User`s guide

98 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
MainRoutine - Ladder Diagram Page 1MainRoutine - Ladder Diagram Page 1
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/4/2004 9:34:48 AM
Total number of rungs: 12 ControlLogix_Example.ACD
Adept PLC Server has just booted, reset variables so locations and pallet data will be downloaded.
0
Off=No meaning
On=Adept system
has initialized
Adept_Status_Bits.3
<AS[0].3>
U
robot_locations_downloaded
Clear
Dest robot_locations_count
0
CLR
Adept PLC Server has just booted, reset variables so locations and pallet data will be downloaded.
If the e-stop circuit is open, turn off robot high power command.
1
Off=E-stop circuit
closed
On=E-stop circuit is
open
Adept_Status_Bits.4
<AS[0].4>
/
Off=High power
disabled
On=High power
enabled
Adept_Status_Bits.0
<AS[0].0>
Off=No fault
On=Adept in
faulted state
Adept_Status_Bits.1
<AS[0].1>
U
Off=Disable high
power
On=Enable high
power
Adept_Command_Bits.0
<AC[0].0>
If the e-stop circuit is open, turn off robot high power command.
Turn on the high power enable command if it is off, there are no faults and the e-stop circuit is closed.
2
/
Off=High power
disabled
On=High power
enabled
Adept_Status_Bits.0
<AS[0].0>
/
Off=No fault
On=Adept in
faulted state
Adept_Status_Bits.1
<AS[0].1>
/
Off=E-stop circuit
closed
On=E-stop circuit is
open
Adept_Status_Bits.4
<AS[0].4>
L
Off=Disable high
power
On=Enable high
power
Adept_Command_Bits.0
<AC[0].0>
Turn on the high power enable command if it is off, there are no faults and the e-stop circuit is closed.
Calibrate robot if needed and arm is powered up.
3
Off=High power
disabled
On=High power
enabled
Adept_Status_Bits.0
<AS[0].0>
/
Off=No fault
On=Adept in
faulted state
Adept_Status_Bits.1
<AS[0].1>
/
Off=Robot not
calibrated
On=Robot
calibrated
Adept_Status_Bits.2
<AS[0].2>
Off=No effect
On=Calibrate robot
Adept_Command_Bits.6
<AC[0].6>
Calibrate robot if needed and arm is powered up.
Download locations if necessary
4
/
Off=No fault
On=Adept in
faulted state
Adept_Status_Bits.1
<AS[0].1>
/
robot_locations_downloaded
Jump To Subroutine
Routine Name Download_Locations
JSR
Download locations if necessary