Omron RL4 Series, Startup Manual

Page: 28 / 168

Terminology
This section describes the terms that are used in this manual.
Term Description
continuous-path mo-
tion A motion to move continuous operations smoothly without stopping motion of the OM-
RON robot.
IEC 61131-3 lan-
guage A programming language to write a sequence control program.
robots controllable
by NJ Robotics func-
tion Specify the controllable robots by the data processing for robot in the Motion Control
Function Module of the NJ-series CPU Unit.
The controllable robot consists of the 1S-series or G5-series Servomotor/Servo Drive
with built-in EtherCAT communications and the robot arm that is prepared by the cus-
tomer.
TCP A tip (Tool Center Point) defined in each OMRON robot.
The target position or path can be specified based on the TCP.
V+ keyword A generic term for instructions that are used during a V+ program and monitoring com-
mand.
V+ language A programming language for OMRON robot control.
V+ task A task that can execute a V+ program.
V+ program A control program written in the V+ language.
OMRON robot Specifies the OMRON robot controllable from the Robot Integrated CPU Unit.
The robot consists of the robot amplifier and the robot arm connected to the robot ampli-
fier.
shared variable A variable that can be shared between the sequence control program and V+ program.
sequence control
program A control program written in IEC 61131-3 language including the motion control.
hardware servo A servo system built into the robot amplifier.
user program A generic term for the collection of programs written in the ladder diagram, ST, and V+
languages.
recipe A set of product type data in the customer’s system.
recipe change Specifies that the product data and information (recipe) related to the production process
are changed.
The target recipe for the Robot Integrated CPU Unit is a property from the present val-
ues of variables and a vision sensor.
Robot Control Func-
tion Module A software to perform robot control that is installed in the Robot Integrated CPU Unit.
robot control instruc-
tions FB instructions written in the sequence control program to control the OMRON robots.
They include an instruction to directly control the OMRON robots and an instruction to
execute or abort V+ programs assigned to the V+ tasks.
Robot Integrated
CPU Unit A CPU Unit that supports control function for the OMRON robot with the NJ-series CPU
Unit.
Terminology
26
NJ-series Robot Integrated System Startup Guide (O049)