User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 123
Move_Robot - Ladder Diagram Page 12
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:07 PM
Total number of rungs: 64 ControlLogix_Example.ACD
43 L
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
44 MCR
Step 500-Move to place location
45
Equal
Source A robot_step_next
0
Source B 500
EQU
Not Equal
Source A robot_motion_count
26
Source B Adept_Current_Motion_Counter
<AS[2]>
27
NEQ
MCR
Step 500-Move to place location
46
Move
Source 120
Dest scratch_speed
120
MOV
Move
Source 120
Dest Adept_Acceleration
<AC[5]>
120
MOV
Motion acceleration
and deceleration
Move
Source 2
Dest Adept_Location_Number
<AC[6]>
1
MOV
Location number
47 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)