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Фрагмент инструкции
. Accessing the memory After accessing ”Memory Management” by pressing [Memo_M] (programming menu), pressing the [M_Read] key gives access to the read (or modification) function of the user and system RAM or EEPROM memory (at the address of the memory box by default if necessary). The address of the area at 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). : transfer buffer PRG E17. : robot serial number in RAM. : RAM access password. : 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 : [Memo_M] –> [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). System Configuration I – Memory S900II * The function keys F1 to F5 : . [Address] to change the address. . [Modif] to change the contents of the memory area displayed (word). . [Search] to search for a particular word (e.g. : FA1B) . [Print] to print the memory contents from the displayed address (in order to search for the incorrect instructions which will be printed as ????). . [StopPr] to stop sending the memory contents to the printer. Note : To access the modification function, a password is necessary which remains valid as long as the user does not exit the “M_Read” procedure. Certain critical system areas cannot be read and all requests to modify them will be rejected. By default, the value given after modification request is 0 x FFFF (useful to delete words in the memory). As for the other functions, the EXIT key is used to abandon a request or to exit the procedure. System Configuration I – Memory S900II I – 2. Memory areas I – 2. 1.Data saved in RAM (512 K x 8) 0 to 7 FFFF Address in Hexadecimal Contents 00000 027FF Variables used by Philips (BOOT) 02800 0A4FF “Fixed” SEPRO variables, see table below for details of the variables 0A500 0B2FF SEPRO parameters in RAM 0B300 2A6FF PRG storage area (128 K . 8) 2A700 37FFF SEPRO variables / work tables 38000 57FFF Temporary transfer area (128 K x 8) 58000 7FFFF Piles and heaps used by the ERM kernel 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. System ConfigurationI – Memory S900II 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 Address in Hexadecimal Contents 1st block F10 00000 F10 0FFFF ERM kernel + SEPRO program F10 10000 F10 1FFFF SEPRO code (1) 2nd block F10 20000 F10 3FFFF SEPRO code (2) 3rd block F10 40000 F10 5FFFF SEPRO code (3) 4th block F10 60000 F10 7FFFF SEPRO code (4) 5th block F10 80000 F10 9FFFF SEPRO code (5) 6th block F10 A0000 F10 ...