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USERGUIDE

SYSTEM CONFIGURATION
for S900-II robots
Software Version 2.1

WARNING - Reliance on this Manual Could Result in Severe Bodily Injury or Death!
This manual is out-of-date and is provided only for its technical information, data and capacities. Portions of this manual
detailing procedures or precautions in the operation, inspection, maintenance and repair of the product forming the subject
matter of this manual may be inadequate, inaccurate, and/or incomplete and cannot be used, followed, or relied upon.
Contact Conair at info@conairgroup.com or 1-800-654-6661 for more current information, warnings, and materials about
more recent product manuals containing warnings, information, precautions, and procedures that may be more adequate
than those contained in this out-of-date manual.

Corporate Office: 412.312.6000 l Instant Access 24/7 (Parts and Service): 800.458.1960 l Parts and Service: 814.437.6861
System Configuration I–
S900–II v2.1

– CONTENTS –

I – MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

I – 1. Memory read function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

I – 2. Memory areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
I – 2. 1.Data saved in RAM (512 K x 8) 0 to 7 FFFF . . . . . . . . . . . . . . . . . . 3
I – 2. 2.Program addresses in the memory . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
I – 2. 3.Data in Flashprom (1 M x 8) F10 00000 to F10 FFFFF . . . . . . . . . . 4
I – 3. Specific information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

II – INSTRUCTION CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

II – 1. Part programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

II – 2. PLC programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

III – PROGRAM CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

III – 1. Declaration of programs, subroutines and PLCs . . . . . . . . . . . . . . . . . . . . . 22

III – 2. Subroutine and program calls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

IV – VARIABLES’ ADDRESSES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

IV – 1. Output – OUT – . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

IV – 2. Input – IN – . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

IV – 3. User and system bits – BIT – . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

IV – 4. 16 bits user and system words – WRD – . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

IV – 5. 32 bit user and system words – WWRD – . . . . . . . . . . . . . . . . . . . . . . . . . . 25

IV – 6. Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

IV – 7. Time delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
IV – 7. 1.End of time delay for part program . . . . . . . . . . . . . . . . . . . . . . . . . 26
IV – 7. 2.PLC time delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

V – CPU FAULT SIGNALLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

V – 1. Flashing LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

V – 2. Fixed LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

VI – IMM ANTICIPATED RESTART . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

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System Configuration I – Memory
S900–II v2.1

I – MEMORY

I – 1. Memory read function

Access : see next page
The address of the area in which reading is to begin is given in hexadecimal (0 to F) using the numerical
keypad and the first row of alphanumerical keys of the keyboard.
Certain areas are directly accessible from the keyboard :

: beginning of the PRG editing area (0 x 006 430).

: beginning of the PLC editing area (0 x 009 430).

: beginning of the program storage in RAM area (0 x 00B 300).

: beginning of the MODULE where the programs are stored (0 x 800 000).

: robot serial number in RAM.

: beginning of parameters in RAM.

: beginning of the faults 200 to 204 message table in RAM.

For example : to access the beginning of the program storage area, the procedure is as follows :

[EXPLORER] –> [M_Read] –> [Address] –>

* The keys :

[ + ] or [ – ] to change addresses 2 by 2.

[ ] or [ ] to change addresses 10 by 10 (hexadecimal).

[PG DN] or [PG UP] to change addresses 100 by 100 (hexadecimal).

Note : To access the modification function, you must enter a password that stays valid as long as you
are in the “M_Read” procedure. Certain critical system areas can only be read and all requests to
modify them will be rejected.

By default, the value given after requesting a modification is 0 x FFFF (useful for deleting words in
the memory).
As for the other functions, use the EXIT key to abort a request or exit the procedure.

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 System Configuration
I – Memory
S900–II v2.1

=> To select
programming mode

PROGR | PARAM |EXPLORER| |SYSTEM

Choose the MEMORY

memory area MODULE <– option
that you wish to MODULE (SAP) <– option
explore using FLASHPROM
the cursor. DISKETTE <– option

List | | Backup | Reset |M_Read

or Restore 1, 2, 3, 4
then ENTER
To copy all the programs
to (Backup) or from the
diskette (Restore). To delete the program area
in the selected memory.

Addres| Modif | Search | Print |StopPr

To find a value in the To stop printing

memory
To specify the To print the memory contents starting from
address to be the address displayed (to find the faulty ins-
viewed. tructions that are printed as ????. The
printing stops after 3 faulty instructions).

To change the
contents of the Confg| | Reset | |ResetT
address being viewed.

To reset several variables

and the display to zero.
Trying to rectify memory
| | Manual | |

General deletion of the

memory and restoration of
Beginning of area to be deleted
the default parameters
Beginning of area to be moved
Confirm deletion by ENTER
Are you sure ?

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System Configuration I – Memory
S900–II v2.1

I – 2. Memory areas

I – 2. 1.Data saved in RAM (512 K x 8) 0 to 7 FFFF

Address in Contents
Hexadecimal
00000
Variables used by Philips (BOOT)
027FF
02800
“Fixed” SEPRO variables, see table below for
details of the variables
0A4FF
0A500
SEPRO parameters in RAM
0B2FF
0B300
PRG storage area (128 K × 8)
2A6FF
2A700
SEPRO variables / work tables
37FFF
38000
Temporary transfer area (128 K x 8)
57FFF
58000
Piles and heaps used by the ERM kernel
7FFFF

02800 En Ordre = RAM contents correct indicator (GIRLAFRIDOU).

02810 Bit_U_S = System and user bits table.
02890 Bit_Tpo = PLC timer bits table.
028A0 Imag_S = Images of the 255 ON/OFF outputs.
029A0 Imag_E = Image of the 255 ON/OFF inputs.
02AA0 Word_U = User words table (16–bit WORD).
02AE0 Word_S = System words table (see Programming Level 2 manual for description).
02B20 Tpo_Aut = PLC timers table.
02B40 Compt = Counters table (standard and stacking).
04AA0 Pile_Def = Pile of historic faults.
04BC0 Comptime = Times basic counter.
04BC4 Dir_RAM = PRG / PLC directory in editing area.
04C04 Dir_PP = PRG directory in save area.
05254 Dir_PLC = PLC directory in save area.
05710 Mod_PP = PRG directory in the module.
05D60 Mod_PLC = PLC directory in the module.
0621C Tab_temps = Robot times table.
06230 WWord_U = Double words table (32 bits).
06430 Ram_PP = PRG editing area.
09430 Ram_PLC = PLC editing area.

