User`s guide

122 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Move_Robot - Ladder Diagram Page 11
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:07 PM
Total number of rungs: 64 ControlLogix_Example.ACD
39 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
40 U
Off=Absolute
motion
On=Relative motion
Adept_Motion_Qualifiers.0
<AC[3].0>
U
Off=Transformation
On=Precision Point
Adept_Motion_Qualifiers.1
<AC[3].1>
U
0ff=Joint-interpolate
d move
On=Straight-line
move
Adept_Motion_Qualifiers.9
<AC[3].9>
41 L
Off=Null at end of
motion
On=No null at end
of motion
Adept_Motion_Qualifiers.10
<AC[3].10>
L
Off=Fine nulling
On=Coarse
nulling
(Adept_Motion_Qu
alifier.10 must be
off)
Adept_Motion_Qualifiers.11
<AC[3].11>
U
Off=Multiple
rotation
On=Single rotation
Adept_Motion_Qualifiers.12
<AC[3].12>
L
Off=Lefty arm
configuration
On=Righty arm
configuration
Adept_Motion_Qualifiers.13
<AC[3].13>
42 Move
Source Adept_Current_Motion_Counter
<AS[2]>
27
Dest robot_motion_count
26
MOV
Move
Source 500
Dest robot_step_next
0
MOV