1 Overview 1-9 User Program The user program for robot control is created in the Sysmac Studio. There is more than one method to create a user program. Realize applications to use with programs created by multiple methods. 1-9-1 Types of Method to Create User Program The following table shows the types of method to create a user program. 1-9-2 Proper Use of Sequence Control Program and V+ Program The following shows proper use of the sequence control program and V+ program. • The sequence control program manages the status, errors, and interlocks of the entire system in- cluding sequence control and robot control.
• The robot control is performed with a combination of the sequence control program and the V+ pro- gram. • The sequence control program performs the control other than robot control. A typical example of differences for robot control that can be used in the sequence control program and the V+ program is given below. The sequence control program can use a part of the control that is available in the V+ program. 1-16 NJ-series Robot Integrated System Startup Guide (O049) Method Description Sequence control pro- gram The user program that is operated in the Robot Integrated CPU Unit can be programmed with the language that is defined in IEC61131-3.
The robots are controlled with robot control instruc- tions and system-defined variables for robot control. This program is suitable for operating simple robot motions or controlling with robots and periph- eral devices. Ladder diagram is used in this guide. V+ program The user program that is operated in the Robot Integrated CPU Unit can be programmed with V+ language. The language is a programming language for robot control for the OMRON robots. The robots can be controlled using V+ keywords. In addition, you can use ACE Sight V+ keywords and V+ module API to call and use the func- tions of the Application Manager. This program is suitable for using various robot control.
C# program The user program that is operated in the IPC Application Controller can be programmed with C# language. Use this program when the functions of the Application Manager are called and used. Application sample You can create an application sample on the interactive setup wizard. The application sample in- cludes the settings and programs for the IPC Application Controller and Robot Integrated CPU Unit. The Pack Manager sample is used in this guide.