User`s guide

104 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Download_Locations - Ladder Diagram Page 1Download_Locations - Ladder Diagram Page 1
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:48:06 PM
Total number of rungs: 13 ControlLogix_Example.ACD
Download location data to controller
0
/
Off=No effect
On=Download
Adept_Location
data to PLC Server
Adept_Command_Bits.9
<AC[0].9>
/
Off=Command is
not executing
On=Command is
executing
Adept_Status_Bits.5
<AS[0].5>
MCR
Download location data to controller
1
Add
Source A robot_locations_count
0
Source B 1
Dest robot_locations_count
0
ADD
2 Move
Source robot_locations_count
0
Dest Adept_Location_Number
<AC[6]>
1
MOV
Location number
Move coordinate data from location register to Adept_Location array
3 Move
Source locations[robot_locations_count].X
0.0
Dest Adept_Location[0]
0.0
MOV
X-coordinate/Joint
1 angle
Move coordinate data from location register to Adept_Location array
4
Move
Source locations[robot_locations_count].Y
0.0
Dest Adept_Location[1]
0.0
MOV
Y-coordinate/Joint
2 angle