Conair S900II System Technical Information PDF herunterladen (Seite 30)

Programming S900–II Level 1

Version 2.2 |–>

III – Program structure

01T01527_2

25.5.00

III – 2. 3. Stacking subroutines – SP 41 to SP 80

SP 41 to SP 60 : These subroutines are used to simplify the definition of pallets where a stack / column

organization already exists. An example is given in chapter V – 3. page 59.

SP 61 to SP 80 : These subroutines are used to describe an irregular stacking of parts which is repeated

over several layers or several times in a cycle.

See Programming manual S900–II Level 2.

III – 2. 4. Parallel subroutines – SPP 81 to SPP 99

These subroutines are also groups of instructions, structured in a sequential manner.

They are executed in parallel to the normal running of the cycle.

There is no return address for the Parallel subroutines.

Step 10

Step 11

SP01 L00

SP 01

Step 0

Step 5

SP81L00

Step 6

END

SPP 81

Step 0

Step 3

END

Bit 10 = 1 for the

duration of

SP 81.

SPP 81 is started whilst

SP01 is running.

The system bit number 10 is set to 1 when the SPP is started and goes back to 0 at the end of the SPP.

A few restrictions :

 Only one Parallel Subroutine can be active at a certain time. The calling–up of a second one

before the first one is finished, triggers the fault D_73: PARALLEL SP ALREADY

RUNNING.

 In an SPP, all the instructions of the main program can be used, apart from :

 the MASTER preparatory function and consequently all triggered and control (CTL)

movements,

 the special instructions Await machine cycle and Await validation

PRG change.

 Calling–up of other SPs or SRs.

Moreover, for robots using PIP parameters, the following instructions are taken into account during

machine dialogue in the part program only. They are ignored in the SPP :

 Machine cycle validation

 part grips in the IMM.

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Conair S900II System Technical Information Seite 30

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