Conair S900II Robotics User Manual


 
System
Configuration
S900II
III – Pr
ogram codes
22
01T01350_0
2.2.98
III – 2.
Subroutine and program calls
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SPECIFIC codes for SP, SR, PLC as an instruction
G E000 [oper. 16 bits] :
Standard SP SP nn Lmm (nn = 01 to 40) (mm = 00 to 99)
Regular Stacking SP SP nn D Lmm (or I Lmm) (nn = 41 to 60) (mm = 00 to 99)
General Stacking SP SP nn D Lmm (or I Lmm) (nn = 61 to 80) (mm = 00 to 99)
Parallel SP SP nn L00 (nn = 81 to 99)
The operand contains :
. high order word –> the LABEL number
–> bit 0 x 8000 at 0 indicates DIRECT
–> bit 0 x 8000 at 1 indicates REVERSE
. low order word –> the SP number.
E.g. : E000 0103 –> SP 03 L01
E.g. : E000 8229 –> SP 41 I L02
G E100 [oper. 16 bits] : PLC prog. – Display : PLC 00 (to 99)
G E500 [oper. 16 bits] : Home Return – Display : SR 01 (to 99)
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Return label
G E600 [oper. 16 bits] : Labels ”L” for SP – Display : L00 to L99
G E700 [oper. 16 bits] : Labels ”R” for SR – Display : R00 to R99