Omron NJ Series Startup Manual page 62

3 Implementation Example of Static Pick-and-place Equipment
Shared Variables
The following table shows a list of shared variables that are used in the sequence control program.
No. Variable name Data type
1 eBool_ExeT1
2 eBool_ExeT2
3 eBool_Mode
4 eBool_Reset
Sequence Control Program
This section describes the sequence control program required for controlling the operation of the static
pick-and-place equipment with the V+ program.
The sequence control program is used to register global variables and create "Main", a main program
that monitors the status of peripheral devices and determines whether the automatic operation can
start.
 Global Variables
Register the global variables that are used in the sequence control program.
 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.
No.
1 _EC_PDSlavTbl[1]
2 _RC_RBT[0].DrvStatus.Run-
Mode
3 GetRCError
4 _RC_RBT[0].DrvStatus.ESTOP
3-12
BOOL Use the variable to check that the execution of V+ task 1 is started in the
sequence control program.
BOOL Use the variable to check that the execution of V+ task 2 is started in the
sequence control program.
BOOL Use the variable to check the operating mode in the Robot Integrated CPU
Unit in the V+ program.
BOOL Use the variable to check that the reset button is pressed during automatic
operation in the V+ program.
Variable name
Check that the communications of the EtherCAT Digital I/O Termi-
nal are established.
Check that the communications between the Robot Integrated CPU
Unit and the robot are established.
Check whether an error caused by the Robot Control Function
Module exists.
Check whether the robot is in ESTOP state.
Description
Description
NJ-series Robot Integrated System Startup Guide (O049)