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PLC Software Overview
Instruction Command Register
The table below describes the Instruction <strong>com</strong>mand register definitions.
Table 6-3. Instruction Command Register Definitions
Bit RSLogix 500 RSLogix 5000 Description
0 N240:0/0 <strong>Adept</strong>_Command_Bits.0 Enable robot high
power
1 N240:0/1 <strong>Adept</strong>_Command_Bits.1 Update current
position
2 N240:0/2 <strong>Adept</strong>_Command_Bits.2 RESERVED
3 N240:0/3 <strong>Adept</strong>_Command_Bits.3 RESERVED
4 N240:0/4 <strong>Adept</strong>_Command_Bits.4 RESERVED
5 N240:0/5 <strong>Adept</strong>_Command_Bits.5 Reset fault condition
6 N240:0/6 <strong>Adept</strong>_Command_Bits.6 Calibrate robot
7 N240:0/7 <strong>Adept</strong>_Command_Bits.7 Enable jog mode
8 N240:0/8 <strong>Adept</strong>_Command_Bits.8 Move robot
9 N240:0/9 <strong>Adept</strong>_Command_Bits.9 Define location
10 N240:0/10 <strong>Adept</strong>_Command_Bits.10 Define pallet
11 N240:0/11 <strong>Adept</strong>_Command_Bits.11 Jump <strong>com</strong>mand
12 N240:0/12 <strong>Adept</strong>_Command_Bits.12 RESERVED
13 N240:0/13 <strong>Adept</strong>_Command_Bits.13 RESERVED
14 N240:0/14 <strong>Adept</strong>_Command_Bits.14 RESERVED
15 N240:0/15 <strong>Adept</strong>_Command_Bits.15 RESERVED
Bits 0 through 4 can be on or off regardless of the settings of the other <strong>com</strong>mand-word
bits. However, only one of bits 5 through 15 can be on at the same time. Otherwise, a -3007
error will occur (see Section 11.1 on page 149).
Bit 0 attempts to enable robot high-power, if the system is not in a fault state. If faulted,
this bit will have no effect. This bit must be latched on for high-power to be maintained.
Bit 1 <strong>com</strong>mands the PLC Server to update the current robot position registers (F244 or
<strong>Adept</strong>_Here). The data in these registers might or might not be valid if the robot has not
been calibrated. Due the amount of data being transmitted, this bit should be off as much
as possible to improve the performance of DF1 <strong>com</strong>munication.
Bit 5 resets the PLC Server if it is in a fault state. The current error message (ST245 or
<strong>Adept</strong>_Error) is cleared by this reset <strong>com</strong>mand.
Bit 6 requests calibration of the robot if the system is not faulted and if robot high power is
on (N241:0/0 or <strong>Adept</strong>_Status_Bits.0).
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 85