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 System Configuration
I – Memory
S900–II v2.1

I – 2. 2.Program addresses in the 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 is 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 [ ResetT ] (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 0xF10E1300. Its length is fixed at
4798 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 Address in Contents

number Hexadecimal
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

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System Configuration I – Memory
S900–II v2.1

Block Address in Contents

number Hexadecimal
F10 C0000
Messages in language 1
F10 CEBEF
F10 CEBF0
Messages in language 2
F10 DD7DF
F10 DD7E0
Font robot 1
F10 DE7EF
F10 DE7F0
Font robot 2
7th block F10 DF7FF
F10 DF800
Messages Code converter table IMM 1
F10 DF9FF
F10 DFA00
Code converter table IMM 2
F10 DFBFF
F10 DFC00
Code converter table Printer 1
F10 DFDFF
F10 DFE00
Code converter table Printer 2
F10 DFFFF
F10 E0000
SEPRO parameters
8th block F10 E0DFF
F10 E1300
Parameters SAP messages
and SAP F10 E25FF
F10 E2600
SAP and PLC programs (64Kb)
F10 F25FF

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 System Configuration
I – Memory
S900–II v2.1

I – 3. Specific information
This is directly accessed using the Memory Read function followed by the request [Address] and a
letter :

– to access the memory area containing the serial number and the type of robot.

B2E0 Operating time.

B2E2
B2E4 Operating time in automatic.
B2E6
B2E8 00 00 Robot serial number :
B2EA 04 00 E.g. 1024
B2EC 00 35 Robot type :
B2EE 73 98
E.g. 350 BB (000) –> 3503000–D –> 357398–H

Model Type Specific

0 BX
1 BY
2 BZ
3 BB
4 BC
5 AX
6 AY
7 AZ

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 System Configuration II – Instruction codes
S900–II v2.1

II – INSTRUCTION CODES

II – 1. Part programs

Type of Display Codop (hexadecimal) Examples

instruction

ACTION ACT 00 –> 99 * A000 [oper. 16 bits] A000000C = ACT12

Action number

OUTPUT OUT 000 –> 255 A001 [oper. 16 bits] A0010050 = OUT 080
Output number

INPUT IN 000 –> 255 A002 [oper. 16 bits] A002000A = IN 010

Normal
Input number

INPUT IN/ 000 –> 255 A003 [oper. 16 bits] A0030020 = IN/ 032
Reverse
Input number

TIME DELAY TIME 001 –> 999 A004[oper.4bits]0[oper.11bits] A004000A = TIME 010
A004300A = TIME 010
SAP Marker Value in
number 1/10s Marker V03

TIME W_00 –> 15 A004 0000 1 [oper.11bits] A004080A = TIME W10

A004080F = TIME W15
Word
number

BIT BIT 000 –> 127 A005 [oper. 16 bits] A0050063 = BIT 99
/ BIT 000 –> 127 A006 [oper. 16 bits] A006007D = / BIT 127
Bit number

* The actions and outputs replaced by text (e.g.: part grip 1) keep the same CODOP

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 System Configuration
II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

FUNCTIONS (FUNC)

SPEED in % of the speed set in the parameters

VEL . X 001 –> 100 B000[oper.4bits][oper.12bits] B0000062 = VEL.X 098
VEL . Y 001 –> 100 B001[oper.4bits][oper.12bits] B001000A = VEL.Y 010
VEL . Z 001 –> 100 B002[oper.4bits][oper.12bits] B0020012 = VEL.Z 018
VEL . B 001 –> 100 B003[oper.4bits][oper.12bits] B0030064 = VEL.B 100
VEL . C 001 –> 100 B004[oper.4bits][oper.12bits] B004A032 = VEL.C 050
Marker V10
SAP Marker Value in
N° 1/10s

SPEED in mm/s programmed directly (or in °/s for a rotating axis)

VEL . X ABS speed B070[oper.4bits][oper.24bits] B07003E8 = VEL.X ABS 1000.0
VEL . Y ABS speed B071[oper.4bits][oper.24bits] B07105DC = VEL.Y ABS 1500.0
VEL . Z ABS speed B072[oper.4bits][oper.24bits] B07207D0 = VEL.Z ABS 2000.0
VEL . B ABS speed B073[oper.4bits][oper.24bits] B073005A = VEL.B ABS 90.0
VEL . C ABS speed B074[oper.4bits][oper.24bits] B074002D = VEL.C ABS 45.0

SAP Marker Value in

N° 1/10s

SPEED in mm/s programmed in a WWORD (or in °/s for a rotating axis)

VEL . X WW_*nn B050 0000 [oper.12bits] B0500042 = VEL.X WW066
VEL . Y WW_*nn B051 0000 [oper.12bits] B0510043 = VEL.Y WW067
VEL . Z WW_*nn B052 0000 [oper.12bits] B0520042 = VEL.Z WW066
VEL . B WW_*nn B053 0000 [oper.12bits] B0530042 = VEL.B WW066
VEL . C WW_*nn B054 0000 [oper.12bits] B0540043 = VEL.C WW067
*(nn = 00 à 55 and 66 à 67)
wword N°

SPEED linked to the mould speed

VEL . X MOULD B0C0
VEL . Y MOULD B0C1
VEL . Z MOULD B0C2
Reserved
VEL . B MOULD B0C3
VEL . C MOULD B0C4

SPEED linked to the ejector speed

VEL . X EJECT B0D0
VEL . Y EJECT B0D1
VEL . Z EJECT B0D2
Reserved
VEL . B EJECT B0D3
VEL . C EJECT B0D4

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System Configuration II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

ACCELERATION in % of the acceleration set in the parameters

ACC . X 001 –> 100 B010 [oper. 16 bits] B010000F = ACC.X 015
ACC . Y 001 –> 100 B011 [oper. 16 bits] B0110064 = ACC.Y 100
ACC . Z 001 –> 100 B012 [oper. 16 bits] B0120044 = ACC.Z 068
ACC . B 001 –> 100 B013 [oper. 16 bits] B0130005 = ACC.B 005
ACC . C 001 –> 100 B014 [oper. 16 bits] B0140032 = ACC.C 050

Value in %

Master MOUVEMENT

MASTER . X B030
MASTER . Y B031
MASTER . Z B032
MASTER . B B033
MASTER . C B034

IMPRECISION*

IMP . X B040[oper.4bits][oper.12bits] B04031F4 = IMP X 50.0 I3

IMP . Y B041[oper.4bits][oper.12bits] B04125DC = IMP Y 150.0 I2
IMP . Z B042[oper.4bits][oper.12bits] B0420384 = IMP Z 90.0
IMP . B B043[oper.4bits][oper.12bits] B0430190 = IMP B 400.0
IMP . C B044[oper.4bits][oper.12bits] B0440DAC = IMP C 350.0

SAP Marker Value in

N° 1/10 mm
* The imprecise values must not be greater than 400.0 mm if they use an SAP marker.
SLOW APPROACH in % of the maximum Slow Approach speed set in the parameters
APL . X 001 –> 100 B020 [oper. 16 bits] B0200026 = APL.X 026
APL . Y 001 –> 100 B021 [oper. 16 bits] B0210034 = APL.Y 034
APL . Z 001 –> 100 B022 [oper. 16 bits] B0220090 = APL.Z 090
APL . B 001 –> 100 B023 [oper. 16 bits] B0230100 = APL.B 100
APL . C 001 –> 100 B024 [oper. 16 bits] B0240010 = APL.C 010

