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Programming the Robot
Motion Qualifier Command Register
The table below describes the Motion Qualifier <strong>com</strong>mand register.
Table 6-6. Motion Qualifier Command Register
Bit RSLogix 500 RSLogix 5000 Bit Off Bit On
0 N240:3/0 <strong>Adept</strong>_Motion_Qualifier.0 Absolute motion Relative motion
1 N240:3/1 <strong>Adept</strong>_Motion_Qualifier.1 Cartesian
coordinates
Joint coordinates
2 N240:3/2 <strong>Adept</strong>_Motion_Qualifier.2 RESERVED
3 N240:3/3 <strong>Adept</strong>_Motion_Qualifier.3 RESERVED
4 N240:3/4 <strong>Adept</strong>_Motion_Qualifier.4 RESERVED
5 N240:3/5 <strong>Adept</strong>_Motion_Qualifier.5 RESERVED
6 N240:3/6 <strong>Adept</strong>_Motion_Qualifier.6 RESERVED
7 N240:3/7 <strong>Adept</strong>_Motion_Qualifier.7 Trapezoidal
acceleration
8 N240:3/8 <strong>Adept</strong>_Motion_Qualifier.8 Relative approach
height
S-curve
acceleration
Absolute
approach height
9 N240:3/9 <strong>Adept</strong>_Motion_Qualifier.9 Joint motion Straight-line
motion
10 N240:3/10 <strong>Adept</strong>_Motion_Qualifier.10 Null after motion No-null after
motion
11 N240:3/11 <strong>Adept</strong>_Motion_Qualifier.11 Fine nulling
tolerances
Coarse nulling
tolerances
12 N240:3/12 <strong>Adept</strong>_Motion_Qualifier.12 Multiple-turn wrist Single-turn wrist
13 N240:3/13 <strong>Adept</strong>_Motion_Qualifier.13 Lefty arm
configuration
14 N240:3/14 <strong>Adept</strong>_Motion_Qualifier.14 Above arm
configuration
15 N240:3/15 <strong>Adept</strong>_Motion_Qualifier.15 No-flip arm
configuration
Righty arm
configuration
Below arm
configuration
Flip arm
configuration
The motion qualifier bits are used to define the characteristics of the next motion
whenever a move <strong>com</strong>mand (N240:0/8 or <strong>Adept</strong>_Commands_Bits.8) or jump <strong>com</strong>mand
(N240:0/11 or <strong>Adept</strong>_Commands_Bits.11) is given. Any <strong>com</strong>bination of the bits can be set.
Bit 0 determines if the motion is to absolute coordinates or relative to the robot's current
position. For relative motion, the coordinates of the specified destination location are
added to the current position. Thus, this type of motion is relative to absolute Cartesian
coordinates, not relative to the tool.
88 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B