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S900-II

Programming - Level 1

Version 2.2

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USERGUIDE

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Summary of content (82 pages)

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www.conairnet.com USERGUIDE S900-II Programming - Level 1 Version 2.2 WARNING - Reliance on this Manual Could Result in Severe Bodily Injury or Death! This manual is out-of-date and is provided only for its technical information, data and capacities.
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Programming S900–II Level 1 Version 2.
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Programming S900–II Level 1 Version 2.
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Programming S900–II Level 1 Version 2.2 |–> ! = ' #.
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Programming S900–II Level 1 Version 2.2 |–> I – Studying an application example You are advised to read at least the first two chapters of the “S900–II User Manual”. I – STUDYING AN APPLICATION EXAMPLE This chapter describes an unloading application from an injection moulding machine (IMM). The example starts with the need analysis and goes as far as entering the program on the S900–II pendant.
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Programming S900–II Level 1 Version 2.2 |–> I – Studying an application example THE CYCLE The main sequences Initial conditions for starting cycle Start IMM cycle and await opening Part grip in the mould and IMM cycle restart sequence Part release on the conveyor belt sequence Belt indexing The actions and movements – Release part. – Z complete ascent (P10). – Gripper head vertical. – X and Y positionned above (P04) the IMM (in the IMM axis, ready to descend).
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Programming S900–II Level 1 Version 2.2 |–> I – Studying an application example POINT DEFINITION P01 : Grip part in the mould P06 : Release P03 : End of return after part grip P08 : Tool change P04 : Await mould open P10 : Arm 1 up * P05 : Gripper orientation Note : The SAP source programs are programs with markers where the axes’ position values are declared as needing to be taught, as they can be variable. V 2.0 robot V 1.0 PC Editor I – 3.
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Programming S900–II Level 1 Version 2.2 |–> I – Studying an application example I – 6. Transcribing the cycle into Sepro S900–II language The main program PRG The advantages of separating the cycle into subroutines as shown in the following organigram are that : the program is easier to read, the program is easier to change, the IMM is immobile for a shorter length of time.
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Programming S900–II Level 1 Version 2.2 |–> I – Studying an application example SUBROUTINE –>STANDARD 01 *[PART GRIP IN MOULD ] * STEP 000 Release part 1 Z.ABS_L 00100.0 P 10 Arm 1 up STEP 001 Gripper vertical STEP 002 X.ABS_L 00170.0 P 04 Await mould open Y.ABS_L TEACH. P 04 Await mould open STEP 003 Z.ABS_L TEACH. P 04 Await mould open Await end of machine cycle 1 Ejectors 1 in Stop validation ejectors 1 out STEP 004 Z.ABS_L TEACH. P 01 Grip part in the mould IMP.Z 005.
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Programming S900–II Level 1 Version 2.2 |–> I – Studying an application example SUBROUTINE –>STANDARD 02 *[PART RELEASE ON BELT ] * STEP 000 X.ABS_L TEACH. P 05 Gripper orientation Y.ABS_L TEACH. P 05 Gripper orientation STEP 001 Gripper horizontal STEP 002 X.ABS_L TEACH. P 06 Release Y.ABS_L TEACH. P 06 Release STEP 003 Z.ABS_L TEACH. P 06 Release VEL.Z 020 V 07 Z descent speed for release STEP 004 Release part 1 STEP 005 TIME 015 T 01 Time delay after part release STEP 006 Z.ABS_L 00100.
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Programming S900–II Level 1 Version 2.2 |–> Home I – Studying an application example return subroutine : SR00 This subroutine is absolutely necessary for the program to work. Its function is described in chapter III – 3. page 26. For this application example, we can distinguish between two different types of freeing sequences : 1. The robot is in the mould, the following is therefore necessary : a part release, Y back (P04), a Z ascent (P10) (complete and fast). 2.
