Command And Data Flow - Omron NJ Series Startup Manual

1 Overview
Classification
Robot's coordinate Flange surface
Other functions
*1. This is a robot control instruction.
*2. This is a system-defined variable for robot control.
Refer to the NJ-series Robot Integrated CPU Unit User's Manual (Cat. No. O037) for detailed informa-
tion when a robot is controlled with a sequence control program.
Refer to the eV+3 User's Manual (Cat. No. I651) and eV+3 Keyword Reference Manual (Cat. No.
I652) for detailed information when a robot is controlled with a V+ program.
1-6-3

Command and Data Flow

This section describes the flow of commands and data for the the sequence control program, V+ pro-
gram, Application Manager, and robot.
The sequence control program can control robots with robot control instructions, robot variables, and
robot I/O variables.
The program must call a V+ program with RC_ExecVpPrgTask and copy the location information to
the shared variables because the teaching location information is a position variable in the V+ pro-
gram.
Robot Integrated CPU Unit
Sequence control program
Start, stop, or
monitor
V+tasks
V+ program
1-10
Item
Coordinates of the tool center
point
Joint coordinates for each axis _RC_RBT[*].JointActPos
Robot built-in I/O
Expanded robot I/O
Teaching
End effector operation
Robot position latching
Robot built-in encoder latching Not possible.
Cooperation with Application
Manager
Robot control instructions
Robot variables,
robot I/O variables
Shared variables
(Teaching
position variable,
etc.)
Applicability ( if applicable, the specified method is
described.)
Sequence control program
*2
_RC_RBT[*].TCPActPos
*2
_RC_RBT[*].TCPActPos
*1
(RC_SetToolTransform )
*2
*2
_RC_RBT_IO[*].XIO
*2
_RC_RBT_IO[*].IOBlox1
*2
_RC_RBT_IO[*].IOBlox2
Not possible.
*2
_RC_RBT_IO[*].RO
Not possible.
Not possible.
OMRON robot
NJ-series Robot Integrated System Startup Guide (O049)
V+ program
HERE
HERE
(TOOL)
#PHERE
SIGNAL/SIG
SIGNAL/SIG
Position variables
SIGNAL/SIG
LATCH
DEVICE
ACE Sight V+ key-
word
V+ Module API