Value in %

Free MOVEMENT
X . FREE C040
Y . FREE C041
Z . FREE C042
B . FREE C043
C . FREE C044

LINEARIZATION
LIN. B046

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 System Configuration
II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

MOTORIZED MOTIONS (Numerical operands)

ABSOLUTE
X . ABS_L distance C000[oper.8bits][oper.24bits] C00000000664=X.ABS.L163.6
Y . ABS_L distance C001[oper.8bits][oper.24bits] C001000F423F=Y.ABS.L99999.9
Z . ABS_L distance C002[oper.8bits][oper.24bits] C00200000320=Z.ABS.L80.0
B . ABS_L distance C003[oper.8bits][oper.24bits] C0030000003F=B.ABS.L6.3
C . ABS_L distance C004[oper.8bits][oper.24bits] C0040000050C=C.ABS.L150.0

X . ABS_R angle C100[oper.8bits][oper.24bits] C10000000664=X.ABS.R00163.6

Y . ABS_R angle C101[oper.8bits][oper.24bits] C101000005DC=Y.ABS.R00150.0
Z . ABS_R angle C102[oper.8bits][oper.24bits] C10200000320=Z.ABS.R00080.0
B . ABS_R angle C103[oper.8bits][oper.24bits] C1030000003F=B.ABS.R00006.3
C . ABS_R angle C104[oper.8bits][oper.24bits] C10400000159=C.ABS.R00034.5

STACKING
X . STK_L distance C010[oper.8bits][oper.24bits] C01000008ACF=X.STK.L3453.5
Y . STK_L distance C011[oper.8bits][oper.24bits] C01100030DE3=Y.STK.L20016.3
Z . STK_L distance C012[oper.8bits][oper.24bits] C01200000159=Z.STK.L34.5
B . STK C053 Reserved for general stackings
C . STK C054 Absolute distances from the header

X . STK_R angle C110[oper.8bits][oper.24bits] C11000008ACF=X.STK.R03453.5

Y . STK_R angle C111[oper.8bits][oper.24bits] C11100030DE3=Y.STK.R20016.3
Z . STK_R angle C112[oper.8bits][oper.24bits] C11200000159=Z.STK.R00034.5

RELATIVE
X . REL_L distance C020[oper.8bits][oper.24bits] C020800000A0=X.REL.L–0016.0
Y . REL_L distance C021[oper.8bits][oper.24bits] C021000000A0=Y.REL.L–0016.0
Z . REL_L distance C022[oper.8bits][oper.24bits] C0228001869F=Z.REL.L–9999.9
B . REL_L distance C023[oper.8bits][oper.24bits] C02300002706=B.REL.L+0999.9
C . REL_L distance C024[oper.8bits][oper.24bits] C0240000000A=C.REL.L+0001.0

X . REL_R angle C120[oper.8bits][oper.24bits] C120000001C2=X.REL.R+45.0

Y . REL_R angle C121[oper.8bits][oper.24bits] C121800001C2=Y.REL.R–45.0
Z . REL_R angle C122[oper.8bits][oper.24bits] C122000000C8=Z.REL.R+20.0
B . REL_R angle C123[oper.8bits][oper.24bits] C12380000159=B.REL.R–34.5
C . REL_R angle C124[oper.8bits][oper.24bits] C1240000003F=C.REL.R+06.3

SAP Marker N° Value in 1/10

mm or 1/10°

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System Configuration II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

CHECKING
X . CTL_L distance C030[oper.8bits][oper.24bits] C03000000664=X.CTL.L00163.6
Y . CTL_L distance C031[oper.8bits][oper.24bits] C031000F423F=Y.CTL.L9999.9
Z . CTL_L distance C032[oper.8bits][oper.24bits] C03200000320=Z.CTL.L00080.0
B . CTL_L distance C033[oper.8bits][oper.24bits] C0330000003F=B.CTL.L00006.3
C . CTL_L distance C034[oper.8bits][oper.24bits] C0340500050C=C.CTL.L00150.0
Marker P05
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

SAP Marker N° Value in 1/10

mm or 1/10°

TEACHING
 |___|  Teach |C___| [oper.8bits]AAAAAA C01000AAAAAA=X.STK.L Teach
C10200AAAAAA=Z.ABS.R Teach
Previous Instruction SAP Marker N°
instruction code

MOTORIZED MOTIONS (Words)

ABSOLUTE
X . ABS_L WW *nn C200[oper.16bits] C200000A = X.ABS.L WW10
Y . ABS_L WW *nn C201[oper.16bits]
Z . ABS_L WW *nn C202[oper.16bits]
B . ABS_L WW *nn C203[oper.16bits]
C . ABS_L WW *nn C204[oper.16bits]

X . ABS_R WW *nn C300[oper.16bits] C300000A = X.ABS.R WW10

Y . ABS_R WW *nn C301[oper.16bits]
Z . ABS_R WW *nn C302[oper.16bits]
B . ABS_R WW *nn C303[oper.16bits]
C . ABS_R WW *nn C304[oper.16bits]

STACKING
X . STK_L WW *nn C210[oper.16bits] C210000B = X.STK.L WW11
Y . STK_L WW *nn C211[oper.16bits]
Z . STK_L WW *nn C212[oper.16bits]

X . STK_R WW *nn C310[oper.16bits] C3100020 = X.STK.R WW32

Y . STK_R WW *nn C311[oper.16bits]
Z . STK_R WW *nn C312[oper.16bits]

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 System Configuration
II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

RELATIVE
X . REL_L WW *nn C220[oper.16bits] C2200041 = X.REL.L WW65
Y . REL_L WW *nn C221[oper.16bits]
Z . REL_L WW *nn C222[oper.16bits]
B . REL_L WW *nn C223[oper.16bits]
C . REL_L WW *nn C224[oper.16bits]

X . REL_R WW *nn C320[oper.16bits] C3200001 = X.REL.R WW01

Y . REL_R WW *nn C321[oper.16bits]
Z . REL_R WW *nn C322[oper.16bits]
B . REL_R WW *nn C323[oper.16bits]
C . REL_R WW *nn C324[oper.16bits]

CHECKING
X . CTL_L WW *nn C230[oper.16bits] C2300010 = X.CTL.L WW16
Y . CTL_L WW *nn C231[oper.16bits]
Z . CTL_L WW *nn C232[oper.16bits]
B . CTL_L WW *nn C233[oper.16bits]
C . CTL_L WW *nn C234[oper.16bits]

X . CTL_R WW *nn C330[oper.16bits] C3300041 = X.CTL.R WW65

Y . CTL_R WW *nn C331[oper.16bits]
Z . CTL_R WW *nn C332[oper.16bits]
B . CTL_R WW *nn C333[oper.16bits]
C . CTL_R WW *nn C334[oper.16bits]