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Programming S900–II Level 1 Version 2.2 |–> I – Studying an application example 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 * 8 01T01527_2 25.5.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode II – ACCESSING THE PROGRAMMING MODE II – 1. Entering the program There are two ways of entering the program : directly on the robot’s pendant (as shown in the example in chapter I – page 1), on a PC equipped with the AS900–II software (see the AS900–II editor for PC documentation). II – 1. 1. Accessing the pendant’s editor Creating a program with the S900–II robot editor is possible if the robot is not in production.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode Whatever the menu, the new program is entered by selecting : CREATE –>PLC Note : If the robot’s memory contains an SAP message file (see annex page 71), the following question is asked, otherwise, you must create the message file using the Sepro editor for PC. See “AS900–II Editor” on–line Help. Create a program with SAP ? YES | NO | | | it will not be possible to assign markers to instructions in the program.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode Associated PLC ? Number (0–>99) : 00 ... To accept the number proposed. 00 means no PLC _ represents the cursor. To enter a new number To confirm the new number PRG 01 [ _ Step 000 Enter the program name using the alphanumeric keys . ENTER or to confirm no caps To write in lower case letters.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode II – 1. 2. Selecting the instructions Step 000 is shown on the screen. You must add the instruction SP1 L00. Step 000 PLC 00 =>Selecting SP1 L00 : Step 000 PLC 00 SP 00 SR |Label L|Label R | ... | Enter the subroutine number Confirm the subroutine number Step 000 PLC 00 SP 01 L 00 00 means : return to the following step at the end of the SP ...
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode => Moving to step 1 : Step 001 =>Selecting instruction SP2 L00 : Step 001 SP 00 ... Enter the subroutine number Confirm the subroutine number Step 001 SP 02 L 00 ... Enter the label L number Confirm the label L number Now go to step 2 and enter the instruction : SP 81 L00 01T01527_2 25.5.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode => Moving on to the following step : Step 002 Enter instruction SP81 L00 in the same way as the preceding SPs. Step 002 SP 81 L00 The main program has now been entered. You must quit the program to write the subroutines. => Quitting the main program : Press Note : The “END” instruction is automatically inserted once has been pressed. See chapter IV – 5. 5. page 52. 14 01T01527_2 25.5.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode II – 1. 3. Entering the subroutines Read or write : PRG | | SP | SR | Mess. You must now write a subroutine Enter number (0 –> 99) or ? To consult the existing subroutines in the selected program To enter the program number ...
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode => Selecting ”release part 1” : SP01 [ PART GRIP IN MOULD ] Step 000 Release part 1 Number (1–>8) : 1 Accept the proposed number ... Enter a new number Confirm the new number => Selecting Z.ABS.L 100.0 : or to program the Z vertical axis SP 01 [ PART GRIP IN MOULD Step 000 Grip part 1 Z.ABS.L 00000.0 STK | REL | CTL ] | FREE | ../.. By default, the movement selected is an ABSolute movement.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode SAP Point (O–>40 0=without) : 00 You must now select the SAP point marker P10 using the numeric keys then confirm with Now go to step 1 and enter the instruction : “Gripper vertical “. => Moving to Step 1 : SP01 [PART GRIP IN MOULD Step 001 ] => Selecting the vertical gripper head : SP01 [PART GRIP IN MOULD Step 001 Gripper vertical => Moving to Step 2 : 01T01527_2 25.5.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode => Entering the instructions X.ABS.L 150.0 and Y.ABS.L Teach : or to program the X horizontal axis. or to program the Y demoulding axis. X.ABS.L 150.0 are obtained in the same way as Z.ABS.L 100.0. Entering a fixed value corresponds to the robot’s stopping position. The TEACH instruction means that the position will be taught during the first execution. To write the instruction Y.ABS.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode II – 2. The pendant’s editing functions II – 2. 1. Movements in the program To move the cursor up To move the cursor down To go to the previous step To go to the following step | | | |Step N For direct access to a program or subroutine step whilst editing. Number (0–>99) : ... Enter the step number Confirm II – 2. 2.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode II – 2. 3. Deleting a step To delete a step, you must delete each instruction contained in the step. II – 2. 4. Changing a value entered Place the cursor on the instruction to be changed To access the value Teach. , , ... or Enter the new value Confirm the value II – 2. 5.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode II – 2. 6. Inserting a step Select the step before which another one must be inserted To insert Enter the instructions in the inserted step II – 2. 7. Changing the name of a program or subroutine Go back to step 0 Access the program name Move the cursor in the name Alphanumeric keys to change the name Confirm the name Delete characters already entered using the 01T01527_2 25.5.00 key.
