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

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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/