Conair S900II User Manual

www.conairnet.com

U S E R G U I D E

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

	System Configuration	I ± Memory
	S900II

I ± MEMORY

I ± 1. Accessing the memory

After accessing ºMemory Managementº 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 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).

: transfer buffer PRG E17.

: robot serial number in RAM.

: RAM access password.

: 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 :

[Memo_M] ±> [M_Read] ±> [Address] ±>

*The keys :

"[ + ] or [ ± ] to change addresses 2 by 2.

" [ ] or [ ] to change addresses 10 by 10 (hexadecimal).

" [PG DN] or [PG UP] to change addresses 100 by 100 (hexadecimal).

I ± Memory	System Configuration
	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 is necessary which remains valid as long as the user does not exit the ªM_Readº procedure. Certain critical system areas cannot be read and all requests to modify them will be rejected.

By default, the value given after modification request is 0 x FFFF (useful to delete words in the memory).

As for the other functions, the EXIT key is used to abandon a request or to exit the procedure.

	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

ªFixedº 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 Ordre = RAM contents correct indicator (GIRLAFRIDOU).

02810 Bit_U_S = System and user bits table.

02890 Bit_Tpo = PLC timer bits table.

028A0 Imag_S = Images of the 255 ON/OFF outputs.

029A0 Imag_E = Image of the 255 ON/OFF inputs.

02AA0 Word_U = User words table (16±bit WORD).

02AE0 Word_S = System words table (see Programming Level 2 manual for description).

02B20 Tpo_Aut = PLC timers table.

02B40 Compt = Counters table (standard and stacking).

04AA0 Pile_Def = Pile of historic faults.

04BC0 Comptime = Times basic counter.

04BC4 Dir_RAM = PRG / PLC directory in editing area.

04C04 Dir_PP = PRG directory in save area.

05254 Dir_PLC = PLC directory in save area.

05710 Mod_PP = PRG directory in the module.

05D60 Mod_PLC = PLC directory in the module.

0621C Tab_temps = Robot times table.

06230 WWord_U = Double words table (32 bits).

06430 Ram_PP = PRG editing area.

09430 Ram_PLC = PLC editing area.

I ± Memory	System Configuration
	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 started up (for the 128 Kbytes) or when the memory is totally set to 0 [ RsMEM ] (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 ªSAP messageº file is stored in FLASHPROM at the address 0xF10E1200. Its length is fixed at 4590 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	Address in		Contents
number	Hexadecimal
	F10	00000
1st block	F10 0FFFF		ERM kernel + SEPRO program
	F10	10000
	F10	1FFFF	SEPRO code (1)
	F10	20000
2nd block	F10	3FFFF	SEPRO code (2)
	F10	40000
3rd block	F10	5FFFF	SEPRO code (3)
	F10	60000
4th block	F10	7FFFF	SEPRO code (4)
	F10	80000
5th block	F10	9FFFF	SEPRO code (5)
	F10 A0000
6th block	F10 BFFFF		Reserved for extension of SEPRO code

	System Configuration						I ± Memory
	S900II
	Block		Address in		Contents
	number		Hexadecimal
			F10 C0000
			F10 CEBEF		Messages in language 1
			F10 CEBF0
			F10 DD7DF		Messages in language 2
			F10 DD7E0
			F10 DE7EF		Font robot 1
			F10 DE7F0
	7th block		F10 DF7FF		Font robot 2
			F10 DF800
	Messages		F10 DF9FF		Code converter table IMM 1
			F10 DFA00
			F10 DFBFF		Code converter table IMM 2
			F10 DFC00
			F10 DFDFF		Code converter table Printer 1
			F10 DFE00
			F10 DFFFF		Code converter table Printer 2
			F10 E0000
	8th block		F10 E0DFF		SEPRO parameters
			F10 E1200
	Parameters				SAP messages
	and SAP		F10 E2256
			F10 E2400
			F10 FFFFF		Reserved for SEPRO

I ± Memory	System Configuration
	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
B2A0		00	00
B2A2
		00	00
B2A4		00	00
B2A6		04	D2
B2A8		00	00
B2AA		00	00
B2AC		00	00
B2AE		00	00
B2B0		00	00
B2B4		00	00

B2E0
B2E2
B2E4
B2E6
B2E8	00	00
B2EA	04	00
B2EC	00	35
B2EE	73	98

0

Password to access edition (....	)
Password to access parameters (....		)
Password to access maintenance (....		)
Password to block the modes (....	)

Password to block the selection of the PRG N° to be executed (....)

Operating time.

Operating time in automatic.

Robot serial number :

E.g. 1024

Robot type :

E.g. 350 BB (000) ±> 3503000±D ±> 357398±H

Model Type Specific

0BX

1BY

2BZ

3BB

4BC

5AX

6AY

7AZ

	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
	OUTPUT					Action		No.
		OUT 000 (to 255) *			A001 [oper. 16 bits]						A0010050 = OUT080
	INPUT					Output		No.
		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[oper.11bits]						A004000A = TIME010
											A004300A = TIME010
					SAP marker				Value
											Marker P03
					No.				in 1/10s
		TIME W_00 à 15			A004 0000 1 [oper.11bits]						A004080A = TIMEW10
											A004080F = TIMEW15
									Word No.
	BIT	BIT 000 (to 127)			A005 [oper. 16 bits]						A0050063 = BIT 99
						Bit No.
		/ BIT 000 (to 127)			A006 [oper. 16 bits]						A006007D = BIT 127

* The actions and outputs replaced by text (e.g.: part grip 1) keep the same CODOP

II ± Instruction codes	System Configuration
	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
			SAP						in		Marker P10
				marker			Value
			N°				1/10s
		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]							B0530042	= VEL.B WW066
		VEL.C WW_*nn	B054 0000 [oper.12bits]							B0540043	= VEL.C WW067
		*(nn = 00 to 55
					Word No.
		and 66 to 67)
	ACCELERATION	ACC.X 001 to 100	B010 [oper. 16 bits]							B010000F = ACC.X 015
	in % of the parametered	ACC.Y 001 to 100	B011 [oper. 16 bits]							B0110064 = ACC.Y 100
	acceleration	ACC.Z 001 to 100	B012 [oper. 16 bits]							B0120044 = ACC.Z 068
		ACC.B 001 to 100	B013 [oper. 16 bits]							B0130005	= ACC.B 005
		ACC.C 001 to 100	B014 [oper.				16 bits]			B0140032	= ACC.C 050
				Value in %
	Master MOVEMENT	MASTER.X	B030
		MASTER.Y	B031
		MASTER.Z	B032
		MASTER.B	B033
		MASTER.C	B034
	IMPRECISION	IMP.X	B040
		IMP.Y	B041
		IMP.Z	B042
		IMP.B	B043
		IMP.C	B044