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Programming S900–II Level 1

Version 2.2 |–>

V – Specific programming

01T01527_2

25.5.00

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.

Bits for the regular stacking sequences :

 Bit 0 = 1 if reverse stacking

 Bit 1 = 1 if end of layer or end of row

 Bit 2 = 1 if end of pallet

 Bit 3 = 1 if odd stack in progress

 Bit 4 = 1 if odd column in progress

 Bit 5 = 1 if odd layer in progress

 Bit 6 = 1 if odd part in progress (Stacking SP counter)

 Bit 7 = 1 if stacking sequence in progress.

When the end of pallet bit (bit 2) is actuated, the end of layer or row bit (bit 1) is not active.

These bits are set to 1 or 0 as soon as the stacking subroutine header has been decoded.

Bit 7 is set to zero when the END instruction of the stacking subroutine is decoded or if a subroutine,

whose return label L is other than 0, is started.

The other bits (0 to 6) keep the same status until the next stacking subroutine heading is decoded.

These operations can be conditionned by the system bits.

1) IF BIT 2 if end of pallet

SP 81 L0 start the execution of SPP 81

2) IF BIT 3 if odd stack in progress,

Rotation 2 – direction turn the part

You do not have to set bits 0 to 7 to zero again; this is done automatically by the S900–II control.

Robot’s status bits:

Three system bits enable the organisation of the program architecture.

 Bit 9 = 1 if a TOTAL home return is running.

 Bit 10 = 1 if a parallel subroutine SPP is running.

 Bit 11 = 1 if an end of cycle triggered by the Without Robot mode is running.

Note : The robot’s cycle end can be tested using the weight 2 bit of word 36

(IF WRD 36 AND 2).

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