User`s guide

96 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
3. Turn on the “define location” command bit (N30:0/9 or Adept_Command_Bits.9)
4. Wait for the “command executing” bit to be set (N31:0/5 or Adept_Status_Bits.5).
5. Turn off the “define location” command bit.
Pallet Registers
This section describes the Pallet registers and the steps used for defining a pallet.
Table 6-12. Pallet Register Definitions
To define a pallet in the PLC Server:
1. Enter the pallet spacing and pallet frame parameters into the registers listed in
Table 6-12. See “Defining a Reference Frame” on page 180 for details on defining
a pallet frame.
2. Enter the number of the pallet to be defined into N30:8 or Adept_Pallet_Number.
3. Turn on the “define pallet” command bit (N30:0/10 or Adept_Command_Bits.10)
4. Wait for the “command executing” bit to be set (N31:0/5 or Adept_Status_Bits.5).
5. Turn off the “define pallet” command bit.
6.4 Programming an Application from the PLC
This section contains ladder-logic examples that can be used as an aid in developing your
application. These examples are also available for download from the Adept website
Download Center. To access the Download Center, go to:
http://www.adept.com/main/support/index.asp
and select Adept Download Center. In the Download ID field, enter 5092 and click
SEARCH to locate the file.
NOTE: The examples are designed for the RSLogix 5000 PLC. If you are
using the RSLogix 500 PLC, please note that the addressing will be
different.
RSLogix 500 RSLogix 5000
Function
F33:0 Adept_Pallet.0 Pallet row spacing (mm)
F33:1 Adept_Pallet.1 Pallet column spacing (mm)
F33:2 Adept_Pallet.2 Pallet layer spacing (mm)
F33:3 Adept_Pallet.3 Location number for pallet origin
F33:4 Adept_Pallet.4 Location number for pallet X-axis
F33:5 Adept_Pallet.5 Location number for pallet Y-axis