User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 105
Download_Locations - Ladder Diagram Page 2Download_Locations - Ladder Diagram Page 2
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:48:06 PM
Total number of rungs: 13 ControlLogix_Example.ACD
5 Move
Source locations[robot_locations_count].Z
0.0
Dest Adept_Location[2]
0.0
MOV
Z-coordinate/Joint 3
angle
6 Move
Source locations[robot_locations_count].Yaw
0.0
Dest Adept_Location[3]
0.0
MOV
Yaw-angle/Joint 4
angle
7 Move
Source locations[robot_locations_count].Pitch
0.0
Dest Adept_Location[4]
0.0
MOV
Pitch-angle/Joint 5
angle
8 Move
Source locations[robot_locations_count].Roll
0.0
Dest Adept_Location[5]
0.0
MOV
Roll-angle/Joint 6
angle
Issue command to download location data
9
L
Off=No effect
On=Download
Adept_Location
data to PLC Server
Adept_Command_Bits.9
<AC[0].9>
Issue command to download location data
10
MCR