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PLC Software Overview
Jog Mode Command Register
The table below describes the Jog Mode <strong>com</strong>mand register.
Table 6-5. Jog Mode Command Register
Bit RSLogix 500 RSLogix 5000 Function Description
0 N240:2/0 <strong>Adept</strong>_Jog_Mode.0 Enable World mode Bit on: Jog axis in World
mode
1 N240:2/1 <strong>Adept</strong>_Jog_Mode.1 Enable Tool mode Bit on: Jog axis in Tool
mode
2 N240:2/2 <strong>Adept</strong>_Jog_Mode.2 Enable Joint mode Bit on: Jog axis in Joint
mode
3 N240:2/3 <strong>Adept</strong>_Jog_Mode.3 Enable Free mode Bit on: Put axis in Free
mode
4 N240:2/4 <strong>Adept</strong>_Jog_Mode.4 RESERVED
5 N240:2/5 <strong>Adept</strong>_Jog_Mode.5 Joint 1/X-axis Bit on: Select joint 1 or
X-axis for jogging
6 N240:2/6 <strong>Adept</strong>_Jog_Mode.6 Joint 2/Y-axis Bit on: Select joint 2 or
Y-axis for jogging
7 N240:2/7 <strong>Adept</strong>_Jog_Mode.7 Joint 3/Z-axis Bit on: Select joint 3 or
Z-axis for jogging
8 N240:2/8 <strong>Adept</strong>_Jog_Mode.8 Joint 4/Yaw-angle Bit on: Select joint
4/Yaw-angle for jogging
9 N240:2/9 <strong>Adept</strong>_Jog_Mode.9 Joint 5/Pitch-angle Bit on: Select joint
5/Pitch-angle for jogging
10 N240:2/10 <strong>Adept</strong>_Jog_Mode.10 Joint 6/Roll-angle Bit on: Select joint
6/Roll-angle for jogging
11 N240:2/11 <strong>Adept</strong>_Jog_Mode.11 RESERVED
12 N240:2/12 <strong>Adept</strong>_Jog_Mode.12 RESERVED
13 N240:2/13 <strong>Adept</strong>_Jog_Mode.13 RESERVED
14 N240:2/14 <strong>Adept</strong>_Jog_Mode.14 RESERVED
15 N240:2/15 <strong>Adept</strong>_Jog_Mode.15 RESERVED
Only one of the jog-mode bits (bits 0-3) can be on at the same time. When World, Tool, or
Joint mode is selected, only one joint or axis bit (bits 5-10) can be selected. In Free mode,
multiple joints or axes can be selected.
In jog mode, the motion speed parameter may have a value from -127 to 127 (the sign
determines the direction of motion). The value 0 stops the motion. A value outside of -127
to 127 generates a fault. See “Speed, Acceleration, and Deceleration” on page 137 for
more information.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 87