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Programming the Robot To teach a location (i.e., record a location in the PLC): 1. Enable N240:0/1 or <strong>Adept</strong>_Command_Bits.1, the Update Position Registers bit. This bit must remain enabled until the registers are updated. See Table 6-3 on page 85 for more information. NOTE: Make sure that the robot is given sufficient time to settle before performing the next steps (recording the current position). 2. Move the current robot coordinates (either the Cartesian coordinates in F244:0-5 or <strong>Adept</strong>_Here.0-5, or the joint coordinates in F244:6-11 or <strong>Adept</strong>_Here.6-11), to an appropriate data array. 3. Perform the steps to define a location, as described in the section “Location & Pallet Register Definitions” on page 96. 94 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B
PLC Software Overview Error Registers When an error occurs, the Error Registers described in Table 6-11 are written to by the PLC Server. The maximum length of each string value is 82 characters. Table 6-11. Error Register Definitions RSLogix 500 RSLogix 5000 Description ST245:0 <strong>Adept</strong>_Error.0 Current error message ST245:1 <strong>Adept</strong>_Error.1 Date and time error occurred ST245:2 <strong>Adept</strong>_Error.2 Cartesian location of the robot ST245:3 <strong>Adept</strong>_Error.3 Joint-coordinate location of the robot ST245:4 <strong>Adept</strong>_Error.4 Cartesian destination of the robot ST245:5 <strong>Adept</strong>_Error.5 Command words received by the PLC Server All the error registers are cleared by the PLC Server when a Fault Reset <strong>com</strong>mand is processed. The current error register (ST245:0 or <strong>Adept</strong>_Error.0) contains the current PLC Server message string (see “PLC Server Messages” on page 149). The date and time of the error is provided in ST35:1 or <strong>Adept</strong>_Error.1. A Cartesian description of the location of the robot at the time of the error is provided in ST245:2 or <strong>Adept</strong>_Error.2 (the format is described below). The joint positions of the robot at the time of the error is provided in ST245:3 or <strong>Adept</strong>_Error.3 (the format is described below). A Cartesian description of the destination location of the robot at the time of the error is provided in ST245:4 or <strong>Adept</strong>_Error.4 (the format is described below). The values of all the Command Registers at the time of the error are provided in ST245:5 or <strong>Adept</strong>_Error.5 (the format is described below). The string formats are as follows: • For ST245:1 dd-Mmm-yyyy hh:mm:ss where “dd-Mmm-yyyy” represents the date and “hh:mm:ss” represents the time (in 24-hour format). • For ST245:2 and ST245:4 X=xx.xx Y=xx.xx Z=xx.xx y=xx.xx p=xx.xx r=xx.xx where “xx.xx” represents a positive or negative real value with one or more integer digits and two fractional digits. <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 95
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Adept Cobr
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The information contained herein is
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Table of Contents 3 Equipment Insta
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Table of Contents Instruction Comma
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List of Figures Figure 1-1. <strong
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List of Tables Table 1-1. Installat
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Introduction 1 1.1 Product Descript
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Product Description Joint 2 Joint 1
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Product Description 1.3 How Can I G
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Safety 2.2 Warning Labels on the Ro
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Safety 2.3 Precautions and Required
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Safety 2.4 Intended Use of the Robo
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Safety 2.6 Transport Always use ade
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Safety All personnel must observe s
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Equipment Installation 3 3.1 Unpack
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Repacking for Relocation 3.4 Enviro
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Repacking for Relocation 2. While t
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PLC Server Installation Mounting th
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PLC Server Installation Table Mount
Page 43 and 44: R SmartServo IEEE-1394 OK HPE LAN S
Page 45 and 46: PLC Server Connectors and Indicator
Page 47 and 48: PLC Server Connectors and Indicator
Page 49 and 50: Connecting 24 VDC Power to Robot
Page 51 and 52: Connecting 24 VDC Power to Robot Pr
Page 53 and 54: Connecting 24 VDC Power to Robot AC
Page 55 and 56: Connecting 24 VDC Power to the PLC
Page 57 and 58: Grounding the Adept</strong
Page 59 and 60: Connecting Customer-Supplied Safety
Page 67 and 68: Connecting Customer-Supplied Digita
Page 69 and 70: Connecting Customer-Supplied Digita
Page 71 and 72: System Operation 5 5.1 Robot Status
Page 73 and 74: Using the Brake Release Button NOTE
Page 75: Commissioning the System System Sta
Page 78 and 79: Programming the Robot RSLogix 500 F
Page 80 and 81: Programming the Robot 6.3 PLC Softw
Page 82 and 83: Programming the Robot Moving the Ro
Page 84 and 85: Programming the Robot To use the Ju
Page 86 and 87: Programming the Robot Output Signal
Page 88 and 89: Programming the Robot Motion Qualif
Page 90 and 91: Programming the Robot Bit 11, which
Page 92 and 93: Programming the Robot Bit RSLogix 5
Page 96 and 97: Programming the Robot • For ST245
Page 98 and 99: Programming the Robot When defining
Page 101 and 102: 7 Optional Robot Equipment Installa
Page 103 and 104: Removing and Installing the User Fl
Page 109 and 110: Installing Robot Solenoid Kit 7.6 I
Page 111 and 112: Installing Robot Solenoid Kit Air i
Page 113 and 114: DeviceNet Pass-Through Cable 7.7 De
Page 115 and 116: Maintenance 8 8.1 Periodic Maintena
Page 117 and 118: Check Robot for Oil Around Harmonic
Page 125: Changing the Lamp in the High Power
Page 128 and 129: Technical Specifications 183 417 20
Page 130 and 131: Technical Specifications 25 4X M4x0
Page 132 and 133: Technical Specifications Maximum In
Page 134 and 135: R Technical Specifications 9.3 <str
Page 136 and 137: Technical Specifications 9.4 Mechan
Page 138 and 139: Robot Concepts Approach and Depart
Page 140 and 141: Robot Concepts Breaking Continuous-
Page 142 and 143: Robot Concepts 10.2 The Coordinate
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Robot Concepts Table 10-2. Values D
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Robot Concepts Figure 10-5. Definin
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Robot Concepts Figure 10-8. Pallet
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Diagnostic and Error Messages LED P
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Diagnostic and Error Messages *DF1
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Diagnostic and Error Messages DF1 P
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Diagnostic and Error Messages Hex C
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Index connection PLC to PLC Server
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Index E electrical lines user 104 i
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Index thermal warning label 22 loca
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Index to robot, connecting 200-240
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Index status LED 46 description 71
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P/N: 04866-000, Rev B 3011 Triad Dr
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