User Program; Types Of Method To Create User Program; Proper Use Of Sequence Control Program And V+ Program - Omron NJ Series Startup Manual

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User Program

The user program for robot control is created in the Sysmac Studio.
There is more than one method to create a user program. Realize applications to use with programs
created by multiple methods.
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Types of Method to Create User Program

The following table shows the types of method to create a user program.
Method
Sequence The user program that is operated in the Robot Integrated CPU Unit can be programmed with the
control pro- language that is defined in IEC61131-3. The robots are controlled with robot control instructions
gram and system-defined variables for robot control.
This program is suitable for operating simple robot motions or controlling with robots and periph-
eral devices.
Ladder diagram is used in this guide.
V+ program The user program that is operated in the Robot Integrated CPU Unit can be programmed with V+
language. The language is a programming language for robot control for the OMRON robots. The
robots can be controlled using V+ keywords.
In addition, you can use ACE Sight V+ keywords and V+ module API to call and use the functions
of the Application Manager.
This program is suitable for using various robot control.
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Proper Use of Sequence Control Program and V+ Program

The following shows proper use of the sequence control program and V+ program.
• The sequence control program manages the status, errors, and interlocks of the entire system in-
cluding sequence control and robot control.
• The robot control is performed with a combination of the sequence control program and the V+ pro-
gram.
• The sequence control program performs the control other than robot control.
A typical example of differences for robot control that can be used in the sequence control program
and the V+ program is given below.
The sequence control program can use a part of the control that is available in the V+ program.
Classification
Robot operations
NJ-series Robot Integrated System Startup Guide (O049)
Item
Joint interpolation operation
Linear interpolation operation
Circular interpolation opera-
tion
Jog operation
Joint coordinate system oper-
ation
Tool coordinate system opera-
tion
Description
Applicability ( if applicable, the specified method is
described.)
Sequence control program
*1
RC_MoveDirect
*1
RC_MoveLinear
Not possible.
Not possible.
Not possible.
Not possible.
1 Overview
1
V+ program
MOVE
MOVES
MOVEC
JOG
JMOVE
APPRO/DEPART/
ALIGN
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