User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 103
Download Locations Routine
This section shows the ladder logic and tag listings for a routine to download locations to
the PLC Server.
MainRoutine - Tag Cross Reference Page 6
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/4/2004 9:34:48 AM
ControlLogix_Example.ACD
Reference Scope Program Routine BaseTag
Referenced At [*=Destructive, ?=Not
Verified]
Adept_Status_Bits.6 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Move_Robot AS[0].6 27(XIC) 54(XIC)
ok_to_run_robot Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine *7(OTE) 8(XIC) 10(XIC)
pv_jog_speed Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Jog_Robot 1(MOV)
MainRoutine 10(NEQ)
pv_reset_faults Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine 5(XIC)
pv_run_robot Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine 8(XIC) 9(XIO)
Reset_Faults *2(OTU)
robot_locations_cou
nt
Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Download_Locat
ions
*1(ADD) 1(ADD) 2(MOV) 3(MOV) 4(MOV)
5(MOV) 6(MOV) 7(MOV) 8(MOV) 12(EQU)
*12(CLR)
MainRoutine *0(CLR)
robot_locations_dow
nloaded
Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Download_Locat
ions
*12(OTL)
MainRoutine *0(OTU) 4(XIO) 7(XIC)
robot_step_next Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine *9(MOV)
Move_Robot 0(EQU) *6(MOV) 9(EQU) *15(MOV)
18(EQU) *24(MOV) 27(EQU) *33(MOV)
36(EQU) *42(MOV) 45(EQU) *51(MOV)
54(EQU) *60(MOV)
Reset_Faults *1(CLR)