Conair S900II System Technical Information PDF herunterladen (Seite 49)

Programming S900–II Level 1

Version 2.2 |–>

IV – Programming instructions

01T01527_2

25.5.00

IV – 3. 2. Type of movement

 L = Linear

 R = Rotary

This information appears automatically when a motorized movement is programmed. It corresponds

to the type of movement related to the axis and it is provided in the axes’ definition parameters.

IV – 3. 3. Operand

After selecting the movement code :

The operand is immediately given the value of the axis’ current position (if the axis is intialized).

The X axis is at the position X = 2317.4

. Press

then [ ../..] then [ ABS ] .

–> the robot displays > X ABS L 2317.4 (the operand flashes).

. Press

twice to confirm this value or enter a new value using the alphanumeric keys

then confirm by pressing

–> the robot displays X ABS L 2317.4

By switching from programming to adjust mode, it is possible to move the robot’s axes. When you

select programming mode again, you go back to the program step from which you left. This procedure

enables you to teach the position values whilst entering the program.

The operand can be a numeric value (in 1/10 mm or in 1/10 degrees).

One of the following functions can be used :

WWord |Teach | Offset | ValStk|

* wword : 32 bit word

Use of this operand is described in the S900–II Programming Level 2 Manual.

* Teach : Teaching

The operand will only be assigned a value when the program is executed.

When the robot carries out a Step containing a programmed movement whose destination was

declared in ”teaching” mode, a message informs the operator that he must move the axis himself using

the

keys. The final position of the axis is validated by the operator by

pressing

Syntax : X.ABS L Teaching

B.ABS R Teaching

Codes and movements which can be taught : ABS, STK, REL and CTL*.

* It is only possible to teach the CTL trigger movements in the SAP source programs.

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Conair S900II System Technical Information Seite 49