3 Implementation Example of Static Pick-and-place Equipment 3 This section describes the implementation example of the static pick-and-place equip- ment. An equipment to move a workpiece that is not moved at the specified position to the target position is called a static pick-and-place equipment in this guide. This example can realize with the sequence control program and V+ program. 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 3-1 NJ-series Robot Integrated System Startup Guide (O049)