3 Implementation Example of Static Pick-and-place Equipment 3-1 Program Specifications for Static Pick-and-place Equipment There are two ways to program the static pick-and-place equipment; one is to control with a sequence control program, and the other is to control with a V+ program. Create the program in either way. For information on how to create a program, refer to 3-3 Programming and Simulation Procedures on page 3-19. 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.
3 3-1-1 When Operations are Controlled with Sequence Control Program The following table shows a list of shared variables that are used in this 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.
3-3 NJ-series Robot Integrated System Startup Guide (O049) 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 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.