User`s guide

100 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
MainRoutine - Ladder Diagram Page 3MainRoutine - Ladder Diagram Page 3
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/4/2004 9:34:48 AM
Total number of rungs: 12 ControlLogix_Example.ACD
Jog robot
10
ok_to_run_robot
/
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
Not Equal
Source A pv_jog_speed
0
Source B 0
NEQ
Jump To Subroutine
Routine Name Jog_Robot
JSR
Off=No effect
On=Jog robot
Adept_Command_Bits.7
<AC[0].7>
Jog robot
Update position registers whenever the move robot command is off.
11
/
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
Off=No effect
On=Update
Adept_Here with
current robot
position
Adept_Command_Bits.1
<AC[0].1>
Update position registers whenever the move robot command is off.
(End)