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Adept PLC Server

November 20, 2003

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Introduction

Adept is the largest robot manufacturing company in North America.We have been manufacturing robots and robot controls for over 20 years and have over 30,000 systems installed.

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The major markets served by Adept products include:

•Automotive•Electronics•Food Packaging•Consumer Goods•Medical and Pharmaceutical•Semiconductor•OEM controls

Introduction

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Our traditional applications have included complex operations incorporating:• Our real-time multitasking O.S. (V+)• Vision guidance• Integrated force sensing• Interpreted language as well as open-

architectureRealizing that many applications use hard automation or manual operations due to support issues with robot systems, we have developed the Adept PLC Server…

Introduction

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The Adept PLC Server provides a seamless interface between a PLC and an Adept robot.

Adept PLC Server

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All robot programming is done directly from the PLC.• No PC required for programming• All operations are executed on the

PLCo There is no need to learn a high-level

programming language

• Available operations include:o Initializationo Robot motion and jog commandso Status information

• All data (locations, speed, etc.) and logic stored on PLC

Software Overview

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Adept hardware includes:• PLC Server

o With DF-1 communicationso Includes support for External E-Stop

• Robot (see Supported Mechanisms)Customer-Supplied hardware includes:• PLC

o SLC 500 Lineo ControlLogixo Call Adept for compatibility of other A-B

models

• Mounting surface for robot• Enclosure for Adept PLC Server and

PLC

Hardware Overview

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All robot operations are programmed directly from the customer-supplied PLC.• Use familiar PLC software and

programming tools.• No need to learn complex PC or

proprietary software.• Ongoing support can be provided by

existing PLC programmers and technicians.

Benefits of PLC Server

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Target Applications

Adept PLC-based robots are ideal for basic applications such as:• Pick and place (with multiple pick up

and place locations)• Screwdriving• Part Transfer• Other point-to-point operations…

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A Closer Look

The Adept PLC Server has the following features• Auto startup – turn it on and run• Supports straight-line and joint motion• Jog and Teach functions• Built-in I/O for tool control• Absolute encoders – no motion

required for homing

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Software Functions

The Adept PLC Server provides 3 types of functions:• Initialization functions• Move functions, with motion qualifiers• Status functions

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Initialization Functions

Initialization functions include:• Enable/Disable robot power• Home (or calibrate) the robot

o With absolute encoders no motion is required during homing

• Reset after a fault

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Motion Instructions

Motion functions include:• Move

o Straight-line or joint interpolated o Absolute or relative to current position

• Jogo Straight-line or joint mode

• Teacho Jog to position using HMI (PanelView, etc.)o Manually position robot with servos offo Teach function updates data table on PLC

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Motion Instructions

Motion qualifiers include:• Fine or Coarse positioning• Stop between moves or continuous

path• Robot configuration control

o Left-arm or Right-armo Above or Belowo Flip or No Flip

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Status Functions

System level status functions include:• Robot Power – ON or OFF• Homed (or calibrated) • Ready for next motion

Motion status functions include:• Move completed• Robot in position• Fault• External E-Stop

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Today the PLC Server is available with the following mechanical products:• Cobra PLC600 and Cobra PLC800 robots• Linear Modules

In the near future we will also support the following robots:• AdeptSix 300, 600• Semiconductor Wafer Loading Robot

Supported Mechanisms

Today Near Future

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Rockwell Encompass Partner

The Adept PLC Server is listed in the Rockwell Automation Encompass Program.The Encompass Program is a product referencing program for qualified third-party products that complement Rockwell Automation's world-class products.For more information on the Encompass Program visit http://www.automation.rockwell.com/encompass/

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