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Conair S900II System Configuration Manual

Software version 1.0
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U S E R G U I D E

SYSTEM CONFIGURATION

for S900II robots
Software Version 1.0
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This manual is out-of-date and is provided only for its technical information, data and capacities.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
than those contained in this out-of-date manual.
Corporate Office: 412.312.6000
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Instant Access 24/7 (Parts and Service): 800.458.1960
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Parts and Service: 814.437.6861

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Summary of Contents for Conair S900II

  • Page 1: System Configuration

    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containing warnings, information, precautions, and procedures that may be more adequate than those contained in this out-of-date manual.
  • Page 3 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).
  • Page 4 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) "...
  • Page 5 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...
  • Page 6 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.
  • Page 7 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...
  • Page 8 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. B2A0 Password to access edition (..) B2A2...

  • Page 9: Instruction Codes

    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.
  • Page 10 System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction FUNCTIONS (FUNC) SPEED VEL.X 001 to 100 B0000062 = VEL.X 098 B000[oper.4bits][oper.12bits] in % of the VEL.Y 001 to 100 B001000A = VEL.Y 010 B001[oper.4bits][oper.12bits] parametered speed VEL.Z 001 to 100 B0020012 = VEL.Z 018 B002[oper.4bits][oper.12bits]...
  • Page 11 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...
  • Page 12 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. 1/10 deg.
  • Page 13 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.
  • Page 14 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.
  • Page 15 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.
  • Page 16 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.
  • Page 17 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 D500 [oper.
  • Page 18 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.
  • Page 19 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.
  • Page 20 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.
  • Page 21 System Configuration II – Instruction codes S900II Type Display Codop (hexadecimal) Examples of Instruction 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.

  • Page 22: Test Condition

    System Configuration II – Instruction codes S900II II – 2. PLC programs Type Display Codop (hexadecimal) of Instruction PROG.PLC xx header (num) PLC xx FC [oper. 16 bits] PLC No. TEST CONDITION IF ... See part programs INITIALISATION SET ... See part programs RST ...

  • Page 23: Program Codes

    System Configuration III – Program codes S900II 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, STK..
  • Page 24 System Configuration III – Program codes S900II 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 = 00 to 99) General Stacking SP SP nn D Lmm (or I Lmm) (nn = 61 to 80) (mm = 00 to 99) Parallel SP...
  • Page 25 System Configuration IV – Variable addressing S900II IV – VARIABLE ADDRESSING IV – 1. Output – OUT – Accessible in read and write. Number Physical Structures / Functions (logical address) address not used OUT 000 28A0 2 A1D OUT 255 299F Forcing OUT 125...
  • Page 26 System Configuration IV – Variable addressing S900II IV – 4. 16 bits user and system words – WRD – Number Physical Structures / Functions (logical address) address 32 user Words (read/write) with no predefined functions. WRD 0000 2AA0 WRD 0031 2ADF 16 bit structure available WRD 0032...
  • Page 27 System Configuration IV – Variable addressing S900II IV – 6. Counters Each address corresponds to a 16 bit structure in the memory. WRD0088 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).
  • Page 28 System Configuration V – CPU fault signalling S900II 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.
  • Page 29 System Configuration V – CPU fault signalling S900II 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 System Configuration VI – IMM Anticipated Restart S900II VI – IMM ANTICIPATED RESTART " Parameter 174 : type of IMM anticipated restart G 0 : no anticipated restart G 1 : anticipated restart G 2 : programmed delay anticipated restart –> WWRD 63 programmed in step 0. "...
  • Page 31 System Configuration VI – IMM Anticipated Restart S900II " 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 VI – IMM Anticipated Restart S900II 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 ANTICIPATED RESTART NOT CONFORM : in English REARME ANTICIPADO NO CONFORME : in Spanish...