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PLC Software Overview
Pallet Registers
This section describes the Pallet registers and the steps used for defining a pallet.
Table 6-13. Pallet Register Definitions
RSLogix 500 RSLogix 5000 Description
F243:0 <strong>Adept</strong>_Pallet.0 Location number for pallet
starting position (position
index=1).
See location “A” in Figure 6-6.
F243:1 <strong>Adept</strong>_Pallet.1 Location number for last position
in the origin row.
See location “B” in Figure 6-6.
F243:2 <strong>Adept</strong>_Pallet.2 Location number for any other
position in the pallet (cannot be in
the origin row).
See location “C” in Figure 6-6.
F243:3 <strong>Adept</strong>_Pallet.3 # of positions in the first row
F243:4 <strong>Adept</strong>_Pallet.4 Spacing between positions in row
(mm)
F243:5 <strong>Adept</strong>_Pallet.5 Total number of rows
F243:6 <strong>Adept</strong>_Pallet.6 Spacing between rows (mm)
F243:7 <strong>Adept</strong>_Pallet.7 Type of row configuration (see
Table 6-14 and Figure 6-7)
F243:8 <strong>Adept</strong>_Pallet.8 Traversal direction, 0 or 1 (see
Figure 6-6)
Table 6-14. Pallet Row Configurations
Configuration
Code
Offset to
Even-Numbered Row
# Positions in
Even-Numbered
Row
0 None = odd_row
1 -0.5*position spacing = odd_row
2 +0.5*position spacing = odd_row
3 -0.5*position spacing = odd_row +1
4 +0.5*position spacing = odd_row - 1
The following row configurations are not supported:
-0.5*position spacing = odd_row - 1
+0.5*position spacing = odd_row + 1
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 97