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Programming S900–II Level 1 Version 2.2 |–> II – Accessing the programming mode II – 2. 8. Editing the messages There are two types of messages : the SAP messages : that must be created with the Sepro PC Editor and that can be changed on the robot’s pendant (see below). the fault messages : that can be created and changed with the Sepro PC Editor or directly on the robot’s pendant (see page 62).
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Programming S900–II Level 1 Version 2.2 |–> III – Program structure III – PROGRAM STRUCTURE III – 1. Main program – PRG00 to 99 – One hundred 1,000–step main programs (N° 0 to N° 99) can be run and stored in memory. Simultaneous storage only depends on available memory capacity and the size of the routines.
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Programming S900–II Level 1 Version 2.2 |–> III – Program structure Example No. 2 : Conditional execution and return to main program step other than the step following the call step. Main program (IN14 = 1) Step 1 IF IN 14 SP02L34 SP 02 Step 2 Step 0 Step 3 Step 9 END Step 4 Step 5 L34 Note that this structure allows you to use a same subroutine with different return addresses : the return address is an integral part of the call instruction.
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Programming S900–II Level 1 Version 2.2 |–> III – Program structure 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.
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Programming S900–II Level 1 Version 2.2 |–> III – Program structure III – 3. Home Return Subroutine – SR – III – 3. 1. Home return subroutines – SR00 to 99 – If the robot cycle is interrupted, it will not always be possible to continue the cycle execution from where it was interrupted. The operator can free the robot from this blocked situation by carrying out a home return . ”Home Return” is a subroutine that takes the robot to a safe position before safely launching the ”Automatic” cycle.
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Programming S900–II Level 1 Version 2.2 |–> III – Program structure Difference between the Simple and Total Home Return : Home Return [Simple] When you select a home return [Simple] (selected by default), the robot frees itself and starts its cycle again either from the beginning (step 00 of PRG), or from a specific point in the cycle if this has been programmed. See figure 2 : page 28.
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Programming S900–II Level 1 Version 2.
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Programming S900–II Level 1 Version 2.2 |–> III – Program structure 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.
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Programming S900–II Level 1 Version 2.2 |–> III – Program structure III – 5. Advice for cycle time optimalization The IMM cycle time is often greater than the robot’s one. Even so, it is always interesting to reduce it, especially the IMM immobilization time.
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Programming S900–II Level 1 Version 2.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – PROGRAMMING INSTRUCTIONS There are basically four different types of instructions in the main program. The predefined actions for easy control without having to worry about activated physical outputs or their associated checks. Operations concerning output actuation, bit or input tests, binary state tests, counter handling or time delays. Numerical Calls, axes’ movements.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions Optional second arm : Keyboard selection keys 01T01527_2 25.5.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 1. 2. Commands for the injection moulding machine Key V 1.3 robot V 0.5 Robot with 2nd IMM PC Editor V 1.3 robot V 0.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions Details of the machine cycle commands : MACHINE CYCLE VALIDATION : The command is sent to the IMM if : the robot is not executing an end of cycle stop, the part made memory is at 0, the IMM is in automatic or semi–automatic, the robot is in the Arm Free Safety area (SBD), except in the case of an anticipated restart.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 1. 3. Other predefined commands Keyboard selection keys Corresponding command Step duration not controlled Old CN900 version equivalent Type of action NC ACT 90 2nd pulse This instruction allows you to momentarily deactivate the watch–dog time between steps.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 2. Instructions IV – 2. 1. Variables Name Key Mnemonic Number Functions Output OUT * 000 –> 255 Input IN * 000 –> 255 Counter CNT 00 –> 15 0041 –> 9980 Bit BIT * 000 –> 127 Internal boolean variable Timer TIM 000 –> 15 Internal boolean variable resulting from the PLC timer. Word WORD 000 –> 4095 General data in 16 bit memory. WWORD 000 –> 127 General data in 32 bit memory.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions Checking an input’s status : Choice : REVERSE (NORMAL is implicit) Syntax : IN... (000 –> 255) or IN/.... 0 –> 127 : local inputs 136 –> 143 : pendant inputs 144 –> 255 : remote inputs (on CAN or ASI network) Status “1” (or “0”) of the input is awaited before going on to the next step. Several different inputs can be checked at 0 or 1 in the same step.
