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Introduction 1
1.1 Product Description
The <strong>Adept</strong> <strong>Cobra</strong> PLC Robot system consists of a customer-supplied PLC, an <strong>Adept</strong> PLC
Server, and an <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong> or PLC800 robot. This manual covers the installation,
operation, and maintenance of the <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 robot system, and
describes the PLC Server software.
Customer-Supplied PLC
The customer-supplied PLC is used to <strong>com</strong>mand and control the robot. (The PLC may
also be used to control other devices and processes in the workcell.) All application
programs and location data are stored on the PLC. When the PLC application runs, the
PLC writes <strong>com</strong>mand data to data files in the PLC, and the <strong>Adept</strong> PLC Server uses the
DF1 Protocol to read those data files and to write status information to data files in the
PLC.
This product is <strong>com</strong>patible with the Allen-Bradley SLC, MicroLogix and ControlLogix
product lines. The PLC must provide the following capabilities:
1. An RS-232C serial port must be available for exclusive use by the PLC Server.
2. The Float and String data types must be supported by the PLC.
DF1 Protocol
NOTE: The Allen-Bradley PLC5 family is not supported.
DF1 Protocol is an Allen-Bradley serial protocol that is available on every Allen-Bradley
PLC. It supports full-duplex (peer-to-peer) and half-duplex (master-slave)
<strong>com</strong>munication, and is data transparent. With the protocol, data transmissions contain a
16-bit CRC field to ensure data integrity. The maximum baud rate is 38.4 kps on most
Allen-Bradley PLCs. DF1 is an “open” specification that has no licensing requirements. It
is fully documented in Allen-Bradley publication 1770-6.5.16.
<strong>Adept</strong> PLC Server
The <strong>Adept</strong> PLC Server receives <strong>com</strong>mands from the PLC, interprets the information, and
then <strong>com</strong>mands the robot to move. As the robot is <strong>com</strong>manded to move, status
information is returned to the PLC.
The <strong>Adept</strong> PLC Server also provides facilities to connect external E-Stop circuitry to the
system. A front panel with an E-Stop is included with the <strong>Adept</strong> PLC Server.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 15