3 Implementation Example of Static Pick-and-place Equipment Variable Copy Program (loccopy) "loccopy" (variable copy program) is used to copy the global variables in the V+ program to the shared variables with the sequence control program. A program is described below. .PROGRAM loccopy() GLOBAL gl.pick, gl.place, gl.wait EXTERNAL eloc_pick[] EXTERNAL eloc_place[] EXTERNAL eloc_wait[] EXTERNAL ebool_exe ; Copy location data to external variables DECOMPOSE eloc_pick[] = gl.pick DECOMPOSE eloc_place[] = gl.place DECOMPOSE eloc_wait[] = gl.wait ebool_exe = TRUE .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 3-77 for information on "auto" (read program). 3-1-2 When Operations are Controlled with V+ Program The program specifications when operations of static pick-and-place equipment are controlled with the V+ program are described below. The program consists of the following programs. Precautions for Correct Use The V+ program continues to run even if the Robot Integrated CPU Unit goes into PROGRAM mode. The supervisor detects the Controller’s PROGRAM mode and stops the robot motion and V+ programs.
3-10 NJ-series Robot Integrated System Startup Guide (O049) Program name Language Description Main Sequence control program (Ladder diagram) Main program run V+ program Robot commands send program supervisor V+ program Status monitoring program