User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 117
Move_Robot - Ladder Diagram Page 6
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:04 PM
Total number of rungs: 64 ControlLogix_Example.ACD
Set speed and acceleration to move to Location number 1.
19
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
Set speed and acceleration to move to Location number 1.
Approach height is zero when moving to the location
20
U
Off=Relative app.
height
On=Global app.
height
Adept_Motion_Qualifiers.8
<AC[3].8>
Move
Source 0
Dest Adept_Approach_Hei
g
ht
<AC[7]>
0
MOV
Approach height
(dependent on
Adept_Motion
Qualifier.8)
Approach height is zero when moving to the location
21
Move
Source 0
Dest Adept_Pallet_Number
<AC[8]>
0
MOV
Pallet number
(0 if no pallet)
Move
Source 0
Dest Adept_Pallet_Row_Count
<AC[9]>
0
MOV
Pallet row count
Move
Source 0
Dest Adept_Pallet_Column_Count
<AC[10]>
0
MOV
Pallet column count
Move
Source 0
Dest Adept_Pallet_Layer_Count
<AC[11]>
0
MOV
Pallet layer count