Omron Sysmac NJ Series User Manual page 11

Section 2 Robot Control System Configuration and Functions
2-1 Internal Configuration for the Robot Integrated CPU Unit.................................................2-2
2-2 Relationship between Robot Integrated CPU Unit and Robot...........................................2-3
2-3 Relationship between Robot Integrated CPU Unit and IPC Application Controller ........2-6
2-4 System-defined Variables for Robot Control ......................................................................2-8
2-4-1 Overview of System-defined Variables for Robot Control ...........................................................2-8
2-4-2 System of System-defined Variables for Robot Control ..............................................................2-8
2-4-3 Attributes of System-defined Variables for Robot Control ......................................................... 2-11
2-5 Tasks .....................................................................................................................................2-12
2-5-1 Tasks and Services for Robot Integrated CPU Unit ..................................................................2-12
2-5-2 Basic Operation of Tasks ..........................................................................................................2-13
2-5-3 Relationship between V+ Task and I/O Refreshing...................................................................2-14
2-6 EtherCAT Communications and Robot Control................................................................2-15
2-7 SD Memory Card Operations ..............................................................................................2-17
2-7-1 Included SD Memory Card Functions .......................................................................................2-18
2-7-2 Exclusive Control of File Access in the SD Memory Card ........................................................2-20
2-8 Memory Management ..........................................................................................................2-22
2-8-1 Data and File Locations ............................................................................................................2-22
2-8-2 Clear All Memory.......................................................................................................................2-22
2-9 Backup and Restore Operations ........................................................................................2-24
2-9-1 Backup and Restore Operations for Robot Integrated CPU Unit ..............................................2-24
2-9-2 Backup and Restore Operations for OMRON Robot ................................................................2-28
2-10 Security.................................................................................................................................2-29
2-10-1 Robot System Operation Authority............................................................................................2-29
2-10-2 CPU Unit Write Protection.........................................................................................................2-29
Section 3 Robot Control Parameters
3-1 Introduction to Robot Control Parameters..........................................................................3-2
3-1-1 Data Flow for Robot Control Parameters ....................................................................................3-2
3-1-2 Relationship between V+ Program and Robot Control Parameters............................................3-3
3-2 Robot Common Parameters .................................................................................................3-4
3-2-1 Robot Common Parameters .......................................................................................................3-4
3-2-2 V+Digital I/O Settings ..................................................................................................................3-4
3-2-3 Remote Encoder Latch Settings .................................................................................................3-6
3-3 Robot Setting Parameters.....................................................................................................3-9
3-3-1 Robot Setting Parameters ...........................................................................................................3-9
3-3-2 Robot Basic Settings ...................................................................................................................3-9
Section 4 Program Design of Robot Control
4-1 Introduction ............................................................................................................................4-2
4-2 Sequence Control Program ..................................................................................................4-3
4-2-1 Robot Control Instructions...........................................................................................................4-3
4-2-2 Timing Charts for Robot Control Instructions ..............................................................................4-3
4-2-3 System-defined Variables for Robot Control ...............................................................................4-6
4-2-4 Execution Control for V+ Program ..............................................................................................4-6
4-2-5 Shared Variables with V+ Program .............................................................................................4-7
4-2-6 Using Shared Variables with V+ Programs ...............................................................................4-12
4-3 V+ Program...........................................................................................................................4-14
4-3-1 Overview of V+ Programs .........................................................................................................4-14
4-3-2 Control of V+ Tasks ...................................................................................................................4-14
NJ-series Robot Integrated CPU Unit User's Manual (O037)
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