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Programming the Robot
Bit 11, which is used only when bit 10 is off, determines the nulling tolerances that will
apply at the end of the motion. Fine (bit 11 off) specifies tighter settling than coarse (bit 11
on).
Bit 12 off allows full rotations of the robot wrist joints (joint 4 on an <strong>Adept</strong> <strong>Cobra</strong> robot).
Turning bit 12 on limits rotations of the wrist joints to the range ±180 degrees.
Bits 13-15 determine the arm configuration that is to be achieved during the motion. For
the <strong>Cobra</strong> PLC robot, only bit 12 (Lefty/Righty) has any effect. The arm configuration
cannot be changed during a straight-line motion (see bit 9). Note that these bits have no
effect if bit 1 (N240:3/1 or <strong>Adept</strong>_Motion_Qualifier.1) is in on (joint-coordinated motion).
When a motion is <strong>com</strong>manded, the speed and acceleration parameters must be greater
than 0 (except that a negative speed is okay for a jog-mode motion). Otherwise, an error
will be returned. There are no default values. If moving to taught location and the location
number is less than 0, an error will occur. 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.
NOTE: Location 0 is always defined as (0,0,0,0,0,0) and cannot be
redefined using the “define location” <strong>com</strong>mand. Although location 0
cannot be user-defined, it can be used in with a move or jump <strong>com</strong>mand
(e.g., when moving to a pallet position, you can use location 0).
Additionally, it is re<strong>com</strong>mended that moves to location 0 are done with
the “move relative” and “absolute depart height” motion qualifiers on.
These qualifiers <strong>com</strong>mand the robot to move from its current position to a
known Z-height. This practice is typical when beginning a sequence so
that the robot is at a safe height before beginning any translation motion.
If the motion destination is defined relative to a pallet, the pallet-number parameter
(N240:8 or <strong>Adept</strong>_Pallet_Number) determines the pallet to which the location will be
relative. The position index (N240:9 or <strong>Adept</strong>_Pallet_Position) values are multiplied by
their respective spacing parameters (which are defined with the pallet) to determine the
destination location within the pallet.
Status Registers
The tables and sections below describe the Status registers.
Table 6-7. Status Registers
RSLogix 500 RSLogix 5000 Function Format
N241:0 <strong>Adept</strong>_Status_Bits Main status bits
(see Table 6-8 on
page 91)
N241:1 <strong>Adept</strong>_Inputs Inputs
(see Table 6-9 on
page 92)
Bit-encoded
integer
Bit-encoded
integer
90 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B