User`s guide

92 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
When a motion is commanded, the speed and acceleration parameters must be greater
than 0 (except that a negative speed is okay for a jog-mode motion). Otherwise, an error
will be returned. There are no default values. If moving to taught location and a value that
is less than or equal to 0 is entered, an error will occur. 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.
If the motion destination is defined relative to a pallet, the pallet-number parameter
(N30:8 or Adept_Pallet_Number) determines to which pallet the location will be relative.
The row (N30:9 or Adept_Row_Count), column (N30:10 or Adept_Column_Count), and
layer (N30:11 or Adept_Layer_Count) values are multiplied by their respective spacing
parameters (which are defined with the pallet) to determine the pallet reference frame.
The specified destination location is applied to that reference frame to determine the
motion endpoint.
Status Registers
The tables and sections below describe the Status registers.
Table 6-7. Status Registers
Status Word Bit Definitions
The following table describes the Status word bit definitions.
Table 6-8. Status Word Bit Definitions
RSLogix 500 RSLogix 5000 Function Form
N31:0 Adept_Status_Bits Main status bits
(see Table 6 -8 on
page 92)
Bit-encoded
integer
N31:1 Adept_Inputs Inputs
(see Table 6 -9 on
page 93)
Bit-encoded
integer
N31:2 Adept_Current_Motion
_Counter
Current motion number
(see “Current Motion
Counter” on page 94)
Integer
F34 Adept_Here Current position
(see Table 6-10 on
page 94)
Real array
ST35 Adept_Error Error message
(see “Error Register” on
page 95)
String
Bit RSLogix 500 RSLogix 5000 State Description
0 N31:0/0 Adept_Status_Bits.0 Robot power is on
1 N31:0/1 Adept_Status_Bits.1 System is faulted