Command Slave 2.0 Overview

**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. 

TABLE OF CONTENTS

• How does command slave work?
• Benefits of using Command Slave (Rockwell AOI 2.0 specific)

Flexibility of doing robot motion from a ladder logic environment. This feature is available for the RC8/RC8A Controller

How does command slave work? This function is to control robots with a PLC programming language by connecting a PLC and an RC8 Series robot controller through a high-speed field network. Main supported brands are Rockwell AOI (Ethernet/IP), Siemens SIMATIC S7-1500 via ProfiNET, and CODESYS via EtherCAT.

Benefits of using Command Slave (Rockwell AOI 2.0 specific)

1. All programming can be done from Studio 5000 so strong pacscript programming knowledge isn’t required
2. Most commonly used functions for RC8 are available through AOI function blocks.
3. Helps Denso utilize some of Rockwell’s distribution chain
4. Easy setup and integration with Denso robots
5. Less robot CPU usage when running TSR programs
6. Can control multiple robots with a single PLC 

Things to consider before starting using this feature.

1. Not all commands are available via Command Slave.
2. Your overall code may be longer since programming out of the controller adds overhead to manage communication.
3. Due to the nature of how ladder programs execute it could be harder to troubleshoot motion programs.

How to get started?

• Introduction to Rockwell Command Slave AOI 2.0
• Command Slave AOI Usage
• Command Slave Setup
• Importing the AOI Library File