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Programming S900–II Level 1 Version 2.2 |–> SET IV – Programming instructions instruction – Allocation – The following variables can be set : CNT OUT BIT WORD WWORD For the CNT, WORD and WWORD, you can choose the following operators : The arithmetic operators : = Allocation of a value + Addition – Subtraction * Multiplication / Complete division (the remainder is not kept) WORDs or WWORDs are not tested to see if their capacity has been passed.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 2. 4. IF test instruction This instruction evaluates the variable it contains. Depending on the result, the instruction will or will not execute the next instruction (IF instruction must never be used alone). After an IF, all the instructions are valid APART FROM : L, R, MASTER and SLA. You are offered two choices, once you have selected a variable : IF : if the condition evaluated is TRUE, the next instruction is executed.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 2. 5. Time delays : TIME Using the key, the following value can be assigned to the time delay : a numeric value from 001 to 999 in 1/10s Note : This instruction delays running the contents of the step in which it is programmed. If it is the only instruction in the step, it delays the execution of the following step. The outputs programmed in the previous step are maintained during the programmed time.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 3. Motorized movement codes These instruction codes are used to control a movement on a given axis. Syntax: e.g. X ABS L axis to be controlled 534.8 operand movement code type of movement IV – 3. 1. Movement code Having selected the axis to be controlled (if it is motorized) the following movements are proposed : STK | REL | CTL ABS | MOULD | EJECT. |NUM/ANA| POS A | POS N | VEL A | FREE | ../..
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions * POSA / POSN / VELA / VELNN / VEL NI : Slaved movements Use of these movements is described in the ”Mould chasing” manual. * STK : Stacking movement Use of this movement is described in the S900–II Programming Level 2 Manual. An example is given in chapter V – 3. page 59. * REL : Relative movement A relative movement is a given movement over a specific distance, compared to a starting point. Syntax : X.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions 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).
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions * Offset Use of this function is described in the “Mould chasing” manual. * Val Stk : Position of the first part in a general stacking sequence Use of this operand is described in the S900–II Programming Level 2 Manual. IV – 4. The preparatory functions ”FUNC” of the numeric axes These are preparatory functions relating to numerical movements.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 4. 3. SLA : Slow approach (Temporary) Syntax : SLA Y 15 SLA Z 20 Use : this type of function is related to the execution of a numerical movement. Step 08 Sla. Y 10 Y ABS.L 1200.0 Grip part 1 Grip part 2 Speed 100 % Loss of FAL or Loss of End of Slow Speed or Presence part 1 or Presence part 2 10 % 1200.0 d (mm) In the above example, the Y movement will normally be run to reach a speed of 10% at the position 1200.0.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions Possible uses : Without an external speed–decrease sensor : gripping a part whose position is only vaguely known. lowering a part on to a stack whose height is not known exactly. With an external speed–decrease sensor (direct–reflection cell for example) : gripping (releasing) a part whose axial position is not known but that has to be dealt with rapidly. IV – 4. 4.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 4. 5. MASTER : Master movement (Temporary) This function enables a program step to be sub–divided into “sub–steps” separated by control points that can be controlled or triggered by numerical actions or movements. Syntax : <– master movement axis MASTER ABS operand <– master movement destination CTL operand <– trigger point on master movement (as from ...) <– triggered instruction (...
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions 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. X = 900 X = 400 Step 2 MASTER X X.ABS. 1000 X.CTL 400 Gripper horizontal X.CTL 900 Z.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 4. 6. LINE : Linearity (Temporary) This function is used to program a movement linearity instruction into a Step; i.e. all the axes programmed in the Step containing the LINE programming will terminate their movements together. Note : LINE does not work with the ABS.L.WWRD and STK.L.WWRD movements. X and Y movements are to be started simultaneously starting at points X=100, Y=50.0 to go to points X=2000.0, Y =400.0. X 2000.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 5. Specific codes IV – 5. 1. SP code as an instruction For its use, see chapter III – 2. page 23. Accessible using the key : Syntax : SP nn L00 (to 99) After an SP request (instruction), the operands requested are : a number from 00 to 99. A label number, corresponding to a return step indicator and a suffix indicating the order in which the subroutines are performed.
