Conair S900II User Manual
SYSTEM CONFIGURATION
for S900II robots
Software Version 1.0
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System
Configuration
S900II
I – Memory
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 default if necessary).
The
address of the
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.
area at which reading is to begin is given in hexadecimal (0 to F) using the numerical
: 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.
[ ]
[PG DN] or [PG UP] to change addresses 100 by 100 (hexadecimal).
or
[ ]
to change addresses 10 by 10 (hexadecimal).
I – Memory
* 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)
System
Configuration
S900II
[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 “M_Read” 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
S900II
I – 2. Memory areas
I – 2. 1.Data saved in RAM (512 K x 8) 0 to 7 FFFF
ess in
Addr
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
Contents
I – Memory
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.
that it remains compatible with previous software versions, the RAM if formatted with 0xFFFF like
So
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)
parameters are stored in FLASHPROM at the address
The
0xF10E0000. An image of this address is
stored in RAM at the address 0xA500. The length of the parameters is fixed at 2800 bytes.
“SAP message” file is stored in FLASHPROM at the address 0xF10E1200.
The
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
number
Addr
ess in
Hexadecimal
Contents
F10 00000
ERM kernel + SEPRO program
1st block F10 0FFFF
F10 10000
SEPRO code (1)
F10 1FFFF
F10 20000
2nd block SEPRO code (2)
F10 3FFFF
F10 40000
3rd block SEPRO code (3)
F10 5FFFF
F10 60000
4th block SEPRO code (4)
F10 7FFFF
F10 80000
5th block SEPRO code (5)
F10 9FFFF
F10 A0000
6th block Reserved for extension of SEPRO code
F10 BFFFF
System
Configuration
S900II
I – Memory
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 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
F10 E1200
Parameters
SAP messages
and SAP F10 E2256
F10 E2400
Reserved for SEPRO
F10 FFFFF
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 0
B2A0
B2A2
B2A4
B2A6
B2A8
B2AA
B2AC
B2AE
B2B0
B2B4
B2E0
B2E2
B2E4
B2E6
B2E8
B2EA
B2EC
B2EE
00 00
00 00
00 00
04 D2
00 00
00 00
00 00
00 00
00 00
00 00
000400
00
007335
98
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
0 BX
1 BY
2 BZ
3 BB
4 BC
5 AX
6 AY
7 AZ
System
Configuration
S900II
II – Instruction codes
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
TIMER TIME 001 to 999
A004[oper.4bits]0[oper.11bits] A004000A = TIME010
Input No.
SAP marker
No.
V
alue
in 1/10s
A004300A = TIME010
Marker P03
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
parametered speed VEL.Z 001 to 100
VEL.B 001 to 100
VEL.C 001 to 100
B001[oper.4bits][oper.12bits] B001000A = VEL.Y 010
B002[oper.4bits][oper.12bits] B0020012 = VEL.Z 018
B003[oper.4bits][oper.12bits] B0030064 = VEL.B 100
B004[oper.4bits][oper.12bits] B004A032 = VEL.C 050
SAP marker
N°
V
alue in
1/10s
Marker P10
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
and 66 to 67)
No.
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
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