User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 119
Move_Robot - Ladder Diagram Page 8
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:05 PM
Total number of rungs: 64 ControlLogix_Example.ACD
Step 300-Depart pick location
Wait until previous motion is complete before departing.
27
Equal
Source A robot_step_next
0
Source B 300
EQU
Not Equal
Source A robot_motion_count
26
Source B Adept_Current_Motion_Counter
<AS[2]>
27
NEQ
Off=Robot in
motion
On=Robot finished
motion
Adept_Status_Bits.6
<AS[0].6>
MCR
Step 300-Depart pick location
Wait until previous motion is complete before departing.
Set speed and acceleration to depart location 1 by 100mm.
28
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 depart location 1 by 100mm.
29
U
Off=Relative app.
height
On=Global app.
height
Adept_Motion_Qualifiers.8
<AC[3].8>
Move
Source 100
Dest Adept_Approach_Hei
g
ht
<AC[7]>
0
MOV
Approach height
(dependent on
Adept_Motion
Qualifier.8)