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Programming S900–II Level 1 Version 2.2 |–> IV – Programming instructions IV – 5. 4. “L” and “R” labels Accessible using then or : Syntax : L01 to L99 Syntax : R00 to R99 Note : . The label L00 is not valid. . The “L” labels are unique, the “R”s can be multiple. . They can ONLY be used in the MAIN program, (therefore not in the SP, SR etc....). (See paragraph III – 2. page 23). IV – 5. 5. END of PRG, SP...
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – SPECIFIC PROGRAMMING V – 1. PLC and parallel subroutines – SPP examples V – 1. 1. Managing a timed belt indexing An output activates the belt indexing : .output at 0 –> belt is stopped, .output at 1 –> belt is indexed. Solution using a PLC : Define the PLC in step 0 of the main PRG (example : PLC 01). Start the belt indexing in the main PRG (after the part release). (Example : SET OUT 20).
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 1. 2. Managing a belt’s “step by step” movement An output actuates the belt indexing : output at 0 –> the belt is stopped, output at 1 –> the belt is indexed. The release area on the belt is controlled by cell “1”. Cell “2”, whose position is marked in figure 1, defines the step between the parts.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 1. 3. Maintaining a pulsed input An input from the S900–II numeric control can change status at any point during the robot cycle. Its function can be, for example, a quality control request, a “bad part” data item, an access request.... These data items are nearly always asynchronous to the robot’s sequential cycle. It is therefore necessary to retain them so that they can be used at a strategic point in the robot’s cycle.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 2. System data items In order to switch to another part of the program, it may be necessary to call–up internal data items from the S900–II numeric control. V – 2. 1. System bits Bits 0 to 33 are reserved and set by the S900–II numeric control.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming Using bit 9 When a Total home return is executed, the stacking counters are set to 0. Therefore, the container must be removed before another one is put into place.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 2. 2. The part counters A certain number of counters can be viewed in the production pages. The part counters . The number of parts finished, which can be viewed in the parts page of the production menu, is generated in the program. For the counter to evolve, it is necessary to program the increment, i.e. : SET WWRD 76 + xx_D where xx equals the number of parts per mould. .
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 3. Example of part palletization Subroutines 41 to 60 are used to easily define part palletization sequences. They have a sequential structure, but contain a header area as well as steps 0 to 999. This header describes the organization of the pallet (number of parts per axis, gap between parts on each axis). Each time a stacking subroutine is run, the counter associated with it is incremented.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming The main program can be written as follows : Part grip in the mould SP 1 Stacking on belt SP 41 yes End of pallet Bit 100 no 1 Index belt + RST Bit 100 PRG 1 Step 0 PLC 0 SP 1 L0 Step 1 SP 41 N L0 Step 2 IF Bit 100 SP 81 L0 Step 3 END SPP 81 0 A simple stacking routine : Contents of SP 41 steps SUBROUTINE–> REGULAR STACKING 41 *[ * Staggered no (0) or yes (1)...........0 By layers (0) or stacks (1)...........
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 4. Customized messages V – 4. 1. The comment files A comments file created with Sepro AS900–II editor for PC can be associated with each main program. This file can contain comments on : the inputs, the outputs, the bits, the predefined actions, the SAP markers. These comments can be seen : In “programming” mode : 32 characters maximum for the predefined actions, 26 characters maximum for the comments.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 4. 2. Customized fault messages Five faults can be generated per program. These are faults D_200 to D_204. A message is associated with each one of the faults, which can be entered or modified in programming mode on the robot. V 2.0 robot V 1.0 PC Editor These messages can be created and modified on the PC. They can also be transferred from the PC to the robot and vice–versa.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming Generating a customized fault in automatic mode : Programming the instruction SET WORD 62 = xxxx (with 200 xxxx 204) will put the robot into fault and the corresponding fault message is displayed, when it is executed. Input 35 (Box in place) D_200 D_201 D_202 D_203 D_204 : Box full : Belt busy :.... : Box not in place :.... ... Step 3 IF /IN 35 SET WORD 62 = 0203 Step 4 ...
