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86 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
3. Load N30:6 with the number of the location to be moved to (see page 95 for
details).
4. Set the motion qualifier bits in N30:3 (see page 89 for details).
5. Enable N30:0/8 (Move robot bit) to start the motion (see page 87 for details).
6. Wait for N31:0/5 (Command Executing) to go high, indicating the motion has
started.
7. Wait for N31:0/6, which is enabled when the robot is in position.
8. Disable N30:0/8 (Move robot bit).
9. Wait for N31:0/5 (Command Executing) to go low, indicating the Move robot bit
has been turned off.
Moving the Robot Using Continuous Path
This method uses the Motion Counter to track the robot motion. For a ladder-logic
example, see “Move Robot Routine” on page 112. The advantage of this method is that it
allows you to sequence motions together for continuous-path movement. See
“Continuous-Path Motion” on page 173 for information on continuous paths.
1. Load N30:4 with the motion speed.
1
2. Load N30:5 with the motion acceleration.
1
3. Load N30:6 with the number of the location to be moved to (see page 95 for
details).
4. Enable/disable the motion qualifier bits in N30:3 (see page 89 for details).
5. Record the value in N31:2, the Current Motion Counter
6. Enable N30:0/8 (Move-robot bit) to start the motion (see page 87 for details).
7. Wait for the Current Motion Counter (N31:2) to change.
8. Start the next motion at Step 1.
NOTE: If you are going to delay issuing the next motion (wait for a signal
on timer) then you must turn off the Move command bit. Otherwise, the
PLC Server may read the command register while the PLC is writing to it,
which could result in an unexpected command being executed.
1
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.