5 Electrical connections
5.8.1 Allen-Bradley, general
3HAC 16245-1 A 129
Section 5.8: Communication
5.8.1 Allen-Bradley, general
General The robot may communicate with the Allen Bradley system only, or be used in combination
with the I/O system in the robot. For example, the inputs to the robot may come from the
Allen Bradley system while the outputs from the robot control external equipment via general
I/O addresses and the Allen Bradley system only reads the outputs as status signals.
Definitions The Allen Bradley system can communicate with up to 64 external systems. Each of these
systems is called a Rack and is given a Rack Address 0-63. Basically, each robot connected
to the Allen Bradley system will occupy one rack.
Each rack is divided into four sections called Quarters. Each quarter provides 32 inputs and
32 outputs and a rack will subsequently provide 128 inputs and 128 outputs. A rack may also
be shared by 2, 3, or 4 robots. Each of these robots will then have the same rack address, but
different starting quarters must be specified.
Illustration The following illustration shows a block diagram of the Allen-Bradley system, where Robot
1 uses a full rack while robot 2 and robot 3 share one rack. The rack address, starting quarter,
and other required parameters such as baud rate, LED status etc. are entered in the configu-
ration parameters.
en0100000255
Allen Bradley
control system
Robot 1 - 128 in / 128 out
Robot 2 - 64 in / 64 out
128 in / 128 out
64 in / 64 out
Quarter 2
Quarter 3
Quarter 4
Quarter 1
Rack ID 12 (example)
Rack size 4
Starting quarter 1
Quarter 2
Quarter 1
Rack ID 13 (example)
Rack size 2
Starting quarter 1
Robot 3 - 64 in / 64 out
64 in / 64 out
Quarter 4
Quarter 3
Rack ID 13 (example)
Rack size 2
Starting quarter 3
Quarter 2
Quarter 3
Quarter 4
Quarter 1
Other systems
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