WWord N°
* nn = 00 –> 55 and 64 –> 65

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System Configuration II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

MOTORIZED MOTIONS (cont’d)

POS ANA
X = POS ANA + distance C060[oper.32bits]
Y = POS ANA + distance C061[oper.32bits]
Z = POS ANA + distance C062[oper.32bits]
B = POS ANA + distance C063[oper.32bits]
C = POS ANA + distance C064[oper.32bits]
X = POS ANA + angle C160[oper.32bits]
Y = POS ANA + angle C161[oper.32bits]
Z = POS ANA + angle C162[oper.32bits]
B = POS ANA + angle C163[oper.32bits]
C = POS ANA + angle C164[oper.32bits]

POS NUM
X = POS NUM + distance C070[oper.32bits]
Y = POS NUM + distance C071[oper.32bits]
Z = POS NUM + distance C072[oper.32bits]
B = POS NUM + distance C073[oper.32bits]
C = POS NUM + distance C074[oper.32bits]
X = POS NUM + angle C170[oper.32bits]
Y = POS NUM + angle C171[oper.32bits]
Z = POS NUM + angle C172[oper.32bits]
B = POS NUM + angle C173[oper.32bits]
C = POS NUM + angle C174[oper.32bits]

VEL ANA INTEGRAL

X = VEL ANA C090
Y = VEL ANA C091
Z = VEL ANA C092 Linear axis
B = VEL ANA C093
C = VEL ANA C094
X = VEL ANA C190
Y = VEL ANA C191
Z = VEL ANA C192 Rotating axis
B = VEL ANA C193
C = VEL ANA C194

VEL NUM NORMAL

X = VEL NUM_N C0A0
Y = VEL NUM_N C0A1
Z = VEL NUM_N C0A2
B = VEL NUM_N C0A3
C = VEL NUM_N C0A4
X = VEL NUM_N C1A0
Y = VEL NUM_N C1A1
Z = VEL NUM_N C1A2
B = VEL NUM_N C1A3
C = VEL NUM_N C1A4

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 System Configuration
II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

VEL NUM NORMAL

X = VEL NUM_N C0A0
Y = VEL NUM_N C0A1
Z = VEL NUM_N C0A2
B = VEL NUM_N C0A3
C = VEL NUM_N C0A4

X = VEL NUM_N C1A0

Y = VEL NUM_N C1A1
Z = VEL NUM_N C1A2
B = VEL NUM_N C1A3
C = VEL NUM_N C1A4

VEL NUM INTEGRAL

X = VEL NUM_I C0B0
Y = VEL NUM_I C0B1
Z = VEL NUM_I C0B2
B = VEL NUM_I C0B3
C = VEL NUM_I C0B4

X = VEL NUM_I C1B0

Y = VEL NUM_I C1B1
Z = VEL NUM_I C1B2
B = VEL NUM_I C1B3
C = VEL NUM_I C1B4

TEACHING
 |___|  Teach |C___| [oper.8bits]AAAAAA C16000AAAAAA=X.POS ANA + Teach
C17200AAAAAA=Z.POS NUM + Teach
Previous Instruction SAP Marker N°
Instruction code
Teaching is possible for the POS ANA and POS NUM instructions.
POS MOULD
X = POS MOULD + distance C0C0[oper.32bits]
Y = POS MOULD + distance C0C1[oper.32bits]
Z = POS MOULD + distance C0C2[oper.32bits]
B = POS MOULD + distance C0C3[oper.32bits]
C = POS MOULD + distance C0C4[oper.32bits]

POS EJECT
X = POS EJECT + distance C0D0[oper.32bits]
Y = POS EJECT + distance C0D1[oper.32bits]
Z = POS EJECT + distance C0D2[oper.32bits]
B = POS EJECT + distance C0D3[oper.32bits]
C = POS EJECT + distance C0D4[oper.32bits]

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System Configuration II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

IF INSTRUCTION ONE OPERAND

IF BIT 000 –> 127 D000 [oper. 16 bits]
IF /BIT 000 –> 127 D010 [oper. 16 bits]

IF OUT 000 –> 255 D001 [oper. 16 bits]

IF/OUT 000 –> 255 D011 [oper. 16 bits]

IF IN/000 –> 255 D002 [oper. 16 bits]

IF IN 000 –> 255 D003 [oper. 16 bits]
IF/IN 000 –> 255 D013 [oper. 16 bits]

IF TIM 00 –> 15 D004 [oper. 16 bits]

IF/TIM 00 –> 15 D014 [oper. 16 bits]

Operand number

IF INSTRUCTION TWO OPERANDS : WORD

IF WRD 000 –> 4095 D300 [oper. 16 bits]
IF /WRD 000 –> 4095 D310 [oper. 16 bits]
= 0 –> 9999 D400 [oper. 16 bits]
> = 0 –> 9999 D401 [oper. 16 bits]
< = 0 –> 9999 D402 [oper. 16 bits]
AND 0 –> 9999 D403 [oper. 16 bits] Note : If the decimal value cannot
exceed 9,999, the hexadecimal
= 0 –> FFFF D410 [oper. 16 bits] value goes up to 65,535.
> = 0 –> FFFF D411 [oper. 16 bits]
< = 0 –> FFFF D412 [oper. 16 bits]
AND 0 –> FFFF D413 [oper. 16 bits]

= CNT 00 –> 15 D420 [oper. 16 bits]

> = CNT 00 –> 15 D421 [oper. 16 bits]
< = CNT 00 –> 15 D422 [oper. 16 bits]
AND CNT 00 –> 15 D423 [oper. 16 bits]

= IN 000 –> 240 D430 [oper. 16 bits]

> = IN 000 –> 240 D431 [oper. 16 bits]
< = IN 000 –> 240 D432 [oper. 16 bits]
AND IN 000 –> 240 D433 [oper. 16 bits]

= WRD 0000 –> 4095 D440 [oper. 16 bits]

> = WRD 0000 –> 4095 D441 [oper. 16 bits]
< = WRD 0000 –> 4095 D442 [oper. 16 bits]
AND WRD 0000 –> 4095 D443 [oper. 16 bits]

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 System Configuration
II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

IF INSTRUCTION TWO OPERANDS : CNT

IF CNT 000 –> 15 D340 [oper. 16 bits]
IF /CNT 000 –> 15 D350 [oper. 16 bits]
= 0 –> 9999 D900 [oper. 32 bits]
> = 0 –> 9999 D901 [oper. 32 bits]
< = 0 –> 9999 D902 [oper. 32 bits]
AND 0 –> 9999 D903 [oper. 32 bits]

= 0 –> FFFF D910 [oper. 32 bits]

