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Programming the Robot
• For ST245:3
J1=xx.xx J2=xx.xx J3=xx.xx J4=xx.xx
where “xx.xx” represents a positive or negative real value with one or more
integer digits and two fractional digits.
• For ST245:5
nn nn nn nn nn nn nn nn nn nn nn nn
where each “nn” represents a 1- to 8-digit decimal integer value, for N240:0
(<strong>Adept</strong>_Command_Bits) through N240:9 (<strong>Adept</strong>_Pallet_Position).
Location & Pallet Register Definitions
This section describes the Location registers and the steps used for defining a location in
the PLC Server. All location data are stored in the PLC, and need to be sent to the PLC
Server for use.
Table 6-12. Location & Pallet Register Definitions
RSLogix 500 RSLogix 5000 Description
F242:0 <strong>Adept</strong>_Location.0 Joint-1 or X-axis coordinate
F242:1 <strong>Adept</strong>_Location.1 Joint-2 or Y-axis coordinate
F242:2 <strong>Adept</strong>_Location.2 Joint-3 or Z-axis coordinate
F242:3 <strong>Adept</strong>_Location.3 Joint-4 or Yaw-angle
coordinate
F242:4 <strong>Adept</strong>_Location.4 Joint-5 or Pitch-angle
coordinate
F242:5 <strong>Adept</strong>_Location.5 Joint-6 or Roll-angle
coordinate
To define a location in the PLC Server:
1. Enter the appropriate coordinates into the registers listed in Table 6-12. See
“Defining a Location” on page 142 for more details on defining locations.
2. Put the number of the location to be defined into N240:6 or
<strong>Adept</strong>_Location_Number.
3. Turn on the “define location” <strong>com</strong>mand bit (N240:0/9 or
<strong>Adept</strong>_Command_Bits.9)
4. Wait for the “<strong>com</strong>mand executing” bit to be set (N241:0/5 or
<strong>Adept</strong>_Status_Bits.5).
5. Turn off the “define location” <strong>com</strong>mand bit.
6. Repeat steps 1 - 5 for all the locations you wish to define. Location 0 is always
defined as (0,0,0,0,0,0) and cannot be redefined.
96 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B