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Programming the Robot
Moving the Robot
This section describes the “basic” steps for moving the robot. The method described here
is useful when the robot must be stopped at the end of each motion, in order to perform
some operation. Note that it does not use the Motion Counter, which means that the robot
stops (i.e., the path is “broken”) at the end of each movement. Therefore, this method
cannot be used to sequence motions together for continuous-path movement. If you
require a continuous-path motion, please see “Moving the Robot Using Continuous
Path” (below) for more details.
NOTE: If you are not moving relative to a pallet (not doing a “pallet
motion”) the value for N240:8 must be 0.
1. Load N240:4 or <strong>Adept</strong>_Speed with the motion speed. 1
2. Load N240:5 or <strong>Adept</strong>_Acceleration with the motion acceleration. 1
3. Load N240:6 or <strong>Adept</strong>_Location_Number with the number of the location to be
moved to (see page 96 for details).
4. Enable/disable the motion qualifier bits in N240:3 or <strong>Adept</strong>_Motion_Qualifier as
desired for the motion (see page 88 for details).
5. Enable the bit N240:0/8 or <strong>Adept</strong>_Command_Bits.8 (Move Robot) to start the
motion (see page 85 for details).
6. Wait for the bit N241:0/5 or <strong>Adept</strong>_Status_Bits.5 (Command Is Executing) to go
high, indicating the motion has started.
7. Wait for the bit N241:0/6 or <strong>Adept</strong>_Status_Bits.6 (Robot Is In Position) to go high,
indicating the robot is in position.
8. Disable the bit N240:0/8 or <strong>Adept</strong>_Command_Bits.8 (Move Robot).
9. Wait for the bit N241:0/5 or <strong>Adept</strong>_Status_Bits.5 (Command Is Executing) to go
low, indicating the Move Robot bit has been turned off.
Moving the Robot Using Continuous Path
This method uses the Motion Counter to track the robot motion. The advantage of this
method is that it allows you to sequence motions together for continuous-path movement.
See “Continuous-Path Motion” on page 139 for information on continuous paths.
1. Load N240:4 or <strong>Adept</strong>_Speed with the motion speed. 1
2. Load N240:5 or <strong>Adept</strong>_Acceleration with the motion acceleration. 1
3. Load N240:6 or <strong>Adept</strong>_Location_Number with the number of the location to be
moved to (see page 96 for details).
4. Enable/disable the motion qualifier bits in N240:3 or <strong>Adept</strong>_Motion_Qualifier as
desired for the motion (see page 88 for details).
1 There are no default values for the motion speed and acceleration. If moving to a taught
location, an error will occur if a value that is less than or equal to 0 is entered.
Additionally, if you specify a very low motion speed, it may take a long time for the
robot to get to the requested position. Refer to page 137 for more information on speed
and acceleration.
82 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B