User`s guide

94 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Current Motion Counter
The current motion counter (N31:2 or Adept_Current_Motion_Counter) is incremented
each time a motion begins. It can be used to indicate that the previous motion command
has started and the next motion parameters can be loaded into the command registers.
This gives the optimum continuous-path performance. Without this counter, the
programmer would need to handshake with the command-executing bit to determine
when a motion has started, which would introduce delay into trajectory planning.
NOTE: If your program is using this in conjunction with a timer or other
event, you must turn off the latch bit. Otherwise, the program could read
position registers during an update, which could result in corrupted data.
Current Position Array
The following table describes the Current Position array.
Table 6-10. Current Position Array
9 N31:1/9 Adept_ Input.9 XDIO Input 1010
10 N31:1/10 Adept_ Input.10 XDIO Input 1011
11 N31:1/11 Adept_ Input.11 XDIO Input 1012
12 N31:1/12 Adept_ Input.12 RESERVED
13 N31:1/13 Adept_ Input.13 RESERVED
14 N31:1/14 Adept_ Input.14 RESERVED
15 N31:1/15 Adept_ Input.15 RESERVED
RSLogix 500 RSLogix 5000 Function
F34:0 Adept_Here.0 Current X-axis coordinate
F34:1 Adept_Here.1 Current Y-axis coordinate
F34:2 Adept_Here.2 Current Z-axis coordinate
F34:3 Adept_Here.3 Current Yaw-angle coordinate
F34:4 Adept_Here.4 Current Pitch-angle coordinate
F34:5 Adept_Here.5 Current Roll-angle coordinate
F34:6 Adept_Here.6 Current Joint-1 position
F34:7 Adept_Here.7 Current Joint-2 position
F34:8 Adept_Here.8 Current Joint-3 position
F34:9 Adept_Here.9 Current Joint-4 position
F34:10 Adept_Here.10 Current Joint-5 position
Bit RSLogix 500 RSLogix 5000 Description