User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 99
MainRoutine - Ladder Diagram Page 2MainRoutine - Ladder Diagram Page 2
Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/4/2004 9:34:48 AM
Total number of rungs: 12 ControlLogix_Example.ACD
Reset faults if command received from PanelView
5
pv_reset_faults
Off=No effect
On=Reset faults
Adept_Command_Bits.5
<AC[0].5>
Reset faults if command received from PanelView
6
Off=No fault
On=Adept in
faulted state
Adept_Status_Bits.1
<AS[0].1>
Jump To Subroutine
Routine Name Reset_Faults
JSR
Determine if conditions are correct for running the robot
7
Off=High power
disabled
On=High power
enabled
Adept_Status_Bits.0
<AS[0].0>
Off=Robot not
calibrated
On=Robot
calibrated
Adept_Status_Bits.2
<AS[0].2>
/
Off=No fault
On=Adept in
faulted state
Adept_Status_Bits.1
<AS[0].1>
robot_locations_downloaded
ok_to_run_robot
Determine if conditions are correct for running the robot
Execute robot sequence
8
ok_to_run_robot pv_run_robot
/
Off=No effect
On=Jog robot
Adept_Command_Bits.7
<AC[0].7>
Jump To Subroutine
Routine Name Move_Robot
JSR
Execute robot sequence
Reset robot sequence to beginning when PanelView run command is off
9
/
pv_run_robot
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
U
Off=No effect
On=Move robot
Adept_Command_Bits.8
<AC[0].8>
Move
Source 0
Dest robot_step_next
0
MOV
Reset robot sequence to beginning when PanelView run command is off