User`s guide

114 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Move_Robot - Ladder Diagram Page 3
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:02 PM
Total number of rungs: 64 ControlLogix_Example.ACD
Remember the current motion count. This is used to tell when this new motion starts so that motions can be
executed continuously
6
Move
Source Adept_Current_Motion_Counter
<AS[2]>
27
Dest robot_motion_count
26
MOV
Move
Source 100
Dest robot_step_next
0
MOV
Remember the current motion count. This is used to tell when this new motion starts so that motions can be
executed continuously
Issue move command
7
L
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
Issue move command
8
MCR
Step 100-Approach pick location
9
Equal
Source A robot_step_next
0
Source B 100
EQU
Not Equal
Source A robot_motion_count
26
Source B Adept_Current_Motion_Counter
<AS[2]>
27
NEQ
MCR
Step 100-Approach pick location
10
Move
Source 120
Dest scratch_speed
120
MOV
Move
Source 120
Dest Adept_Acceleration
<AC[5]>
120
MOV
Motion acceleration
and deceleration
Move
Source 1
Dest Adept_Location_Number
<AC[6]>
1
MOV
Location number