User`s guide

84 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
6.3 PLC Software Overview
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.
There Adept PLC Server uses five PLC registers: Command, Error, Position, Location &
Pallet Definition, and Status. These are described in detail in the following sections.
The Command registers determine the functions performed by the Adept PLC robot. For
example, if N30:0=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 N31:0=6 (^B110) then the PLC Server is in a fault state and robot is calibrated.
The real-value format registers contain floating point data that define location, pallet and
motion parameters.
NOTE: With RSLogix 500, the PLC Server uses file 30 and above, as
indicated in Table 6-2 through Table 6-12.
The table below lists the data types and format. Note that the PLC Server is responsible for
requesting all data from the PLC.
Table 6-1. PLC Registers: Data Type, Format and Access
Command Registers
The following tables and sections describe the Command registers.
Table 6-2. PLC Command Registers
Data Type Format Access by PLC
Command Register Integer Write
Status Register Integer Read Only
Location & Pallet Definition
Registers
Real Write
Current Position Register Real Read Only
Error Message String Read Only
RSLogix 500 RSLogix 5000 Function
N30:0 Adept_Command_Bits Instruction command
register
(see Tabl e 6-3 o n
page 87)