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Programming S900–II Level 1

Version 2.2 |–>

V – Specific programming

01T01527_2

25.5.00

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.

A pulsed input can only be maintained with a PLC.

It is however possible to maintain one of the customized keys, without using the PLC (see example

below).

Maintaining an input set to 1 :

24V

IN 34

minimum 0.1 s.

Bit 90

IF IN 34

SET BIT 90 –> Bit 90 is set to 1 after

input 34 has been set to 1.

Maintaining an input set to 0 :

24V

IN 35

minimum 0.1 s.

Bit 90

IF IN 35

SET BIT 90 –> Bit 90 is set to 1 after

input 35 has been set to 0.

This bit 90 will need to be used in the main program. However, do not forget to set it to 0 after having

used it with a RST Bit 90.

Memorising a customized key pulse :

The 8 customized keys can be used to memorise an operator request. Pressing one of these keys forces

WWRD 120 to the value corresponding to the code of the last key pressed. You just have to test the

value of WWRD 120 when needed in the program then reset it to zero after you have used it.

128

decimal value

IF WWRD 120 = 1 G key pressed

SP 10 L1 SP to be run

Do not forget to reset WWRD 120 to 0 in

SP 10

1 2 ... 55 56 57 58 59 60 61 62 63 64 65 ... 81 82

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