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PLC Software Overview
5. Record the value in N241:2 or <strong>Adept</strong>_Current_Motion_Counter, the Current
Motion Counter.
6. Enable the bit N240:0/8 or <strong>Adept</strong>_Command_Bits.8 (Move Robot) to start the
motion (see page 85 for details).
7. Wait for the value in N241:2 or <strong>Adept</strong>_Current_Motion_Counter (Current Motion
Counter) to change.
8. Start the next motion at Step 1.
NOTE: If the next <strong>com</strong>mand is not going to be set before the next PLC scan
(e.g., you are waiting for a signal or timer), you must turn off the Move
Robot <strong>com</strong>mand bit before defining the next <strong>com</strong>mand. Otherwise, the
PLC Server may read the <strong>com</strong>mand register while the PLC is writing to it,
which could result in an unexpected <strong>com</strong>mand being executed.
Moving the Robot Using the Jump Command
This section describes the steps for moving the robot using the Jump Command. The
method described here “streamlines” a three-motion pick-and-place operation into a
single <strong>com</strong>mand. The Current Motion Counter status word is incremented only once for
the Jump Command. Therefore, it is not possible to determine which of the three motion
segments have begun, rather, only if the Jump <strong>com</strong>mand has begun. If your application
requires that you know when each move segment has <strong>com</strong>pleted, please see “Moving the
Robot Using Continuous Path” for more details.
When using the Jump Command to move the robot, please note the following (see Figure
6-4 on page 84):
• The motion always finishes at the specified end location (approach height of 0).
• The nulling bit (N240:3/10 or <strong>Adept</strong>_Motion_Qualifier.10) determines whether or
not corner rounding will be done after the depart and approach motions. Note that
the motion to the final position is always nulled (with the precision specified by
N240:3/11 or <strong>Adept</strong>_Motion_Qualifier.11).
• The speed and acceleration parameters are the same for each of the three motion
segments.
• The approach height also determines the depart distance. In other words, if an
approach height of 50mm is specified, the depart height will also be 50mm.
Approach height 0 is a special case that is permitted only for SCARA robots (or
any robot with a constant maximum Z-height over the entire robot workspace). If
the approach height is specified as 0, the robot will depart to the maximum height,
approach at this same height, and finish at the destination location.
NOTE: For robots without a constant Z-height (such as a six-axis robot),
an error will occur if the approach height is specified as 0.
• An absolute approach height is allowed, which <strong>com</strong>mands the robot to depart to
the specified World Z-height, approach at this same height, and finish at the
location.
• The Jump Command can be used to access a pallet position.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 83