> = 0 –> FFFF D911 [oper. 32 bits]
< = 0 –> FFFF D912 [oper. 32 bits]
AND 0 –> FFFF D913 [oper. 32 bits]

= CNT 00 –> 15 D920 [oper. 16 bits]

> = CNT 00 –> 15 D921 [oper. 16 bits]
< = CNT 00 –> 15 D922 [oper. 16 bits]
AND CNT 00 –> 15 D923 [oper. 16 bits]

= IN 000 –> 240 D930 [oper. 16 bits]

> = IN 000 –> 240 D931 [oper. 16 bits]
< = IN 000 –> 240 D932 [oper. 16 bits]
AND IN 000 –> 240 D933 [oper. 16 bits]

= WRD 0000 –> 4095 D940 [oper. 16 bits]

> = WRD 0000 –> 4095 D941 [oper. 16 bits]
< = WRD 0000 –> 4095 D942 [oper. 16 bits]
AND WRD 0000 –> 4095 D943 [oper. 16 bits]

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System Configuration II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

IF INSTRUCTION TWO OPERANDS : WWORD

IF WWRD 000 –> 127 D320 [oper. 16 bits]
IF /WWRD 000 –> 127 D330 [oper. 16 bits]
= 0 –> 9999999 D500 [oper. 32 bits]
> = 0 –> 9999999 D501 [oper. 32 bits]
< = 0 –> 9999999 D502 [oper. 32 bits]
AND 0 –> 9999999 D503 [oper. 32 bits] Note : If the decimal value cannot
exceed 9,999,999, the hexadeci-
= 0 –> FFFFFFFF D510 [oper. 32 bits] mal value goes up to
> = 0 –> FFFFFFFF D511 [oper. 32 bits] 4,294,967,295.
< = 0 –> FFFFFFFF D512 [oper. 32 bits]
AND 0 –> FFFFFFFF D513 [oper. 32 bits]

= CNT 00 –> 15 D520 [oper. 16 bits]

> = CNT 00 –> 15 D521 [oper. 16 bits]
< = CNT 00 –> 15 D522 [oper. 16 bits]
AND CNT 00 –> 15 D523 [oper. 16 bits]

= IN 000 –> 240 D530 [oper. 16 bits]

> = IN 000 –> 240 D531 [oper. 16 bits]
< = IN 000 –> 240 D532 [oper. 16 bits]
AND IN 000 –> 240 D533 [oper. 16 bits]

= WRD 0000 –> 4095 D540 [oper. 16 bits]

> = WRD 0000 –> 4095 D541 [oper. 16 bits]
< = WRD 0000 –> 4095 D542 [oper. 16 bits]
AND WRD 0000 –> 4095 D543 [oper. 16 bits]

= WWRD 0000 –> 127 D550 [oper. 16 bits]

> = WWRD 0000 –> 127 D551 [oper. 16 bits]
< = WWRD 0000 –> 127 D552 [oper. 16 bits]
AND WWRD 0000 –> 127 D553 [oper. 16 bits]

INCREMENTATION / DECREMENTATION
INC CNT 00 –> 15 D01B 00[oper. 8 bits]
INC CNT 0041 –> 9980 D01B [oper. 8 bits][oper. 8 bits]

PRG number SP number

DEC CNT 00 –> 15 D01C 00[oper. 8 bits]
DEC 0041 –> 9980 D01C [oper. 8 bits][oper. 8 bits]

PRG number SP number

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 System Configuration
II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

INITIALIZATION ONE OPERAND
SET BIT 032 –> 127 D015 [oper. 16 bits]
RST BIT 032 –> 127 D017 [oper. 16 bits]

SET OUT 000 –> 255 D016 [oper. 16 bits]

RST OUT 000 –> 255 D018 [oper. 16 bits]

RST WRD 0000 –> 4095 D019 [oper. 16 bits]

RST WWRD 0000 –> 63 D01D [oper. 16 bits]

RST CNT 00 –> 15 D01A 00[oper. 8 bits]

RST CNT 0041 –> 9980 D01A [oper. 8 bits][oper. 8 bits]

PRG number SP number

INITIALIZATION TWO OPERANDS : WORD
SET WRD 000 –> 4095 D600 [oper. 16 bits]
= 0 –> 9999 D700 [oper. 16 bits]
+ 0 –> 9999 D701 [oper. 16 bits]
– 0 –> 9999 D702 [oper. 16 bits]
x 0 –> 9999 D703 [oper. 16 bits]
/ 0 –> 9999 D704 [oper. 16 bits]
AND 0 –> 9999 D705 [oper. 16 bits]
OR 0 –> 9999 D706 [oper. 16 bits]
= 0 –> FFFF D710 [oper. 16 bits]
+ 0 –> FFFF D711 [oper. 16 bits]
– 0 –> FFFF D712 [oper. 16 bits]
x 0 –> FFFF D713 [oper. 16 bits]
/ 0 –> FFFF D714 [oper. 16 bits]
AND 0 –> FFFF D715 [oper. 16 bits]
OR 0 –> FFFF D716 [oper. 16 bits]
= CNT 00 –> 15 D720 [oper. 16 bits]
+ CNT 00 –> 15 D721 [oper. 16 bits]
– CNT 00 –> 15 D722 [oper. 16 bits]
x CNT 00 –> 15 D723 [oper. 16 bits]
/ CNT 00 –> 15 D724 [oper. 16 bits]
AND CNT 00 –> 15 D725 [oper. 16 bits]
OR CNT 00 –> 15 D726 [oper. 16 bits]
= IN 000 –> 240 D730 [oper. 16 bits]
+ IN 000 –> 240 D731 [oper. 16 bits]
– IN 000 –> 240 D732 [oper. 16 bits]
x IN 000 –> 240 D733 [oper. 16 bits]
/ IN 000 –> 240 D734 [oper. 16 bits]
AND IN 000 –> 240 D735 [oper. 16 bits]
OR IN 000 –> 240 D736 [oper. 16 bits]
= WRD 0000 –> 4095 D740 [oper. 16 bits]
+ WRD 0000 –> 4095 D741 [oper. 16 bits]
– WRD 0000 –> 4095 D742 [oper. 16 bits]
x WRD 0000 –> 4095 D743 [oper. 16 bits]
/ WRD 0000 –> 4095 D744 [oper. 16 bits]
AND WRD 0000 –> 4095 D745 [oper. 16 bits]
OR WRD 0000 –> 4095 D746 [oper. 16 bits]

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System Configuration II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

INITIALIZATION TWO OPERANDS : WWORD

SET WWRD 000 –> 127 D620 [oper. 16 bits]

= 0 –> 9999999 D800 [oper. 32 bits]

+ 0 –> 9999999 D801 [oper. 32 bits]
– 0 –> 9999999 D802 [oper. 32 bits]
x 0 –> 9999999 D803 [oper. 32 bits]
/ 0 –> 9999999 D804 [oper. 32 bits]
AND 0 –> 9999999 D805 [oper. 32 bits]
OR 0 –> 9999999 D806 [oper. 32 bits]

