Conair S900II System Technical Information PDF herunterladen (Seite 54)

Programming S900–II Level 1

Version 2.2 |–>

IV – Programming instructions

01T01527_2

25.5.00

The controlled predefined actions (see chapter IV – 1. page 32) should be finished before the next

CTL instruction, otherwise the The info to be controlled during the movement

is faulty“ message appears on the screen.

Step 2

MASTER X

X.ABS. 1000

X.CTL 400

Gripper horizontal

X.CTL 900

Z.ABS 500

Step 3

X = 900

X = 1000

X = 250

Z = 100

X = 400

Z = 500

If the robot arrives at 900 and the horizontal rotation has not finished, the robot goes into fault. To avoid

this, replace the predefined action with the associated output command (OUT). See the robot

parameters in file S of the Instruction Manual or the electric drawing.

Note : Control point “sub–steps” have the same effect as program steps in relation to :

temporarily–actuated outputs, Home returns to be carried out.

In order to actuate an output during the entire master movement, it should be actuated after each

programmed control point.

The same applies to Home Returns to be executed.

To keep the outputs activated or to specify a home return, the instructions must be repeated at each

trigger point.

OUT 23 must be at 1 during the whole descent.

Step 5

SR 01

MASTER Z

Z.ABS. 1000

OUT 23

Z.CTL. 700

VEL Z 25

OUT 23

SR 01

Step 6

Z = 100

Vel Z = 100 %

Z = 700

Vel Z = 25 %

Z = 1000

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Conair S900II System Technical Information Seite 54

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