3-1-1
When Operations are Controlled with Sequence Control Pro-
gram
The program specifications when operations of static pick-and-place equipment are controlled with the
sequence control program are described below.
The program consists of the following programs.
Program name
Language
Description
Main
Sequence control program (Ladder diagram) Main program
Run
Sequence control program (Ladder diagram) Operating program
loccopy
V+ program
Variable copy program
Shared Variables
The following table shows a list of shared variables that are used in this program.
No. Variable name
Data type
Description
1
eLoc_Wait
ARRAY[0..5] OF
LREAL
Use the variable to send the robot wait position from the V+ pro-
gram to the sequence control program.
2
eLoc_Place
ARRAY[0..5] OF
LREAL
Use the variable to send the robot place position from the V+ pro-
gram to the sequence control program.
3
eLoc_Pick
ARRAY[0..5] OF
LREAL
Use the variable to send the robot pick-up position from the V+ pro-
gram to the sequence control program.
4
eBool_Exe
BOOL
Use the variable to check that the execution of a V+ task is started
in the sequence control program.
Sequence Control Program
This section describes the sequence control program to control the static pick-and-place equipment.
The sequence control program is used to register global variables and create two programs, "Main"
(main program) and "Run" (operating program).
Global Variables
Register the global variables that are used in the sequence control program.
3 Implementation Example of Static Pick-and-place Equipment
3-3
NJ-series Robot Integrated System Startup Guide (O049)
3-1
Program Specifications for Static Pick-and-place
Equipment
3
3-1-1
When Operations are Controlled with Sequence Control Program
Summary of Contents for RL4 Series
Page 4: ...AC1 152000 Introduction 2 NJ series Robot Integrated System Startup Guide O049 ...
Page 23: ...Outline View Detailed View Versions 21 NJ series Robot Integrated System Startup Guide O049 ...
Page 30: ...Revision History 28 NJ series Robot Integrated System Startup Guide O049 ...
Page 42: ...1 Overview 1 12 NJ series Robot Integrated System Startup Guide O049 ...
Page 50: ...2 Before You Begin 2 8 NJ series Robot Integrated System Startup Guide O049 ...
Page 162: ...Appendices A 18 NJ series Robot Integrated System Startup Guide O049 ...
Page 164: ...Appendices A 20 NJ series Robot Integrated System Startup Guide O049 ...
Page 167: ......