Conair S900II System Información técnica descargar pdf (Pagina 71)

Programming S900–II Level 1

Version 2.2 |–>

V – Specific programming

01T01527_2

25.5.00

V – 6. Changing program automatically

The automatic program change enables a program to be selected via an external dialogue without

stopping the robot. Program 00 is reserved as a return address and as a switching point to the other

programs requested.

PRG00

Step 00

End

Await validation

PRG change

PRG 01

Step 00

End

PRG 02

Step 00

End

PRG 03

Step 00

End

Figure 5 : Changing program automatically

Principle :

Program PRG 00 is reserved as a return address. It is also used as a switching point to the other

programs. It must contain the instruction “Await validation PRG change“. See page 36 for

how to enter this instruction.

Operation

When the program PRG 00 is executed, the robot waits for the automatic program change validation

(parameter 511 input or Bit 33). When this validation goes to 1, the robot executes the program whose

number is coded, either :

 on the coding inputs (parameter 3 = 1 or 2),

 on WWRD 102 of the Euromap 17 dialogue (parameter 3 = 3),

 in WRD 58 of the JBus dialogue (parameter 3 = 4).

Once the program has been executed, the robot returns to program PRG 00 and waits for the automatic

program change to be validated again.

Note : If you want the program to run until a certain moment, you must program a loopback within

the program. (PRG 02 in the example above).

Home return :

In the header of the return subroutines, it is possible to define the return to step 00 of program PRG

00. In this case, the distinction between simple and total has no influence on the stacking sequences.

1 2 ... 66 67 68 69 70 71 72 73 74 75 76 ... 81 82

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Conair S900II System Información técnica Pagina 71