Omron RL4 Series, Руководство для стартапов

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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