User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 15
Introduction 1
1.1 Product Description
The Adept Cobra PLC Robot system consists of a customer-supplied PLC, an Adept PLC
Server, and an Adept Cobra PLC600 or PLC800 robot. This manual covers the installation,
operation, and maintenance of the Adept Cobra PLC600/PLC800 robot system, and
describes the PLC Server software.
Customer-Supplied PLC
The customer-supplied PLC is used to command and control the robot. (The PLC may
also be used to control other devices and processes in the workcell.) All application
programs and location data are stored on the PLC. When the PLC application runs, the
PLC sends commands to the Adept PLC Server using DF1 Protocol.
DF1 Protocol
DF1 Protocol is an Allen-Bradley serial protocol that is available on every Allen-Bradley
PLC. It supports full-duplex (peer-to-peer) and half-duplex (master-slave)
communication, and is data transparent. With the protocol, data transmissions contain a
16-bit CRC field to ensure data integrity. The maximum baud rate is 38.4 kps on most
Allen-Bradley PLCs. DF1 is an “open” specification that has no licensing requirements. It
is fully documented in Allen-Bradley publication 1770-6.5.16.
Adept PLC Server
The Adept PLC Server receives commands from the PLC, interprets the information, and
then commands the robot to move. As the robot is commanded to move, status
information is returned to the PLC.
The Adept PLC Server also provides facilities to connect external E-Stop circuitry to the
system. A front panel with an E-Stop is included with the Adept PLC Server.
Figure 1-1. Adept PLC Server
1 2 3
NOT USED
XUSR
XSYS
SF
XMCP
1.1
Adept PLC Server
LANHPE
OFF
24VDC @5a
ON
PLC Interface
XFP
HDES
XDIO
NOT USED
*S/N 3561-XXXXX*
SW1
NOT USED
SmartServo
POWER
- + - +
1 2 3 4
OK
R
1.2