3 Implementation Example of Static Pick-and-place Equipment Main Program "Main" (main program) is used to monitor the following status of the robot and EtherCAT Digital I/O Terminal and determine whether the automatic operation can start. Refer to the manuals of each device for details on the variables. A program is described below. 3-12 NJ-series Robot Integrated System Startup Guide (O049) No. Variable name Description EC PDSlavTbl[1] _ _ RC RBT[0].DrvStatus.Run- _ _ Mode GetRCError RC RBT[0].DrvStatus.ESTOP _ _ RC RBT[0].DrvStatus.Manual _ _ RC RBT[0].DrvStatus.Power- _ _ Enabled