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System Configuration
S900II
II – Instruction codes
10
01T01350_0
2.2.98
Type
of Instruction
Display Codop (hexadecimal) Examples
CHECKING X.CTL_R Angle C130[oper.8bits][oper.24bits] C13000000664=X.CTL.R00163.6
Y.CTL_R Angle C131[oper.8bits][oper.24bits] C131000F423F=Y.CTL.R9999.9
Z.CTL_R Angle C132[oper.8bits][oper.24bits] C13200000320=Z.CTL.R00080.0
B.CTL_R Angle C133[oper.8bits][oper.24bits] C1330000003F=B.CTL.R00006.3
C.CTL_R Angle C134[oper.8bits][oper.24bits] C1340000050C=C.CTL.R00150.0
TEACHING Teach C
[oper.8bits]AAAAAA C01000AAAAAA=X.STK.LTeach
C10200AAAAAA=Z.ABS.RTeach
MOTORIZED
MOTIONS (cont’d)
LINEAR
ABSOLUTE X.ABS_L WW *nn C200 [oper. 16 bits] C200000A = X.ABS.L WW10
(Words) Y.ABS_L WW *nn C201 [oper. 16 bits]
Z.ABS_L WW *nn C202 [oper. 16 bits]
B.ABS_L WW *nn C203 [oper. 16 bits]
C.ABS_L WW *nn C204 [oper. 16 bits]
STACKING X.STK_L WW *nn C210 [oper. 16 bits]
C210000B = X.STK.L WW11
Y.STK_L WW *nn C211 [oper. 16 bits]
Z.STK_L WW *nn C212 [oper. 16 bits]
RELATIVE X.REL_L WW *nn C220 [oper. 16 bits]
C2200041 = X.REL.L WW65
Y.REL_L WW *nn C221 [oper. 16 bits]
Z.REL_L WW *nn C222 [oper. 16 bits]
B.REL_L WW *nn C223 [oper. 16 bits]
C.REL_L WW *nn C224 [oper. 16 bits]
CHECKING X.CTL_L WW *nn C230 [oper. 16 bits]
C2300010 = X.CTL.L WW16
Y.CTL_L WW *nn C231 [oper. 16 bits]
Z.CTL_L WW *nn C232 [oper. 16 bits]
B.CTL_L WW *nn C233 [oper. 16 bits]
C.CTL_L WW *nn C234 [oper. 16 bits]
ROTATING
ABSOLUTE X.ABS_R WW *nn C300 [oper. 16 bits] C300000A = X.ABS.R WW10
(Words) Y.ABS_R WW *nn C301 [oper. 16 bits]
Z.ABS_R WW *nn C302 [oper. 16 bits]
B.ABS_R WW *nn C303 [oper. 16 bits]
C.ABS_R WW *nn C304 [oper. 16 bits]
STACKING X.STK_R WW *nn C310 [oper. 16 bits]
C3100020 = X.STK.R WW32
Y.STK_R WW *nn C311 [oper. 16 bits]
Z.STK_R WW *nn C312 [oper. 16 bits]
*(nn
= 00 to 55 and 64 to 65)
Instruction code
Previous
instruction
Angle
in
1/10 deg.
SAP Marker No.
SAP marker No.