User`s guide

110 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Jog_Robot - Ladder Diagram Page 1
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:49:46 PM
Total number of rungs: 2 ControlLogix_Example.ACD
0 Compute
Dest Adept_Jog_Mode
<AC[2]>
136
Expression pv_jog_mode+(pv_jog_axis*32)
CPT
Jog mode qualifier
bits
1 Move
Source pv_jog_speed
0
Dest Adept_Speed
<AC[4]>
120
MOV
Motion speed
(End)
Jog_Robot - Controller Tag Listing Page 2
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:49:47 PM
ControlLogix_Example.ACD
Tag Name Type Description
Adept_Jog_Mode INT Jog mode qualifier bits
Adept_Jog_Mode.0 BOOL World mode
Adept_Jog_Mode.1 BOOL Tool mode
Adept_Jog_Mode.2 BOOL Joint mode
Adept_Jog_Mode.3 BOOL Free mode
Adept_Jog_Mode.4 BOOL Not used
Adept_Jog_Mode.5 BOOL Joint 1/X-axis
Adept_Jog_Mode.6 BOOL Joint 2/Y-axis
Adept_Jog_Mode.7 BOOL Joint 3/Z-axis
Adept_Jog_Mode.8 BOOL Joint 4/Yaw-angle
Adept_Jog_Mode.9 BOOL Joint 5/Pitch-angle
Adept_Jog_Mode.10 BOOL Joint 6/Roll-angle
Adept_Jog_Mode.11 BOOL Not used
Adept_Jog_Mode.12 BOOL Not used
Adept_Jog_Mode.13 BOOL Not used
Adept_Jog_Mode.14 BOOL Not used
Adept_Jog_Mode.15 BOOL Not used
Adept_Speed INT Motion speed
pv_jog_axis INT
pv_jog_mode INT
pv_jog_speed INT