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  5. System Configuration Manual

Conair S900II System System Configuration Manual

Manual is about: Software Version 1.0

Summary of S900II System

  • Page 1

    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 u s e r g u i d e www.Conairnet.Com.

  • Page 3: I – Memory

    System configuration s900ii i – memory 1 01t01350_0 2.2.98 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...

  • 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. : fa1b) [print] to print the memory contents from the displaye...

  • 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 address in hexadecimal contents 00000 variables used by philips (boot) 027ff 02800 “fixed” sepro variables, see table below for details of the variables 0a4ff 0a500 sepro...

  • Page 6

    System configuration s900ii i – memory 4 01t01350_0 2.2.98 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 va...

  • Page 7

    System configuration s900ii i – memory 5 01t01350_0 2.2.98 block number address 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 ...

  • 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 n...

  • Page 9: II – Instruction Codes

    System configuration s900ii ii – instruction codes 7 01t01350_0 2.2.98 ii – instruction codes ii – 1. Part programs type 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 ...

  • Page 10

    System configuration s900ii ii – instruction codes 8 01t01350_0 2.2.98 type 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....

  • 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] b02...

  • Page 12

    System configuration s900ii ii – instruction codes 10 01t01350_0 2.2.98 type 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[...

  • Page 13

    System configuration s900ii ii – instruction codes 11 01t01350_0 2.2.98 type of instruction display codop (hexadecimal) examples 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 ...

  • Page 14

    System configuration s900ii ii – instruction codes 12 01t01350_0 2.2.98 type 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 c...

  • Page 15

    System configuration s900ii ii – instruction codes 13 01t01350_0 2.2.98 type of instruction display codop (hexadecimal) examples 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....

  • Page 16

    System configuration s900ii ii – instruction codes 14 01t01350_0 2.2.98 type 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...

  • Page 17

    System configuration s900ii ii – instruction codes 15 01t01350_0 2.2.98 type of instruction display codop (hexadecimal) examples * 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 [o...

  • Page 18

    System configuration s900ii ii – instruction codes 16 01t01350_0 2.2.98 type of instruction display codop (hexadecimal) examples with inputs (modulo 16) = in 000 (to 112) d930 [oper. 16 bits] > = in 000 (to 112) d931 [oper. 16 bits] d932 [oper. 16 bits] and in 000 (to 112) d933 [oper. 16 bits] with ...

  • Page 19

    System configuration s900ii ii – instruction codes 17 01t01350_0 2.2.98 type 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] / cnt0...

  • Page 20

    System configuration s900ii ii – instruction codes 18 01t01350_0 2.2.98 type 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 112 x in *nn d833 [oper. 16 bits] and 136 to ...

  • Page 21

    System configuration s900ii ii – instruction codes 19 01t01350_0 2.2.98 type of instruction display codop (hexadecimal) examples with inputs (modulo 16) = in 000 (to 112) da30 [oper. 16 bits] + in 000 (to 112) da31 [oper. 16 bits] – in 000 (to 112) da32 [oper. 16 bits] x in 000 (to 112) da33 [oper. ...

  • Page 22

    System configuration s900ii ii – instruction codes 20 01t01350_0 2.2.98 ii – 2. Plc programs type of instruction display codop (hexadecimal) prog.Plc xx header (num) plc xx fc [oper. 16 bits] test condition if ... See part programs initialisation set ... See part programs rst ... Inc ... Dec ... Com...

  • Page 23: III – Program Codes

    System configuration s900ii iii – program codes 21 01t01350_0 2.2.98 iii – program codes iii – 1. Declaration of programs, subroutines 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 fann = std,...

  • Page 24

    System configuration s900ii iii – program codes 22 01t01350_0 2.2.98 iii – 2. Subroutine and program calls " specific codes for sp, sr, plc as an instruction g 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 ...

  • Page 25: IV – Variable Addressing

    System configuration s900ii iv – variable addressing 23 01t01350_0 2.2.98 iv – variable 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) continu...

  • Page 26

    System configuration s900ii iv – variable addressing 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 words (read/write) with no prede...

  • Page 27

    System configuration s900ii iv – variable addressing 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.: c...

  • Page 28: V – Cpu Fault Signalling

    System configuration s900ii v – cpu fault signalling 26 01t01350_0 2.2.98 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 p...

  • 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. ...

  • 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 anticipated restart " parameter 174 : type of imm anticipated restart g 0 : no anticipated restart g 1 : anticipated restart g 2 : programmed delay anti...

  • 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 th...

  • 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...