This document describes the interfaces between the EPICS crate and the Allen-Bradley PLC rack using either serial communications through a 1785-KE module or Remote I/O through the 1771-DCM and 6008-SV modules.
The audience for this document is EPICS programmers who need to communicate to an Allen-Bradley PLC program. This document describes the interface hardware, the communications protocol, and the EPICS programming. It does not describe Allen-Bradley ladder logic programming or Allen-Bradley PLC hardware not used for the purpose of communication with the EPICS crate.
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