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PLC Software Overview
Bit 1 determines whether the <strong>com</strong>ponent values of the location that is referenced by the
Location Number register (N240:6 or <strong>Adept</strong>_Location_Number) are Cartesian or joint
coordinates.
Bit 7 selects the acceleration profile that will be used to start and end the motion. The
trapezoidal profile (bit 7 off) consists of a constant acceleration to the steady-state transit
speed, followed by a constant deceleration to the motion endpoint. The S-curve profile (bit
7 on) consists of a soft transition between: stopped to acceleration ramp; acceleration
ramp to steady-state transit speed; steady-state transit speed to deceleration ramp; and
deceleration to motion end point (see Figure 6-5).
Figure 6-5. S-Curve versus Trapezoid Acceleration Profile
Bit 8 determines the effect of the approach-height value (N240:7 or
<strong>Adept</strong>_Approach_Height).
• If this bit is off, the next motion will approach the location with this Z offset from
the defined location.
• If this bit is on, the next motion moves to the specified destination location using
this absolute Z value, based on the World Coordinate System. That is, the Z
<strong>com</strong>ponent of the location definition will be ignored.
NOTE: This overrides the setting of bit 0.
See page 138 for more details on approach and depart; see page 142 for more details on
the World Coordinate System.
Bit 9 determines if the motion will be joint-interpolated or straight-line. If straight-line
motion is chosen, it is not possible to change the arm configuration during the motion (see
bits 13 to 15).
When bit 10 is off, continuous-path motion is disabled, and the robot will null at the
destination before the next motion is planned. This could increase cycle time. Setting this
bit will allow the PLC Server to blend motions (i.e., round corners between motion
segments), assuming that the next motion is <strong>com</strong>manded in sufficient time before the
current motion <strong>com</strong>pletes.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 89