How to start Supervisory Task from PLC IO (RC8 / RC8A / COBOTTA)

Modified on Thu, 13 May 2021 at 07:02 PM

**Attention** : Read this resource material carefully and in its entirety before use, to ensure it is understood and used properly.  Failure to properly follow the instructions in the resource materials DPAM provides may result in damage to your equipment.  As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials are not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials. Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair.  The information contained in the resource materials are subject to change at the sole discretion of DPAM. 


Overview

Starting and stopping your Supervisory Tasks (TSR#) can be done through the PLC I/O (Standard Allocation Mode Only). It is very similar to calling a normal program but with slightly different data.

The robot has 3 system data areas that it looks at for commands whenever the strobe signal is pulsed “High”


  • Command Data Area –  4 Bits
  • Data Area 1 – 8 bits
  • Data Area 2 – 16 bits




Start a single Supervisory Task

To start a single Supervisory Task you would move the following data in the data areas as shown in the manuals

Command Data Area = 0001 or “1”
Data Area 1 = 10000000 or “128”
Data Area 2 = # of tsr program in Binary (tsr5 = 00000101 or “5”)

Once data is input then pulse the “Strobe” Signal and the supervisory task will start

Stop a single Supervisory Task

To stop a single Supervisory Task you would move the following data in the data areas as shown

Command Data Area = 0001 or “1”
Data Area 1 = 10000001 or “129”
Data Area 2 = # of tsr program in Binary (tsr5 = 00000101 or “5”)

Once data is input then pulse the “Strobe” Signal and the supervisory task will start

Start all Supervisory Tasks

To start running all Supervisory Tasks (TSR) in the controller then you would use the following sequence

Command Data Area = 0001 or “1”
Data Area 1 = 10000000 or “128”
Data Area 2 = 1111 1111 1111 1110 or “65,534(dec.) or FFFE(hex)”

Once data is input then pulse the “Strobe” Signal and the supervisory tasks will start

Stop all Supervisory Tasks

To stop running all Supervisory Tasks (TSR) in the controller then you would use the following sequence

Command Data Area = 0001 or “1”
Data Area 1 = 10000000 or “128”
Data Area 2 = 1111 1111 1111 1111 or “65,535(dec.) or FFFF(hex)”

Once data is input then pulse the “Strobe” Signal and the supervisory tasks will stop

Owner's Manual Reference

https://www.fa-manuals.denso-wave.com/en/usermanuals/000492/





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