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Programming the Robot
6.3 PLC Software Overview
NOTE: For users of SLC or MicroLogix PLCs and PLC Server software
older than version 0.96, please note that the data files referenced by the
PLC Server have been changed as follows:
Old Reference
N30
N31
F32
F33
F34
ST35
New Reference
N240
N241
F242
F243
F244
ST245
In order to use PLC Server software version 0.96 or later with SLC or MicroLogix
PLCs, existing <strong>Cobra</strong> PLC Robot installations must have the PLC Server data files
moved to the new location, and all the references in the PLC code must be
changed to match.
Effective with version 0.94 of the PLC Server code, the startup message that is sent
to the PLC contains the version ID of the PLC Server code. (However, if version
0.96 or later of the PLC Server code is used with an existing installation, that
message might not get to an SLC/MicroLogix PLC because of the change to the
data-file numbers described above.)
The <strong>Adept</strong> PLC Server uses PLC registers for five types of data: Command, Error,
Position, Location & Pallet Definition, and Status. These are described in detail in the
following sections.
NOTE: Throughout this section, you will see references to RSLogix 500
registers. To find the corresponding RSLogix 5000 tag name, simply go to
the table containing the referenced RSLogix 500 register and locate the
corresponding RSLogix 5000 tag name in the adjacent column.
The Command registers determine the functions performed by the <strong>Adept</strong> PLC robot. For
example, if N240:0=1 (meaning bit 1 is on) then the PLC Server will attempt to enable
robot high power. The Status registers reflect the current state of the PLC Server and robot.
For example, if N241:0=6 (^B110) then the PLC Server is in a fault state and the robot is
calibrated. The registers with real-value format contain floating-point data that define
location, pallet and motion parameters.
NOTE: With RSLogix 500, the PLC Server uses file 240 and above, as
indicated in Table 6-2 through Table 6-13.
The table below lists the data types and format. Note that the PLC Server is responsible for
initiating all data transfers to and from the PLC.
80 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B