Conair S900II System Technical Information PDF herunterladen (Seite 34)

Programming S900–II Level 1

Version 2.2 |–>

III – Program structure

01T01527_2

25.5.00

III – 3. 2. Tool change position subroutine – SR 99 –

The usual abbreviation for a Tool Change Position is ”PCO”. This procedure is used to free the robot

to change the gripping tool or to transfer the robot to a non–operational area in order to operate the

host machine without the robot. This position usually corresponds to the robot location where the end

of the PCO stroke is on the PCO cam.

Executing this procedure in Step by Step mode

, after having pressed then

, initiates the following sequences :

 the Home return subroutine programmed at the step in which the robot stopped : SR00 by

default,

then :

 the Tool Change Position subroutine, SR99.

Note : these two sequences follow one after the other without having to release the key.

III – 4. PLC program : 01 to 98

The PLC is a programmable logic controller integrated into the S900–II numeric control system.

Therefore, they share their inputs and outputs.

They enable you to manage peripheral units equipped with “ON / OFF” inputs and outputs.

The PLC’s scan time is 100 ms which enables you to monitor one or several peripheral units whose

cycle, complete or partial, is asynchronous to the robot’s cycle.

. Monitoring a spacer stacking manipulator.

. Controlling a pile of boxes filled by an operator at any point in the cycle.

Each main program can call up a PLC. The same PLC can be used in several main programs.

PLC examples are presented in chapter V – 1. page 53.

Reminder

: PLC 00 does not exist. A main program that starts with the instruction PLC 00 does not

use a PLC.

PLC 99 is reserved for monitoring special safety conditions linked to the robot’s environment.

The monitoring PLC is described in the Programming manual Level 2.

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Conair S900II System Technical Information Seite 34