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 5. IMM anticipated restart (option) Aim : Shorten the cycle time by masking the IMM reaction time (time between the closing authorization from the robot and the actual mould movement). Principle : The machine cycle validation (VCM) and the arm free safety (SBD) are given when the robot is still inside the mould.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 5. 1. Anticipated restart with programmed delay (Parameter 174 = 2) For the anticipated restart with programmed delay to be effective, step 00 of the program used must contain the instruction SET WWRD 63 = xxxx where xxxx is the length in 1/10 s. of the delay that you wish to apply between : the decoding of the instruction “machine cycle validation” (VCM), the activation of the mould closing authorization commands.
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Programming S900–II Level 1 Version 2.2 |–> V – Specific programming V – 6. Changing program automatically The automatic program change enables a program to be selected via an external dialogue without stopping the robot. Program 00 is reserved as a return address and as a switching point to the other programs requested.
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Programming S900–II Level 1 Version 2.2 |–> V 1.3 robot V 0.5 PC Editor V – Specific programming V – 7. Example of program with insert placing For applications where an insert is placed in the mould, a special type of programming is necessary. This is because the IMM cycle must only be launched once the insert has been placed (i.e. once the mould has been accessed).
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Programming S900–II Level 1 Version 2.2 |–> VI – Memory management VI – MEMORY MANAGEMENT The robot is equipped with 2 internal and 3 external memory areas (optional). The figure below shows the possible contents of each of these 5 areas.
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Programming S900–II Level 1 Version 2.2 |–> VI – Memory management To select programming mode => PROGR | PARAM |EXPLORER| With the cursor, choose the memory area that you want to explore menu for the memory, modules and flashprom |SYSTEM MEMORY <– option MODULE MODULE (SAP) <– option FLASHPROM <– option DISKETTE List | | Backup | Reset |M_Read Restore To delete the contents of the selected memory area To copy all of the programs to the (Backup) or to the diskette (Restore).
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Programming S900–II Level 1 Version 2.2 |–> VI – Memory management VI – 2. Memory management in programming mode To access the programming menu PROGR | PARAM |EXPLORER| |SYSTEM EDIT | PLC |CREATE | COPY | SAVE to switch to the PLCs. EDIT |CREATE | COPY | SAVE | –>PRG to switch to the PRGs.
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Programming S900–II Level 1 Version 2.2 |–> VII – Annex VII – ANNEX Print–out of the SAP message file corresponding to the example in figure 1 : page 1 I 01 Anticipation of Y advance I 02 Anticipation of Z ascent ...
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Programming S900–II Level 1 Version 2.2 |–> Figures – FIGURES – : $' 1 , + : $' 1 / ' ' ' .
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Conair has made the largest investment in customer support in the plastics industry. Our service experts are available to help with any problem you might have installing and operating your equipment. Your Conair sales representative also can help analyze the nature of your problem, assuring that it did not result from misapplication or improper use.
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EQUIPMENT GUARANTEE PERFORMANCE WARRANTY Conair guarantees the machinery and equipment on this order, for a period as defined in the quotation from date of shipment, against defects in material and workmanship under the normal use and service for which it was recommended (except for parts that are typically replaced after normal usage, such as filters, liner plates, etc.). Conair’s guarantee is limited to replacing, at our option, the part or parts determined by us to be defective after examination.
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Programming S900–II Level 1 Version 2.2 |–> – INDEX – A , $ B -& ' ' B ' $ B #. 8 B #B .B ' B #B .B , ' B ,,B , ' B -B .B .B % B . $B - B B B . , B % " B # ' " + B # B # $ " " B # B # ,' B % ,!6B ,' 7 " ' B # B # , B B = "B B B , "B #B #, B & = + B D (,B .
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Programming S900–II Level 1 Version 2.2 |–> F 6 B #. : 6B # M : ' B B %B # B # B # : ' $ B # * + " B B # B # :/((B * $ ' B : $ D' B # * !(/B . : $ D' B - * B #. :;<,B * " $ $B % A ' B #B - H * + B "B B .
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Programming S900–II Level 1 Version 2.2 |–> R !FB B %B #& ' ' B B B ' B -B #B B B B B #B $B B #B % " "B /(6B / + B / B .B % / B #. / ' "" B B #B B T / 9::B / AB # ! $B .B / !B .B % ! B B & B . ' B . S ! *(B ! " B B B " B + B ! B ! $ B B ' ' B $ B - ! $ B .