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Programming the Robot When defining a pallet, please note the following: • The first position in the pallet is position 1 (not zero). • The even-numbered rows, if offset, are always offset by half the distance between positions in a row (F243:4 or <strong>Adept</strong>_Pallet.4). • The traversal value (F243:68 or <strong>Adept</strong>_Pallet.68) can be either 0 or 1. If the value is 0, the rows are all traversed in the same direction. If the value is 1, he even-numbered rows are traversed in the direction opposite that of the odd-numbered rows. • The spacing between rows is constant for all rows (odd-numbered and even-numbered). To define a pallet in the PLC Server: 1. Enter the pallet location parameters and pallet spacing parameters into the registers listed in Table 6-13. See “Defining a Pallet Layout” on page 145 for details on defining a pallet. 2. Enter the number of the pallet to be defined into N240:8 or <strong>Adept</strong>_Pallet_Number. 3. Turn on the “define pallet” <strong>com</strong>mand bit (N240:0/10 or <strong>Adept</strong>_Command_Bits.10) 4. Wait for the “<strong>com</strong>mand executing” bit to be set (N241:0/5 or <strong>Adept</strong>_Status_Bits.5). 5. Turn off the “define pallet” <strong>com</strong>mand bit. 21 22 23 24 25 C 21 22 23 24 25 C 16 17 18 19 20 20 19 18 17 16 11 12 13 14 15 11 12 13 14 15 6 7 8 9 10 10 9 8 7 6 Start 1 2 3 4 5 A B Traverse Dir. = 0 Start 1 2 3 4 5 A B Traverse Dir. = 1 A Origin B Last location in origin row Figure 6-6. Traverse Direction C Location on pallet (not in origin row) NOTE: 1. The initial traverse direction is always from A to B. 2. When defining the pallet, if location C is taught on the same line (row) as A and B, an error will be reported. 98 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B
PLC Software Overview A Origin B Last location in origin row C Location on pallet (not in origin row) C A Config. Code = 0 B C C A B A B Config. Code = 1 Config. Code = 2 C C A B A B Config. Code = 3 Config. Code = 4 Figure 6-7. Pallet Configuration Code <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 99
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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
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R SmartServo IEEE-1394 OK HPE LAN S
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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 94 and 95: Programming the Robot To teach a lo
Page 96 and 97: Programming the Robot • For ST245
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
Page 144 and 145: Robot Concepts Table 10-2. Values D
Page 146 and 147: 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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