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Programming S900–II Level 1

Version 2.2 |–>

I – Studying an application example

01T01527_2

25.5.00

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Home 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. The robot is in the release position (just above the belt), the following is therefore necessary :

 a part release,

 a Z ascent (P10) (complete and fast).

Note : In the home returns, it is not necessary to carry out the movements that will be repeated at the

beginning of the program, such as the rotations or the X movement. You just need to move the robot

arm (Z axis) to a safe position (often, arm up).

When comparing the two types of freeing sequences in this example, only one difference can be noted

: the Y return is only necessary for freeing from the mould.

Therefore, the solution adopted that will be compatible with all the positions is :

 release part,

 if the robot is in the machine axis (AM) then Y back (P03),

 Z ascent (P10) (complete and fast).

SR00 is written in Sepro S900–II language.

HOME–RETURN SUBROUTINE 00

*[HOME RETURN ]

STEP 000

Release part 1

STEP 001

IF IN 017 ROBOT ON MACHINE AXIS CAM

Y.ABS_L TEACH. P 03 End of return after part grip

STEP 002

Z.ABS_L 00100.0 P 10 Arm 1 up

VEL.Z 100 V 01 Z speed for descent in mould

STEP 003

Ejectors 1 in

Ejectors 1 out

SP 81 L00 BELT INDEXING DELAYED

STEP 004

END

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