Download Adept Cobra PLC600 User's Guide - pulsar.com.tr

Programming the Robot
When defining a pallet, please note the following:
• The first position in the pallet is position 1 (not zero).
• The even-numbered rows, if offset, are always offset by half the distance between
positions in a row (F243:4 or <strong>Adept</strong>_Pallet.4).
• The traversal value (F243:68 or <strong>Adept</strong>_Pallet.68) can be either 0 or 1. If the value is
0, the rows are all traversed in the same direction. If the value is 1, he
even-numbered rows are traversed in the direction opposite that of the
odd-numbered rows.
• The spacing between rows is constant for all rows (odd-numbered and
even-numbered).
To define a pallet in the PLC Server:
1. Enter the pallet location parameters and pallet spacing parameters into the
registers listed in Table 6-13. See “Defining a Pallet Layout” on page 145 for
details on defining a pallet.
2. Enter the number of the pallet to be defined into N240:8 or <strong>Adept</strong>_Pallet_Number.
3. Turn on the “define pallet” <strong>com</strong>mand bit (N240:0/10 or
<strong>Adept</strong>_Command_Bits.10)
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 pallet” <strong>com</strong>mand bit.
21 22 23 24 25
C
21 22 23 24 25
C
16 17 18 19 20
20
19
18
17
16
11 12 13 14 15
11 12 13 14 15
6 7 8 9 10
10
9
8
7
6
Start 1 2 3 4 5
A
B
Traverse Dir. = 0
Start 1 2 3 4 5
A
B
Traverse Dir. = 1
A Origin
B Last location in
origin row
Figure 6-6. Traverse Direction
C Location on pallet
(not in origin row)
NOTE:
1. The initial traverse direction is always from A to B.
2. When defining the pallet, if location C is taught on the same line (row)
as A and B, an error will be reported.
98 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B