User`s guide

112 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Move Robot Routine
This section shows the ladder logic and tag listings for a routine to move the robot.
Move_Robot - Ladder Diagram Page 1
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:02 PM
Total number of rungs: 64 ControlLogix_Example.ACD
Start of robot sequence-Depart from current location to a safe Z height.
0
/
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
/
Off=Command is
not executing
On=Command is
executing
Adept_Status_Bits.5
<AS[0].5>
Equal
Source A robot_step_next
0
Source B 0
EQU
MCR
Start of robot sequence-Depart from current location to a safe Z height.
Set speed and location. Location 0 is always (0,0,0,0,0,0).
1
Move
Source 50
Dest scratch_speed
120
MOV
Move
Source 50
Dest Adept_Acceleration
<AC[5]>
120
MOV
Motion acceleration
and deceleration
Move
Source 0
Dest Adept_Location_Number
<AC[6]>
1
MOV
Location number
Set speed and location. Location 0 is always (0,0,0,0,0,0).
Specify that the move is to goto an absolute Z height of 375mm.
2
L
Off=Relative app.
height
On=Global app.
height
Adept_Motion_Qualifiers.8
<AC[3].8>
Move
Source 375
Dest Adept_Approach_Hei
g
ht
<AC[7]>
0
MOV
Approach height
(dependent on
Adept_Motion
Qualifier.8)
Specify that the move is to goto an absolute Z height of 375mm.