= 0 –> FFFFFFFF D810 [oper. 32 bits]

+ 0 –> FFFFFFFF D811 [oper. 32 bits]
– 0 –> FFFFFFFF D812 [oper. 32 bits]
x 0 –> FFFFFFFF D813 [oper. 32 bits]
/ 0 –> FFFFFFFF D814 [oper. 32 bits]
AND 0 –> FFFFFFFF D815 [oper. 32 bits]
OR 0 –> FFFFFFFF D816 [oper. 32 bits]

= CNT 00 –> 15 D820 [oper. 16 bits]

+ CNT 00 –> 15 D821 [oper. 16 bits]
– CNT 00 –> 15 D822 [oper. 16 bits]
x CNT 00 –> 15 D823 [oper. 16 bits]
/ CNT 00 –> 15 D824 [oper. 16 bits]
AND CNT 00 –> 15 D825 [oper. 16 bits]
OR CNT 00 –> 15 D826 [oper. 16 bits]

= IN 000 –> 240 D830 [oper. 16 bits]

+ IN 000 –> 240 D831 [oper. 16 bits]
– IN 000 –> 240 D832 [oper. 16 bits]
x IN 000 –> 240 D833 [oper. 16 bits]
/ IN 000 –> 240 D834 [oper. 16 bits]
AND IN 000 –> 240 D835 [oper. 16 bits]
OR IN 000 –> 240 D836 [oper. 16 bits]

= WRD 0000 –> 4095 D840 [oper. 16 bits]

+ WRD 0000 –> 4095 D841 [oper. 16 bits]
– WRD 0000 –> 4095 D842 [oper. 16 bits]
x WRD 0000 –> 4095 D843 [oper. 16 bits]
/ WRD 0000 –> 4095 D844 [oper. 16 bits]
AND WRD 0000 –> 4095 D845 [oper. 16 bits]
OR WRD 0000 –> 4095 D846 [oper. 16 bits]

= WWRD 0000 –> 127* D850 [oper. 16 bits] * also possible with
+ WWRD 0000 –> 127 D851 [oper. 16 bits] WWORD 200 –> 202
– WWRD 0000 –> 127 D852 [oper. 16 bits]
x WWRD 0000 –> 127 D853 [oper. 16 bits]
/ WWRD 0000 –> 127 D854 [oper. 16 bits]
AND WWRD 0000 –> 127 D855 [oper. 16 bits]
OR WWRD 0000 –> 127 D856 [oper. 16 bits]

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 System Configuration
II – Instruction codes
S900–II v2.1

Display Codop (hexadecimal) Examples

INITIALIZATION TWO OPERANDS : CNT

SET CNT 00 –> 15 D640 00[oper. 8 bits] Standard counter
SET CNT 0041 –> 9980 D640 [oper. 8 bits][oper. 8 bits] Stacking counter

PRG number SP number

= 0 –> 9999 DA00 [oper. 16 bits]

+ 0 –> 9999 DA01 [oper. 16 bits]
– 0 –> 9999 DA02 [oper. 16 bits]
x 0 –> 9999 DA03 [oper. 16 bits]
/ 0 –> 9999 DA04 [oper. 16 bits]
AND 0 –> 9999 DA05 [oper. 16 bits]
OR 0 –> 9999 DA06 [oper. 16 bits]

= 0 –> FFFF DA10 [oper. 16 bits]

+ 0 –> FFFF DA11 [oper. 16 bits]
– 0 –> FFFF DA12 [oper. 16 bits]
x 0 –> FFFF DA13 [oper. 16 bits]
/ 0 –> FFFF DA14 [oper. 16 bits]
AND 0 –> FFFF DA15 [oper. 16 bits]
OR 0 –> FFFF DA16 [oper. 16 bits]

= CNT 00 –> 15 D920 [oper. 16 bits]

+ CNT 00 –> 15 D921 [oper. 16 bits]
– CNT 00 –> 15 D922 [oper. 16 bits]
x CNT 00 –> 15 D923 [oper. 16 bits]
/ CNT 00 –> 15 D924 [oper. 16 bits]
AND CNT 00 –> 15 D925 [oper. 16 bits]
OR CNT 00 –> 15 D926 [oper. 16 bits]

= IN 000 –> 240 DA30 [oper. 16 bits]

+ IN 000 –> 240 DA31 [oper. 16 bits]
– IN 000 –> 240 DA32 [oper. 16 bits]
x IN 000 –> 240 DA33 [oper. 16 bits]
/ IN 000 –> 240 DA34 [oper. 16 bits]
AND IN 000 –> 240 DA35 [oper. 16 bits]
OR IN 000 –> 240 DA36 [oper. 16 bits]

= WRD 0000 –> 4095 DA40 [oper. 16 bits]

+ WRD 0000 –> 4095 DA41 [oper. 16 bits]
– WRD 0000 –> 4095 DA42 [oper. 16 bits]
x WRD 0000 –> 4095 DA43 [oper. 16 bits]
/ WRD 0000 –> 4095 DA44 [oper. 16 bits]
AND WRD 0000 –> 4095 DA45 [oper. 16 bits]
OR WRD 0000 –> 4095 DA46 [oper. 16 bits]

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 System Configuration II – Instruction codes
S900–II v2.1

II – 2. PLC programs

Type of instruction Display Codop (hexadecimal)

PROG.PLC xx header (num) PLC xx FC [oper. 16 bits]

PLC number

TEST CONDITION IF ... See part programs

INITIALIZATION SET ...
RST ...
See part programs
INC ...
DEC ...
COMPARISON CNT xxxx > CMP CNT 00 –> 15 VAL 0000 –> FFFF
= xxxx CMP CNT 0041 –> 9980 VAL 0000 –> FFFF D020 [oper. 16 bits][oper. 16 bits]

Counter number Value

TIMER xx VALUE xxxx TIMER 00 –> 15 VAL 0 –> 9999 D021 [oper. 16 bits][oper. 16 bits]

Timer number preselection

value

AND FUNCTION on BIT AND BIT 000 –> 127 D022 [oper. 16 bits]
AND FUNCTION on OUT- AND OUT 000 –> 255 D023 [oper. 16 bits]
PUT
OR FUNCTION on BIT OR BIT 000 –> 127 D024 [oper. 16 bits]
OR FUNCTION on OUT- OR OUT 000 –> 255 D025 [oper. 16 bits]
PUT
END OF PROGRAM END F5 [oper. 16 bits]
PLC number

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 System Configuration
III – Program codes
S900–II v2.1

III – PROGRAM CODES

III – 1. Declaration of programs, subroutines and PLCs

Header codes of PRG, SP,..., SR, PLC
 F9b xn = Main program
 b = 0, standard PRG (encoded on 15 bits)
b = 1 , SAP PRG (encoded on 15 bits)
 FAnn = STD, STK.. // subroutine (see stacking header)
 FBnn = Return subroutine (see home return header)
 FCnn = PLC program
 FEnn = FREE

STEP TRANSITION codes
 EC00 + Step number 0 to 999
 E.g. : EC12 => Step number 18 (decimal)
 E.g. : ED00 => Step number 256 (decimal)

END of PRG, SP..., SR, PLC codes
 F0nn = End of ”standard” SP nn.
 F1nn = End of ”standard” stacking SP nn.
 F2nn = End of ”general” stacking SP nn.
 F3nn = End of SP // nn.
 F4nn = End of simple or total SR nn.
 F8nn = End of simple or total SR with return to step 0 of PRG 00.
 F5nn = End of PLC nn.
 F7nn = End of main program (PRG) nn.

