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PLC Software Overview
Current Motion Counter
The Current Motion Counter (N241:2 or <strong>Adept</strong>_Current_Motion_Counter) is incremented
each time a motion begins. It can be used to determine that the previous <strong>com</strong>manded
motion has started and the next motion parameters can be loaded into the <strong>com</strong>mand
registers. This gives the optimum continuous-path performance. Without this counter, the
programmer would need to handshake with the <strong>com</strong>mand-executing bit to determine
when a motion has started, which would introduce delay into trajectory planning.
NOTE: If your program is using this counter in conjunction with a timer
or other event, you must turn off the latch bit. Otherwise, the program
could read position registers during an update, which could result in
corrupted data.
Current Position Array
The following table describes the Current Position array.
Table 6-10. Current Position Array
RSLogix 500 RSLogix 5000 Description
F244:0 <strong>Adept</strong>_Here.0 Current X-axis coordinate
F244:1 <strong>Adept</strong>_Here.1 Current Y-axis coordinate
F244:2 <strong>Adept</strong>_Here.2 Current Z-axis coordinate
F244:3 <strong>Adept</strong>_Here.3 Current Yaw-angle coordinate
F244:4 <strong>Adept</strong>_Here.4 Current Pitch-angle coordinate
F244:5 <strong>Adept</strong>_Here.5 Current Roll-angle coordinate
F244:6 <strong>Adept</strong>_Here.6 Current Joint-1 position
F244:7 <strong>Adept</strong>_Here.7 Current Joint-2 position
F244:8 <strong>Adept</strong>_Here.8 Current Joint-3 position
F244:9 <strong>Adept</strong>_Here.9 Current Joint-4 position
F244:10 <strong>Adept</strong>_Here.10 Current Joint-5 position
F244:11 <strong>Adept</strong>_Here.11 Current Joint-6 position
When teaching locations, it is up to the programmer or system developer to create a
method for storing that data, for example, in a data table. (That is, the data structure for
storing the taught locations in the PLC is up to you.) Then, when moving the robot to one
of those locations, the data must be moved from the data table into the <strong>Adept</strong> Location
registers (F242:0-5 or <strong>Adept</strong>_Location.0-5) or, if using a pallet, a <strong>com</strong>bination of the <strong>Adept</strong>
Location registers (F242:0-5 or <strong>Adept</strong>_Location.0-5) and the <strong>Adept</strong> Pallet registers
(F243:0-5 or <strong>Adept</strong>_Pallet.0-5).
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 93