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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
PLC Software Overview RSLogix 500 RSLogix 5000 Function Format N241:2 <strong>Adept</strong>_Current_Motion _Counter Current motion number (see “Current Motion Counter” on page 93) Integer F244:0-11 <strong>Adept</strong>_Here Current position (see Table 6-10 on page 93) ST245:0-5 <strong>Adept</strong>_Error Error message (see “Error Registers” on page 95) Real array String Status Word Bit Definitions The following table describes the Status word bit definitions. Table 6-8. Status Word Bit Definitions Bit RSLogix 500 RSLogix 5000 Bit Off State Description Bit On 0 N241:0/0 <strong>Adept</strong>_Status_Bits.0 Robot power is off Robot power is on 1 N241:0/1 <strong>Adept</strong>_Status_Bits.1 System is not faulted 2 N241:0/2 <strong>Adept</strong>_Status_Bits.2 Robot is not calibrated System is faulted Robot is calibrated 3 N241:0/3 <strong>Adept</strong>_Status_Bits.3 System is initialized 4 N241:0/4 <strong>Adept</strong>_Status_Bits.4 E-stop circuit is closed E-stop circuit is open 5 N241:0/5 <strong>Adept</strong>_Status_Bits.5 Command is executing 6 N241:0/6 <strong>Adept</strong>_Status_Bits.6 Robot is in position 7 N241:0/7 <strong>Adept</strong>_Status_Bits.7 RESERVED 8 N241:0/8 <strong>Adept</strong>_Status_Bits.8 RESERVED 9 N241:0/9 <strong>Adept</strong>_Status_Bits.9 RESERVED 10 N241:0/10 <strong>Adept</strong>_Status_Bits.10 RESERVED 11 N241:0/11 <strong>Adept</strong>_Status_Bits.11 RESERVED 12 N241:0/12 <strong>Adept</strong>_Status_Bits.12 RESERVED <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 91
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Adept Cobr
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The information contained herein is
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Table of Contents 3 Equipment Insta
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Table of Contents Instruction Comma
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List of Figures Figure 1-1. <strong
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List of Tables Table 1-1. Installat
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Introduction 1 1.1 Product Descript
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Product Description Joint 2 Joint 1
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Product Description 1.3 How Can I G
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Safety 2.2 Warning Labels on the Ro
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Safety 2.3 Precautions and Required
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Safety 2.4 Intended Use of the Robo
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Safety 2.6 Transport Always use ade
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Safety All personnel must observe s
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Equipment Installation 3 3.1 Unpack
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Repacking for Relocation 3.4 Enviro
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Repacking for Relocation 2. While t
Page 39 and 40: PLC Server Installation Mounting th
Page 41 and 42: PLC Server Installation Table Mount
Page 43 and 44: R SmartServo IEEE-1394 OK HPE LAN S
Page 45 and 46: PLC Server Connectors and Indicator
Page 47 and 48: PLC Server Connectors and Indicator
Page 49 and 50: Connecting 24 VDC Power to Robot
Page 51 and 52: Connecting 24 VDC Power to Robot Pr
Page 53 and 54: Connecting 24 VDC Power to Robot AC
Page 55 and 56: Connecting 24 VDC Power to the PLC
Page 57 and 58: Grounding the Adept</strong
Page 59 and 60: Connecting Customer-Supplied Safety
Page 67 and 68: Connecting Customer-Supplied Digita
Page 69 and 70: Connecting Customer-Supplied Digita
Page 71 and 72: System Operation 5 5.1 Robot Status
Page 73 and 74: Using the Brake Release Button NOTE
Page 75: Commissioning the System System Sta
Page 78 and 79: Programming the Robot RSLogix 500 F
Page 80 and 81: Programming the Robot 6.3 PLC Softw
Page 82 and 83: Programming the Robot Moving the Ro
Page 84 and 85: Programming the Robot To use the Ju
Page 86 and 87: Programming the Robot Output Signal
Page 88 and 89: Programming the Robot Motion Qualif
Page 92 and 93: Programming the Robot Bit RSLogix 5
Page 94 and 95: Programming the Robot To teach a lo
Page 96 and 97: Programming the Robot • For ST245
Page 98 and 99: Programming the Robot When defining
Page 101 and 102: 7 Optional Robot Equipment Installa
Page 103 and 104: Removing and Installing the User Fl
Page 109 and 110: Installing Robot Solenoid Kit 7.6 I
Page 111 and 112: Installing Robot Solenoid Kit Air i
Page 113 and 114: DeviceNet Pass-Through Cable 7.7 De
Page 115 and 116: Maintenance 8 8.1 Periodic Maintena
Page 117 and 118: Check Robot for Oil Around Harmonic
Page 125: Changing the Lamp in the High Power
Page 128 and 129: Technical Specifications 183 417 20
Page 130 and 131: Technical Specifications 25 4X M4x0
Page 132 and 133: Technical Specifications Maximum In
Page 134 and 135: R Technical Specifications 9.3 <str
Page 136 and 137: Technical Specifications 9.4 Mechan
Page 138 and 139: Robot Concepts Approach and Depart
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Robot Concepts Breaking Continuous-
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Robot Concepts 10.2 The Coordinate
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Robot Concepts Table 10-2. Values D
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Robot Concepts Figure 10-5. Definin
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Robot Concepts Figure 10-8. Pallet
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Diagnostic and Error Messages LED P
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Diagnostic and Error Messages *DF1
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Diagnostic and Error Messages DF1 P
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Diagnostic and Error Messages Hex C
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Index connection PLC to PLC Server
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Index E electrical lines user 104 i
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Index thermal warning label 22 loca
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Index to robot, connecting 200-240
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Index status LED 46 description 71
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P/N: 04866-000, Rev B 3011 Triad Dr
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