Omron RL4 Series, Руководство для стартапов

Страница: 66 / 168

; Depart/Move to wait position
DEPARTS ar.dist
MOVE gl.wait
BREAK
; Release robot control
DETACH ()
.END

V+ Program Stop Program
"run.checkmode" (V+ program stop program) is used to detect that the Robot Integrated CPU Unit
changes to PROGRAM mode and stop the robot motion and V+ program with shared variables for
sequence control program and V+ program.
A program is described below.
.PROGRAM run.checkmode()
; ABSTRACT: Stop pick and place program
; MISC: Program created in ACE version 4.1.0.22
;* Copyright (c) 2019 by {OMRON}
EXTERNAL ebool_mode
EXTERNAL ebool_exet1, ebool_reset
ebool_exet1 = TRUE
WHILE TRUE DO
; Check NJ mode and reset-button
IF (ebool_mode == FALSE) OR (ebool_reset == TRUE) THEN
; Abort current robot motion
BRAKE
; Terminate "run" program task
ABORT 0
; Wait until "run" program task has stoppped
CYCLE.END 0
; Clear a program execution stack
KILL 0
END
;Wait next robot control period
WAIT
END
.END

Read Program
"auto" (read program) is used to read the V+ program and global variables from the SD Memory
Card to main memory.
Refer to
3-3-8 Setting up Automatic Loading of V+ Programs and Variables at Power ON on page
3-67 for information on "auto" (read program).
3 Implementation Example of Static Pick-and-place Equipment
3-16
NJ-series Robot Integrated System Startup Guide (O049)