PRG architecture in the memory area

previous program

F9 nn
PRG (text)
F7 nn

FA xx
SP
PRG nn
F1 xx

FB pp
SR
F4 pp

F9 mm following PRG

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System Configuration III – Program codes
S900–II v2.1

III – 2. Subroutine and program calls

SPECIFIC codes for SP, SR, PLC as an instruction
 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
 E100 [oper. 16 bits] : PLC prog. – Display : PLC 00 (to 99)
 E500 [oper. 16 bits] : Home Return – Display : SR 01 (to 99)

Return label
 E600 [oper. 16 bits] : Labels ”L” for SP – Display : L00 to L99
 E700 [oper. 16 bits] : Labels ”R” for SR – Display : R00 to R99

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 System Configuration
IV – Variables’ addresses
S900–II v2.1

IV – VARIABLES’ ADDRESSES

IV – 1. Output – OUT –
Accessible in read and write.

Number Physical Structures / Functions

(logical address) address
not used
OUT 000 28A0
2 A1D
OUT 255 299F
Forcing OUT 125
(Extended monitor) Continuous status
(See Param. No 14)

IV – 2. Input – IN –
Accessible in read.

Number Physical Structures / Functions

(logical address) address
not used
IN 000 29A0
2 9AB
IN 255 2A9F
IN 011

IV – 3. User and system bits – BIT –

Each address corresponds to an 8 bit structure in memory.

not used

0281x
Forcing
(Extended monitor) BIT 0
x = bit number in hexadecimal (e.g.: Bit 31, address = 0282F).
Only the low order word is used.
– System bits accessible in Read – No. 0 to 30.
– System bits accessible in Read and Write – No. 31 to 33.
– User bits accessible in Read and Write – No. 34 to 127.
For the definition of these bits, see the Programming Level 2 manual, paragraph I3.

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System Configuration IV – Variables’ addresses
S900–II v2.1

IV – 4. 16 bits user and system words – WRD –

Number Physical Structures / Functions

(logical address) address
WRD 0000 2AA0 32 user Words (read/write) with no predefined functions.
B15 0

WRD 0031 2ADF 16 bit structure available

WRD 0032 2AE0 32 system Words (read only). For the definition of these
words, see the Programming Level 2 manual, paragraph
WRD 0063 2B1E I4

WRD 0064 2B20 16 user Words (read/write) supporting the PLC timers
(TIM 00 to TIM 15).
WRD 0079 2B3F

WRD 0080 2B40 16 user Words (read/write) supporting the standard

counters (CNT 00 to CNT 15).
WRD 0095 2B5F

WRD 0096 2B60

4000 user Words (read/write) supporting the stacking
subroutine counters (CNT 0041 to CNT 9980).
WRD 4096 3A9F

IV – 5. 32 bit user and system words – WWRD –

Number Physical Structures / Functions

(logical address) address
WWRD 000 6230 64 user Words (read/write) with no predefined functions.
b31 0

WWRD 063 6327 32 bit structure available

WWRD 064 6328 64 system Words (read only). For the definition of these
words, see the Programming Level 2 manual, paragraph
I5
WWRD 127 642C
Specific words
WWRD 0116 6400 Values for calculating the automatic anticipated restart.
WWRD 0117 6404 Values for calculating the automatic anticipated restart.
See chapter VI – page 29.

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 System Configuration
IV – Variables’ addresses
S900–II v2.1

IV – 6. Counters
Each address corresponds to a 16 bit structure in the memory.

WRD0088
b15 b0
2 B4x

CNT0008
. values from 0000 to 9999 in decimal
. values from 0000 to FFFF in hexadecimal

x = bit number in hexadecimal (e.g.: CNT 0008, address = 2 B50).

– Standard counters – No. 0000 to 0015 (0x2B40 to 0x2B5E).
– Regular stacking counters – No. 0041 to 9960 (as from 0x2 B60).
– General stacking counters – No 0061 to 9980.
For the definition of these counters, see the Programming Level 2 manual, paragraph I6.

IV – 7. Timers

IV – 7. 1.End of timer for part program

Accessible in read and write.

Number Physical Structures / Functions

(logical address) address
TIM00 2 890
TIM01 2 891
TIM02 2 892
TIM03 2 893
TIM04 2 894
TIM05 2 895
TIM06 2 896 2 897
TIM07 2 897
not used TIM07
TIM08 2 898
TIM09 2 899
TIM10 2 89A Only the low order word is used
TIM11 2 89B
TIM12 2 89C
TIM13 2 89D
TIM14 2 89E
TIM15 2 89F

IV – 7. 2.End of timer for PLC

TIM00 to 15 = WRD 0064 to 0079 see chapter .
Accessible in read and write.

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System Configuration V – CPU fault signalling
S900–II v2.1

V – CPU FAULT SIGNALLING

V – 1. Flashing LEDs
These signal a CAN network fault by displaying the problem number in binary on the LEDs at the
bottom of the CPU, and the node number (if concerned) on the LEDs at the top if the pendant is not
functioning.

1 = CAN driver initialization fault

3 0

2 = Write problem in Flashprom

5 = A double (or more) node on the network (code + node)

6 = Problem during the CONNECTION phase (code + node)

7 = Problem during the PREPARATION phase (code + node)

8 = Problem during the START phase (code + node)

9 = The network does not correspond to the parametered configuration (code + node)

10 = “Node–guarding” problem (code + node). Communication fault with the pendant ;

this may be due to the CAN speed being too great for the length of the cable used, or a bad
line adaptation, or interference, etc.

11 = CPU emission problem

12 = CPU reception problem

13 = Topology fault of the remote I/O

15 = EMERGENCY message received (code + node). Problem on the pendant or with

communication between the pendant and the CPU (see 10)

Note : In the event of a NODE GUARDING fault, fault 15 may appear alternately with fault 10.

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 System Configuration
V – CPU fault signalling
S900–II v2.1

V – 2. Fixed LEDs
These signal a fault when powering up by giving the problem number in binary on the LEDs at the
bottom of the CPU, and the node number (if concerned) on the LEDs at the top if the pendant is not
functioning.

