User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 89
Only one of the jog-mode bits (bits 0-3) can be on at a time. When World, Tool, or Joint
mode is selected, only one joint or axis bit (bits 5-10) can be selected. In Free mode,
multiple joints or axes can be selected.
In jog mode, the motion speed parameter may have a value from -127 to 127 (the sign
determines the direction of motion). The value 0 stops the motion. A value outside of -127
to 127 generates a fault. See “Speed, Acceleration, and Deceleration” on page 171 for
more information.
Motion Qualifier Command Register
The table below describes the Motion Qualifier command register.
Table 6-6. Motion Qualifier Command Register
2 N30:2/2 Adept_Jog_Mode.2 Enable Joint mode Bit on: Jog axis in Joint
mode
3 N30:2/3 Adept_Jog_Mode.3 Enable Free mode Bit on: Put axis in Free
mode
4 N30:2/4 Adept_Jog_Mode.4 RESERVED
5 N30:2/5 Adept_Jog_Mode.5 Joint 1/X-axis Bit on: Select joint 1 or
X-axis for jogging
6 N30:2/6 Adept_Jog_Mode.6 Joint 2/Y-axis Bit on: Select joint 2 or
Y-axis for jogging
7 N30:2/7 Adept_Jog_Mode.7 Joint 3/Z-axis Bit on: Select joint 3 or
Z-axis for jogging
8 N30:2/8 Adept_Jog_Mode.8 Joint 4/Yaw-angle Bit on: Select joint
4/Yaw-angle for jogging
9 N30:2/9 Adept_Jog_Mode.9 Joint 5/Pitch-angle Bit on: Select joint
5/Pitch-angle for jogging
10 N30:2/10 Adept_Jog_Mode.10 Joint 6/Roll-angle Bit on: Select joint
6/Roll-angle for jogging
11 N30:2/11 Adept_Jog_Mode.11 RESERVED
12 N30:2/12 Adept_Jog_Mode.12 RESERVED
13 N30:2/13 Adept_Jog_Mode.13 RESERVED
14 N30:2/14 Adept_Jog_Mode.14 RESERVED
15 N30:2/15 Adept_Jog_Mode.15 RESERVED
Bit RSLogix 500 RSLogix 5000 Bit Off Bit On
0 N30:3/0 Adept_Motion_Qualifier.0 Absolute motion Relative motion
Bit
RSLogix 500 RSLogix 5000 Function Description