1 Overview 1-9 User Program 1 1-9-3 Command and Data Flow *1. This is a robot control instruction. *2. This is a system-defined variable for robot control. Refer to the NJ-series Robot Integrated CPU Unit User’s Manual (Cat. No. O037) for detailed informa- tion when a robot is controlled with a sequence control program. Refer to the eV+3 User's Manual (Cat. No. I651) and eV+3 Keyword Reference Manual (Cat. No. I652) for detailed information when a robot is controlled with a V+ program. 1-9-3 Command and Data Flow This section describes the flow of commands and data for the sequence control program, V+ program, Application Manager, and robot.
The sequence control program can control robots with robot control instructions, robot variables, and robot I/O variables. Since the taught position data is stored in the position variable of the V+ program, to use it in the se- quence control program, V+ programs need to be called from RC_ExecVpPrgTask and the position data must be copied to the shared variables.
1-17 NJ-series Robot Integrated System Startup Guide (O049) Classification Item Applicability ( if applicable, the specified method is described.) Sequence control program V+ program Robot operations Joint interpolation operation RC MoveDirect *1 _ MOVE Linear interpolation operation RC MoveLinear *1 _ MOVES Circular interpolation opera- tion Not possible. MOVEC Jog operation Not possible. JOG Joint coordinate system oper- ation Not possible. JMOVE Tool coordinate system opera- tion Not possible.
APPRO/DEPART/ ALIGN Robot’s coordinate Flange surface RC RBT[*].TCPActPos *2 _ _ HERE Coordinates of the tool center point RC RBT[*].TCPActPos *2 _ _ (RC SetToolTransform *1) _ HERE (TOOL) Joint coordinates for each ax- is RC RBT[*].JointActPos *2 _ _ #PHERE Other functions Robot built-in I/O RC RBT IO[*].XIO *2 _ _ _ SIGNAL/SIG Expanded robot I/O RC RBT IO[*].IOBlox1 *2 _ _ _ RC RBT IO[*].IOBlox2 *2 _ _ _ SIGNAL/SIG Teaching Not possible. Position variables End effector operation RC RBT IO[*].RO *2 _ _ _ SIGNAL/SIG Robot position latching Not possible. LATCH Local encoder latch Not possible. DEVICE Cooperation with Application Manager Not possible. ACE Sight V+ key- word V+ Module API