User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 95
When teaching locations, it is up to the programmer or system developer to create a
method for storing that data, for example, in a data table. (The data structure for storing
the taught locations in the PLC is up to you.) Then, when moving the robot to one of those
locations, the data must be moved from the data table into the Adept Location registers
(F32:0-5 or Adept_Location.0-5) or, if using a pallet, a combination of the Adept Location
registers (F32:0-5 or Adept_Location.0-5) and the Adept Pallet registers (F33:0-5
Adept_Pallet.0-5).
To teach (record) a location:
1. Enable N30:0/1 (Update position registers) bit (see Table 6-3 on page 87).
2. Move F34:0-5 (current robot coordinates) to appropriate data array.
Error Register
The current error register (ST35 or Adept_Error) is a string containing the current system
error message. The maximum message length is 82 characters. The current error is cleared
when a fault reset command is issued.
Location & Pallet Register Definitions
This section describes the Location registers and the steps used for defining a location in
the PLC Server. All location data are stored in the PLC, and need to be sent to the PLC
Server for use.
Table 6-11. Location & Pallet Register Definitions
To define a location in the PLC Server:
1. Enter the appropriate coordinates into the registers listed in Table 6-11. See
“Defining a Location” on page 176 for more details on defining locations.
2. Put the number of the location to be defined into N30:6 or
Adept_Location_Number.
F34:11 Adept_Here.11 Current Joint-6 position
RSLogix 500 RSLogix 5000 Function
F32:0 Adept_Location.0 Joint-1 or X-axis coordinate
F32:1 Adept_Location.1 Joint-2 or Y-axis coordinate
F32:2 Adept_Location.2 Joint-3 or Z-axis coordinate
F32:3 Adept_Location.3 Joint-4 or Yaw-angle
coordinate
F32:4 Adept_Location.4 Joint-5 or Pitch-angle
coordinate
F32:5 Adept_Location.5 Joint-6 or Roll-angle
coordinate
RSLogix 500 RSLogix 5000 Function