WRD0088 . values from 0000 to 9999 in decimal . values from 0000 to FFFF in hexadecimal b15 b0 x = bit number in hexadecimal (e.g.: CNT 0008, address = 2 B50). – Standard cou[...]

  • Page 28

    System Configuration S900II V – CPU fault signalling 26 01T01350_0 2.2.98 V – CPU F AUL T 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. 30 1 = CAN driv[...]

  • Page 29

    System Configuration S900II V – CPU fault signalling 27 01T01350_0 2.2.98 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 [...]

  • Page 30

    parameter 175 2 in the case of restart with programmed delay System Configuration S900II VI – IMM Anticipated Restart 28 01T01350_0 2.2.98 VI – IMM ANTICIP A TED REST ART " Parameter 174 : type of IMM anticipated restart G 0 : no anticipated restart G 1 : anticipated restart G 2 : programmed delay anticipated restart –> WWRD 63 progra[...]

  • Page 31

    System Configuration S900II VI – IMM Anticipated Restart 29 01T01350_0 2.2.98  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[...]

  • Page 32

    System Configuration S900II VI – IMM Anticipated Restart 30 01T01350_0 2.2.98 IF IN XX SET WORD 62 = 200 Until a parameter for the control input for 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[...]