User`s guide

90 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
The motion qualifier bits are used to define the characteristics of the next motion
whenever a move command is given (N30:0/8 or Adept_Commands_Bits.8). Any
combination of the bits can be set.
Bit 0 determines if the motion is to absolute coordinates or relative to the robot's current
position. For relative motion, the coordinates of the specified destination location are
added to the current position. Thus, this type of motion is relative to absolute Cartesian
coordinates, not relative to the tool.
Bit 1 determines whether the component values of the location that is referenced by the
Location Number register (N30:6 or Adept_Location_Number) are Cartesian or joint
coordinates.
1 N30:3/1 Adept_Motion_Qualifier.1 Cartesian
coordinates
Joint coordinates
2 N30:3/2 Adept_Motion_Qualifier.2 RESERVED
3 N30:3/3 Adept_Motion_Qualifier.3 RESERVED
4 N30:3/4 Adept_Motion_Qualifier.4 RESERVED
5 N30:3/5 Adept_Motion_Qualifier.5 RESERVED
6 N30:3/6 Adept_Motion_Qualifier.6 RESERVED
7 N30:3/7 Adept_Motion_Qualifier.7 Trapezoidal
acceleration
S-curve
acceleration
8 N30:3/8 Adept_Motion_Qualifier.8 Relative approach
height
Absolute
approach height
9 N30:3/9 Adept_Motion_Qualifier.9 Joint motion Straight-line
motion
10 N30:3/10 Adept_Motion_Qualifier.10 Null after motion No-null after
motion
11 N30:3/11 Adept_Motion_Qualifier.11 Fine nulling
tolerances
Coarse nulling
tolerances
12 N30:3/12 Adept_Motion_Qualifier.12 Multiple-turn wrist Single-turn wrist
13 N30:3/13 Adept_Motion_Qualifier.13 Lefty arm
configuration
Righty arm
configuration
14 N30:3/14 Adept_Motion_Qualifier.14 Above arm
configuration
Below arm
configuration
15 N30:3/15 Adept_Motion_Qualifier.15 Flip arm
configuration
No-flip arm
configuration
Bit RSLogix 500 RSLogix 5000 Bit Off Bit On