Conair S900II Robotics User Manual


 
System Configuration
S900II
III – Pr
ogram codes
21
01T01350_0
2.2.98
III – PROGRAM
CODES
III – 1.
Declaration of programs, subroutines and PLCs
"
Header codes of PRG, SP,..., SR, PLC
G F9b xn = Main program
G b = 0, standard PRG (encoded on 15 bits)
b = 1 , SAP PRG (encoded on 15 bits)
G FAnn = STD, STK.. // subroutine (see stacking header)
G FBnn = Return subroutine (see home return header)
G FCnn = PLC program
G FEnn = FREE
"
STEP TRANSITION codes
G EC00 + Step number 0 to 999
G E.g. : EC12 => Step number 18 (decimal)
G E.g. : ED00 => Step number 256 (decimal)
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END of PRG, SP..., SR, PLC codes
G F0nn = End of ”standard” SP nn.
G F1nn = End of ”standard” stacking SP nn.
G F2nn = End of ”general” stacking SP nn.
G F3nn = End of SP // nn.
G F4nn = End of simple or total SR nn.
G F8nn = End of simple or total SR with return to step 0 of PRG 00.
G F5nn = End of PLC nn.
G F7nn = End of main program (PRG) nn.
"
PRG architecture in the memory area
pr
evious pr
ogram
F9 nn
F7 nn
PRG (text)
FA xx
F1 xx
SP
FB pp
F4 pp
SR
F9 mm
PRG nn
following PRG