Omron SYSMAC CJ - REFERENCE MANUAL 08-2008 Reference Manual page 960

Step Instructions
Application Examples
Example 1:
Sequential Execution
Solenoid 1
Conveyor belt 1
Loading
920
The following three examples demonstrate the three types of execution con-
trol possible with step programming. Example 1 demonstrates sequential exe-
cution; Example 2, branching execution; and Example 3, parallel execution.
The following process requires that three processes, loading, part installation,
and inspection/discharge, be executed in sequence with each process being
reset before continuing on the next process. Various sensors (SW1, SW2,
SW3, and SW4) are positioned to signal when processes are to start and end.
Robot hand
SW 1
SW 2
Conveyor belt 2
Part installation
The following diagram demonstrates the flow of processing and the switches
that are used for execution control.
SW1
Process A
SW2
Process B
SW3
Process C
SW4
End
The program for this process, shown below, utilizes the most basic type of
step programming: each step is completed by a unique SNXT(009) that starts
the next step. Each step starts when the switch that indicates the previous
step has been completed turns ON.
Photomicro-
sensor
SW 3
Conveyor belt 3
Inspection/discharge
Loading
Part Installation
Inspection/discharge
Section 3-22
Solenoid 2
SW 4