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Programming the Robot
To use the Jump Command to move the robot:
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 final
destination location, i.e., “END” in Figure 6-4 (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. Record the value in N241:2 or <strong>Adept</strong>_Current_Motion_Counter, the Current
Motion Counter
6. Enable the bit N240:0/11 or <strong>Adept</strong>_Command_Bits.11 (Jump Command) to start
the motion.
7. Wait for the value in N241:2 or <strong>Adept</strong>_Current_Motion_Counter (Current Motion
Counter) to change.
APPROACH
Depart and
approach
heights
are equal.
DEPART
Corner
rounding
MOVE
END
Motion finishes
at End point
(no Depart)
START
Figure 6-4. Motion Profile for the Jump Command
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.
84 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B