User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 109
Jog Robot Routine
This section shows the ladder logic and tag listings for a routine to jog (move) the robot.
Download_Locations - Tag Cross Reference Page 6
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:48:07 PM
ControlLogix_Example.ACD
Reference Scope Program Routine BaseTag
Referenced At [*=Destructive, ?=Not
Verified]
Move_Robot *1(MOV) *10(MOV) *19(MOV) *28(MOV)
*37(MOV) *46(MOV) *55(MOV)
Adept_Status_Bits.0 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine AS[0].0 1(XIO) 2(XIO) 3(XIC) 7(XIC)
Adept_Status_Bits.1 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine AS[0].1 1(XIC) 2(XIO) 3(XIO) 4(XIO) 6(XIC) 7(XIO)
Adept_Status_Bits.2 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine AS[0].2 3(XIO) 7(XIC)
Adept_Status_Bits.3 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine AS[0].3 0(XIC)
Adept_Status_Bits.4 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine AS[0].4 1(XIC) 2(XIO)
Adept_Status_Bits.5 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Download_Locat
ions
AS[0].5 0(XIO) 11(XIC) 12(XIC)
Move_Robot 0(XIO)
Adept_Status_Bits.6 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Move_Robot AS[0].6 27(XIC) 54(XIC)
locations Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Download_Locat
ions
3(MOV) 4(MOV) 5(MOV) 6(MOV) 7(MOV)
8(MOV)
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)