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Programming the Robot 6
6.1 PLC Server Software Overview
NOTE: See “Customer-Supplied PLC” on page 15 for information on
PLC products that are supported by the <strong>Adept</strong> PLC Server.
The <strong>Adept</strong> PLC Server <strong>com</strong>municates with the user-supplied PLC to retrieve the
predefined data registers for executing robot motions. The programmer will use the
familiar PLC software environment to sequence the robot by loading the PLC registers.
Programs can be created using Ladder Diagram, Structured Text, Sequential Function
Chart, or Function Block Diagram format.
The <strong>Adept</strong> PLC Server reads the <strong>com</strong>mand registers, executes the <strong>com</strong>mand, and returns
the current state of the robot. No PLC MSG <strong>com</strong>mands are required as the PLC Server will
initiate all <strong>com</strong>munication with the PLC to read/write the data.
6.2 Initializing a System
The user-supplied PLC <strong>com</strong>municates with the PLC Server through the DF1 protocol. See
“DF1 Protocol” on page 15 for details. See Section 4.5 on page 48 for cable connection
details. During start-up, the PLC Server automatically determines the type of PLC being
used (SLC/Micrologix or ControlLogix), and matches the PLC’s baud rate.
The PLC's RS-232 <strong>com</strong>munication port must be configured to use the DF1 Full Duplex
driver, no parity, no handshaking, and CRC error checking. See Figure 6-1, Figure 6-2 and
Figure 6-3 (below) for example screen shots of the channel configuration.
NOTE: The baud rate should be set at 38,400 (re<strong>com</strong>mended) or 19,200.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 77