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System
Configuration
S900II
I – Memory
4
01T01350_0
2.2.98
I – 2. 2.Program addressing in memory
The PRG and PLC programs are stored in the RAM memory, starting from the address 0xB300.
The maximum length of a PRG is 12286 bytes ; 4096 bytes for a PLC.
This area reserved for the permanent storage varies depending on the option 32 to 128 Kbytes.
So
that it remains compatible with previous software versions, the RAM if formatted with 0xFFFF like
an
EEPROM.
This formatting is carried out when the robot is first started up (for the 128 Kbytes) or
when the memory is totally set to 0 [ RsMEM ] (on the size provided for in the options)
The
parameters are stored in FLASHPROM at the address
0xF10E0000. An image of this address is
stored in RAM at the address 0xA500. The length of the parameters is fixed at 2800 bytes.
The
“SAP message” file is stored in FLASHPROM at the address 0xF10E1200.
Its length is fixed at
4590 bytes.
The programs, parameters and SAP messages are transferred via a temporary buffer of 12286 bytes
at the address 0x38000. (This buffer can be extended to 128 Kbytes).
I – 2. 3.Data in Flashprom (1 M x 8) F10 00000 to F10 FFFFF
Block
number
Addr
ess in
Hexadecimal
Contents
F10 00000
ERM kernel + SEPRO program
1st block F10 0FFFF
F10 10000
SEPRO code (1)
F10 1FFFF
F10 20000
2nd block SEPRO code (2)
F10 3FFFF
F10 40000
3rd block SEPRO code (3)
F10 5FFFF
F10 60000
4th block SEPRO code (4)
F10 7FFFF
F10 80000
5th block SEPRO code (5)
F10 9FFFF
F10 A0000
6th block Reserved for extension of SEPRO code
F10 BFFFF