User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 127
Move_Robot - Ladder Diagram Page 16
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:09 PM
Total number of rungs: 64 ControlLogix_Example.ACD
59 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>
60 Move
Source Adept_Current_Motion_Counter
<AS[2]>
27
Dest robot_motion_count
26
MOV
Move
Source 100
Dest robot_step_next
0
MOV
61 L
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
62 MCR
Multiply scratch_speed by percentage of speed on PanelView
63
Compute
Dest Adept_Speed
<AC[4]>
120
Expression TRN(pv_speed*scratch_speed/100.0)
CPT
Motion speed
Multiply scratch_speed by percentage of speed on PanelView
(End)