CONTENTS 1-4-2 Operating Modes for Equipment .................................................................................................1-7 1-5 System Configuration for Dynamic Pick-and-place Equipment........................................1-8 1-6 Operations of Dynamic Pick-and-place Equipment..........................................................1-10 1-6-1 Operating Specifications ...........................................................................................................1-10 1-6-2 Operating Modes for Equipment ...............................................................................................1-11 1-7 Hardware...............................................................................................................................1-12 1-8 Software................................................................................................................................1-14 1-8-1 Sysmac Studio ..........................................................................................................................1-14 1-8-2 Application Manager .................................................................................................................1-14 1-9 User Program .......................................................................................................................1-16 1-9-1 Types of Method to Create User Program ................................................................................1-16 1-9-2 Proper Use of Sequence Control Program and V+ Program ....................................................1-16 1-9-3 Command and Data Flow .........................................................................................................1-17 Section 2 Before You Begin 2-1 Installing the Sysmac Studio................................................................................................2-2 Section 3 Implementation Example of Static Pick-and-place Equipment 3-1 Program Specifications for Static Pick-and-place Equipment ..........................................3-2 3-1-1 When Operations are Controlled with Sequence Control Program.............................................3-3 3-1-2 When Operations are Controlled with V+ Program...................................................................3-10 3-2 Basic Startup Procedures...................................................................................................3-17 3-3 Programming and Simulation Procedures........................................................................3-19 3-3-1 Creating a Project File...............................................................................................................3-19 3-3-2 Creating the EtherCAT Network Configuration..........................................................................3-20 3-3-3 Creating a Sequence Control Program .....................................................................................3-22 3-3-4 Creating V+ Programs...............................................................................................................3-28 3-3-5 Placing 3D Shape Data.............................................................................................................3-35 3-3-6 Starting Simulation ....................................................................................................................3-65 3-3-7 Teaching Positions ....................................................................................................................3-66 3-3-8 Setting up Automatic Loading of V+ Programs and Variables at Power ON.............................3-77 3-3-9 Running the Program and Checking Operation ........................................................................3-81 3-4 Installing and Wiring the System .......................................................................................3-86 3-4-1 Wiring the Robot Integrated CPU Unit and the EtherCAT Digital I/O Terminal .........................3-86 3-4-2 Setting the Node Address of the EtherCAT Digital I/O Terminal ...............................................3-87 3-4-3 Wiring the EtherCAT Digital I/O Terminal and the Robot...........................................................3-87 3-4-4 Setting the EtherCAT Node Address of the Robot ....................................................................3-88 3-4-5 Wiring the Robot Integrated CPU Unit and the Computer ........................................................3-88 3-4-6 Wiring the Robot, T20 Pendant and the Front Panel ................................................................3-89 3-4-7 Wiring the EtherCAT Digital I/O Terminal and Solenoid Valve ..................................................3-90 3-5 Setup Procedure for Actual System...................................................................................3-92 3-5-1 Connecting Online.....................................................................................................................3-92 3-5-2 Transferring Settings and Programs .........................................................................................3-94 3-5-3 Teaching....................................................................................................................................3-96 3-5-4 Executing Program to Check Operation..................................................................................3-108 Section 4 Implementation Example of Dynamic Pick-and-place Equipment 4-1 Program Specifications for Dynamic Pick-and-place Equipment.....................................4-3 9 NJ-series Robot Integrated System Startup Guide (O049)