
Programming S900–II Level 1
Version 2.2 |–>
I – Studying an application example
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25.5.00
Tool change position subroutine : SR99
Its function is described in chapter III – 3. 2. page 29.
Reminder : when a tool change position is requested
, the robot first carries out a home return
.
Therefore, the contents of SR 99 are :
X movement (P08) towards tool change position :
HOME–RETURN SUBROUTINE 99
*[TOOL CHANGING POSITION ]
*
*
STEP 000
X.ABS_L TEACH. P 08 Tool change
STEP 001
END
*
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