User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 131
Reset Faults Routine
This section shows the ladder logic and tag listings for a routine to reset error conditions.
Move_Robot - Tag Cross Reference Page 20
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/3/2004 5:51:11 PM
ControlLogix_Example.ACD
Reference Scope Program Routine BaseTag
Referenced At [*=Destructive, ?=Not
Verified]
Adept_Status_Bits.5 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Download_Locat
ions
AS[0].5 0(XIO) 11(XIC) 12(XIC)
Move_Robot 0(XIO)
Adept_Status_Bits.6 Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Move_Robot AS[0].6 27(XIC) 54(XIC)
pv_speed Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Move_Robot 63(CPT)
robot_motion_count Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Move_Robot *6(MOV) 9(NEQ) *15(MOV) 18(NEQ)
*24(MOV) 27(NEQ) *33(MOV) 36(NEQ)
*42(MOV) 45(NEQ) *51(MOV) 54(NEQ)
*60(MOV)
robot_step_next Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram MainRoutine *9(MOV)
Move_Robot 0(EQU) *6(MOV) 9(EQU) *15(MOV)
18(EQU) *24(MOV) 27(EQU) *33(MOV)
36(EQU) *42(MOV) 45(EQU) *51(MOV)
54(EQU) *60(MOV)
Reset_Faults *1(CLR)
scratch_speed Adept_PLC_Serv
er_ControlLogix
_Example
MainProgram Move_Robot *1(MOV) *10(MOV) *19(MOV) *28(MOV)
*37(MOV) *46(MOV) *55(MOV) 63(CPT)