1 = Problem with recovering the parameters in Flashprom

2 = Problem during the opening of the PC link

3 = Problem during the opening of the EUROMAP 17 link

4 = Problem during the opening of the printer 2 link

5 = Problem during the opening of the CAN link

6 = Message not present in Flashprom

7 = Problem with the CPU’s RAM

8 = Problem with the Flashprom’s checksum

9 = Problem with the axes defined and the axes’ boards present

10 = The configuration has changed

11 = Problem during the initialization of the axes’ boards by the CPU

15 = Communication problem with the pendant during powering up. The CAN speed
may be changed by transferring the parameters with the PC at 2400 Bds, slave = 1.

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System Configuration VI – IMM Anticipated Restart
S900–II v2.1

VI – IMM ANTICIPATED RESTART

Parameter 174 : type of IMM anticipated restart
 0 : no anticipated restart
 1 : anticipated restart
 2 : programmed delay anticipated restart –> WWRD 63 programmed in step 0.

Parameter 175 : basic value of the auto–adaptative delay and double the minimum value of
the programmed delay

Parameter 176 : minimum value of the auto–adaptative delay (safety margin)
Anticipated restart effective if :
 offset wait is not valid (parameter 451)
 and if the robot is in automatic
 and if Kv equals 100 %
in the case of
 and if there is a SET WWRD63 in step 0 of the program restart with
programmed
 and if the value of WWRD63 is greater than or equal to parameter 175 delay
2

VCM
programmed
VCM Tr = WWRD 116

P176
BHM
Tm = WWRD 117

MO
Tr = robot disengaging time in 1/10 s (WWRD 116)
Tm = IMM motion start time in 1/10 s (WWRD 117)
Rt = theoretical delay = Tr – Tm + P176 or 0 if the result is negative
Rapp = Applied delay

Rapp > Rt yes

no

Rapp = Rt Rapp = 66% of (Rt – Rapp)

There is a fault if mould open (or OPA) goes to 0 and BHM = 0

D_5 : MOVEMENT OUTSIDE CAMS (if there is no anticipated restart running)
D_32: PREMATURE MACHINE RESTART (if there is an anticipated restart running)

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 System Configuration
VI – IMM Anticipated Restart
S900–II v2.1

Safety circuit principle.

A hard–wired circuit controls the respective positions of the moving mould (“MO” = Mould Open
signal) and of the robot (“ZBD” = Arm Free Area / “ZHM” = Outside Mould Area signal).
The output of this hard–wired circuit (”MO” + ”ZBD” + ”ZHM” = ”KA301”) activates a power relay
(KA301 contactor).
During normal operation, the KA301 relay is activated. The KA301 contacts are used in series with
the SBD relay contact from the interface board, which therefore means that the software safety that
manages the SBD relay with a hard–wired safety device is doubled.
When there is a fault (robot position not conform compared to the moving mould position), the KA301
relay falls, which in turn activates the control relay KA16A, which is self–powered and stops the
KA301 relay becoming active (the blocking of KA301 prohibits the IMM cycle).
You must power the robot cabinet down to cancel this fault.

FOR 32 OUTPUT BOARDS : as OUTxx active at power up

ANCILLARY “ARM “KA301” relay

FREE” SAFETY CONTROL

ANCILLARY “ARM “KA301” relay

FREE” SAFETY CONTROL

V 2.0 Robot Enter the XX input number that controls the KA 301 relay in parameter 499.
If the input defined in this parameter goes to 1, the following fault message is displayed.

D_35: ANTICIPATED RESTART NOT CONFORM

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Conair has made the largest investment in customer support in
the plastics industry. Our service experts are available to help WE’RE HERE
with any problem you might have installing and operating
your equipment. Your Conair sales representative also can help TO HELP
analyze the nature of your problem, assuring that it did not
result from misapplication or improper use.

To contact Customer Service personnel, call:

HOW TO CONTACT
CUSTOMER
SERVICE
From outside the United States, call: 814-437-6861
You can commission Conair service personnel to provide on-
site service by contacting the Customer Service Department.
Standard rates include an on-site hourly rate, with a one-day
minimum plus expenses.

If you do have a problem, please complete the

following checklist before calling Conair: BEFORE YOU
❒ Make sure you have all model, serial and parts list num- CALL ...
bers for your particular equipment. Service personnel will
need this information to assist you.
❒ Make sure power is supplied to the equipment.
❒ Make sure that all connectors and wires within and
between loading control and related components have been
installed correctly.
❒ Check the troubleshooting guide of this manual
for a solution.
❒ Thoroughly examine the instruction manual(s)
for associated equipment, especially controls. Additional manuals and
Each manual may have its own troubleshooting prints for your Conair
guide to help you. equipment may be
ordered through the
❒ Check that the equipment has been operated as Customer Service or
described in this manual. Parts Departments for
a nominal fee.
❒ Check accompanying schematic drawings for
information on special considerations.

SERVICE INFORMATION APPENDIX A-1

 Conair guarantees the machinery and equipment on this
EQUIPMENT order, for a period as defined in the quotation from date of
GUARANTEE shipment, against defects in material and workmanship
under the normal use and service for which it was recom-
mended (except for parts that are typically replaced after
normal usage, such as filters, liner plates, etc.). Conair’s
guarantee is limited to replacing, at our option, the part or
parts determined by us to be defective after examination.
The customer assumes the cost of transportation of the
part or parts to and from the factory.

Conair warrants that this equipment will perform at or

PERFORMANCE above the ratings stated in specific quotations covering the
WARRANTY equipment or as detailed in engineering specifications,
provided the equipment is applied, installed, operated and
maintained in the recommended manner as outlined in our
quotation or specifications.

Should performance not meet warranted levels, Conair at

its discretion will exercise one of the following options:
● Inspect the equipment and perform alterations or
adjustments to satisfy performance claims. (Charges
for such inspections and corrections will be waived
unless failure to meet warranty is due to misapplica-
tion, improper installation, poor maintenance practices
or improper operation.)
● Replace the original equipment with other Conair
equipment that will meet original performance claims
at no extra cost to the customer.
● Refund the invoiced cost to the customer. Credit is sub-
ject to prior notice by the customer at which time a
Return Goods Authorization Number (RGA) will be
issued by Conair’s Service Department. Returned
equipment must be well crated and in proper operating
condition, including all parts. Returns must be prepaid.

Purchaser must notify Conair in writing of any claim and

provide a customer receipt and other evidence that a claim
is being made.

Except for the Equipment Guarantee and Performance

WARRANTY Warranty stated above, Conair disclaims all other war-
ranties with respect to the equipment, express or
LIMITATIONS implied, arising by operation of law, course of dealing,
usage of trade or otherwise, including but not limited to
the implied warranties of merchantability and fitness for
a particular purpose.

APPENDIX A-2 WARRANTY INFORMATION