adept technology Cobra s600 - Figure 11-3. Input;Output Block Configuration in Dual Robot Systems

Chapter 11 - Dual Robot Systems
138 Adept Cobra s600/s800 Robot User’s Guide, Rev H
Figure 11-3. Input/Output Block Configuration in Dual Robot Systems
ROBOT 1
XIO
Output Block 1
Byte 1 Byte 2
(97-104)
Internal IO
(3001-3004)
XIO
Input Block 1
Byte 1 Byte 2
(1097-1104)
XIO
(1105-1108)
4 spare
IO Blox 1
Output Block 3
Byte 1 Byte 2
(0105-112)
IO Blox 2
(0113-120)
IO Blox 3 IO Blox 4
(0121-128) (0129-136)
Byte 3 Byte 4
IO Blox 1
Byte 1 Byte 2
(1113-1120)
IO Blox 2
(1121-1128)
IO Blox 3 IO Blox 4
(1129-1136) (1137-1144)
Byte 3 Byte 4
Input Block 3
ROBOT 2
XIO
Input Block 2
Byte 1 Byte 2
(0137-0144)
Internal IO
(3001-3004)
XIO
Output Block 2
Byte 1 Byte 2
(1145-1152)
XIO
(1153-1156)
4 spare
IO Blox 1
Input Block 4
Byte 1 Byte 2
(0145-0152)
IO Blox 2
(0153-0160)
IO Blox 3 IO Blox 4
(0161-0168) (0169-0176)
Byte 3 Byte 4
IO Blox 1
Byte 1 Byte 2
(1161-1168)
IO Blox 2
(1169-1176)
IO Blox 3 IO Blox 4
(1177-1184) (1185-1192)
Byte 3 Byte 4
Output Block 4