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Programming the Robot
Output Signals Command Register
The table below describes the Output Signals <strong>com</strong>mand register
Table 6-4. Output Signals Command Register
Bit RSLogix 500 RSLogix 5000 Function
0 N240:1/0 <strong>Adept</strong>_Output.0 XDIO Output 1
1 N240:1/1 <strong>Adept</strong>_Output.1 XDIO Output 2
2 N240:1/2 <strong>Adept</strong>_Output.2 XDIO Output 3
3 N240:1/3 <strong>Adept</strong>_Output.3 XDIO Output 4
4 N240:1/4 <strong>Adept</strong>_Output.4 XDIO Output 5
5 N240:1/5 <strong>Adept</strong>_Output.5 XDIO Output 6
6 N240:1/6 <strong>Adept</strong>_Output.6 XDIO Output 7
7 N240:1/7 <strong>Adept</strong>_Output.7 XDIO Output 8
8 N240:1/8 <strong>Adept</strong>_Output.8 Gripper Output
3001 a
9 N240:1/9 <strong>Adept</strong>_Output.9 Gripper Output
3002 a
10 N240:1/10 <strong>Adept</strong>_Output.10 Gripper Output
3003 b
11 N240:1/11 <strong>Adept</strong>_Output.11 Gripper Output 3004
12 N240:1/12 <strong>Adept</strong>_Output.12 RESERVED
13 N240:1/13 <strong>Adept</strong>_Output.13 RESERVED
14 N240:1/14 <strong>Adept</strong>_Output.14 RESERVED
15 N240:1/15 <strong>Adept</strong>_Output.15 RESERVED
a Requires the optional Solenoid Kit. See “SOLND Connector” on page 106 for
details.
b Requires user-supplied equipment. See “OP3/4 Connector” on page 106 for
details.
The XDIO connector is located on the front of the PLC Server. See Section 4.11 on page 66
for detailed wiring information. The gripper signals (3001 and 3002) are part of an
optional solenoid kit that can be purchased from <strong>Adept</strong> (see Section 7.6 on page 109).
86 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B