User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 87
Instruction Command Register
The table below describes the Instruction command register definitions.
Table 6-3. Instruction command register definitions
Bits 0 through 5 can be on or off regardless of the settings of the other command-word
bits. However, only one of the 5 through 15 bits can be on at any time. Otherwise, a -3007
error will occur (see Section 6.5 on page 133).
Bit 0 attempts to enable robot high-power, if the system is not in a fault state. If faulted,
this bit will have no effect. This bit must be latched on for high-power to be maintained.
Bit 1 commands the PLC Server to update the current robot position registers (F34 or
Adept_Here). The data in these registers might or might not be valid if the robot has not
been calibrated. Due the amount of data being transmitted, this bit should be off as much
as possible to improve DF1 communication performance.
Bit 5 resets the PLC Server if it is in a fault state. The current error message (ST35 or
Adept_Error) is cleared with the reset command.
Bit 6 requests calibration of the robot if the system is not faulted and if robot high power is
on (N31:0/0 or Adept_Status_Bits.0).
Bit RSLogix 500 RSLogix 5000 Description
0 N30:0/0 Adept_Command_Bits.0 Enable high power
1 N30:0/1 Adept_Command_Bits.1 Update current
position
2 N30:0/2 Adept_Command_Bits.2 RESERVED
3 N30:0/3 Adept_Command_Bits.3 RESERVED
4 N30:0/4 Adept_Command_Bits.4 RESERVED
5 N30:0/5 Adept_Command_Bits.5 Reset fault condition
6 N30:0/6 Adept_Command_Bits.6 Calibrate robot
7 N30:0/7 Adept_Command_Bits.7 Enable jog mode
8 N30:0/8 Adept_Command_Bits.8 Move robot
9 N30:0/9 Adept_Command_Bits.9 Define location
10 N30:0/10 Adept_Command_Bits.10 Define pallet
11 N30:0/11 Adept_Command_Bits.11 RESERVED
12 N30:0/12 Adept_Command_Bits.12 RESERVED
13 N30:0/13 Adept_Command_Bits.13 RESERVED
14 N30:0/14 Adept_Command_Bits.14 RESERVED
15 N30:0/15 Adept_Command_Bits.15 RESERVED