User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 85

Moving the Robot

This section describes the “basic” steps for moving the robot. The method described here

is useful when the robot must be stopped at the end of each motion, in order to perform

some operation. Note that it does not use the Motion Counter, which means that the robot

stops (i.e., the path is broken) at the end of each movement. Therefore, this method cannot

be used to sequence motions together for continuous-path movement. If you require a

continuous-path motion, please see “Moving the Robot Using Continuous Path” (below)

for more details.

NOTE: If you are not moving relative to a pallet (not a pallet motion) the

value for N30:8 must be 0.

1. Load N30:4 with the motion speed.

2. Load N30:5 with the motion acceleration.

N30:1 Adept_Output Output Signals command

(see Tabl e 6-4 on

page 88)

N30:2 Adept_Jog_Mode Jog Mode command

(see Tabl e 6-5 on

page 88)

N30:3 Adept_Motion_Qualifier Motion Qualifier

command register

(see Tabl e 6-6 on

page 89)

N30:4 Adept_Speed Motion/Jog speed

N30:5 Adept_Acceleration Motion acceleration

N30:6 Adept_Location_Number Location number

N30:7 Adept_Approach_Height Approach height

N30:8 Adept_Pallet_Number Pallet number

N30:9 Adept_Row_Count Pallet row count

N30:10 Adept_Column_Count Pallet column count

N30:11 Adept_Layer_Count Pallet layer count

There are no default values for the motion speed and acceleration. If moving to a taught

location, an error will occur if a value that is less than or equal to 0 is entered.

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 171 for more information on speed

and acceleration.

RSLogix 500 RSLogix 5000 Function