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Programming S900–II Level 1

Version 2.2 |–>

III – Program structure

01T01527_2

25.5.00

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.

The Home return Subroutines (SR00 and SR99) enable different robot freeing sequences.

There are two ways of executing a home return :

 when the operator requests it : in Step by Step mode then then

held down.

 when there is a part grip fault in the mould : in automatic mode .

Subroutines SR00 to SR99 are valid for each main program.

Like the main programs, they can be ”named” (maximum 30 characters) in order to identify them with

their function in the program :

”SR 35 : CLEAR SCALE”

The Return subroutine executed is SR00 if nothing particular has been specified in the program. If you

wish to use a Return subroutine (SR) other than SR00, this must be specified in each program or

subroutine step where you wish to use it.

Contents of a Return Subroutine

In a Return Subroutine (SR), the robot freeing sequence must take into account the difficult positions

in the cycle (gripper head in the mould or on a peripheral).

It describes the successive movements to be carried out to free the robot from each difficult position.

Note that these structures enable you to use the same subroutine with different return addresses ; they

always lead back to a step in the main program, irrespective of the starting point (PRG or SP).

The SRxx instruction, placed in the main program or subroutine steps, enables you to execute SR

number xx instead of SR00 when you ask for a home return. See figure 2 : page 28 and the special

cases TIME page 41 and MASTER page 48

The execution of Home Return subroutines is sequential and they cannot be restarted

until they have been completed.

If the Home Return is interrupted by a change to Adjust mode and if it is forced (parameter 15=1), then

the Home Return will start again at Step 0.

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