User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 125
Move_Robot - Ladder Diagram Page 14
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:08 PM
Total number of rungs: 64 ControlLogix_Example.ACD
52 L
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
53 MCR
Step 600-Depart place location
Wait until prior motion is complete before executing the depart.
54
Equal
Source A robot_step_next
0
Source B 600
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 600-Depart place location
Wait until prior motion is complete before executing the depart.
Setup speed and acceleration while departing location number 2 by 100mm
55
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
Setup speed and acceleration while departing location number 2 by 100mm