When Operations Are Controlled With Sequence Control Program - Omron NJ Series Startup Manual

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When Operations are Controlled with Sequence Control Pro-
gram
The program specifications when operations of static pick-and-place equipment are controlled with the
sequence control program are described below.
The program consists of the following programs.
Program name
Main
Run
loccopy
Shared Variables
The following table shows a list of shared variables that are used in this program.
No. Variable name
1 eLoc_Wait
2 eLoc_Place
3 eLoc_Pick
4 eBool_Exe
Sequence Control Program
This section describes the sequence control program to control the static pick-and-place equipment.
The sequence control program is used to register global variables and create two programs, "Main"
(main program) and "Run" (operating program).
 Global Variables
Register the global variables that are used in the sequence control program.
NJ-series Robot Integrated System Startup Guide (O049)
3 Implementation Example of Static Pick-and-place Equipment
Language
Sequence control program (Ladder diagram) Main program
Sequence control program (Ladder diagram) Operating program
V+ program
Data type
ARRAY[0..5] OF Use the variable to send the robot wait position from the V+ pro-
LREAL gram to the sequence control program.
ARRAY[0..5] OF Use the variable to send the robot place position from the V+ pro-
LREAL gram to the sequence control program.
ARRAY[0..5] OF Use the variable to send the robot pick-up position from the V+ pro-
LREAL gram to the sequence control program.
BOOL Use the variable to check that the execution of a V+ task is started
in the sequence control program.
Description
Variable copy program
Description
3
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