Omron NJ Series

3
Implementation Example of Static
Pick-and-place Equipment
This section describes the implementation example of the static pick-and-place equip-
ment.
An equipment to move a workpiece that is not moved at the specified position to the
target position is called a static pick-and-place equipment in this guide.
This example can realize with the sequence control program and V+ program.
3-1 Program Specifications for Static Pick-and-place Equipment
.................. 3-2
3-1-1 When Operations are Controlled with Sequence Control Program................. 3-3
3-1-2 When Operations are Controlled with V+ Program ........................................3-11
3-2 Basic Startup Procedures ........................................................................... 3-17
3-3 Programming and Simulation Procedures ................................................ 3-18
3-3-1 Creating a Project File................................................................................... 3-18
3-3-2 Creating the EtherCAT Network Configuration.............................................. 3-19
3-3-3 Creating a Sequence Control Program ......................................................... 3-22
3-3-4 Creating V+ Programs................................................................................... 3-28
3-3-5 Placing 3D Shape Data ................................................................................. 3-34
3-3-6 Starting Simulation ........................................................................................ 3-56
3-3-7 Teaching Positions ........................................................................................ 3-57
3-3-8 Setting up Automatic Loading of V+ Programs and Variables at Power ON . 3-67
3-3-9 Running the Program and Checking Operation ............................................ 3-70
3-4 Setup Procedure for Actual System........................................................... 3-75
3-4-1 Connecting Online......................................................................................... 3-75
3-4-2 Transferring Settings and Programs.............................................................. 3-77
3-4-3 Teaching ........................................................................................................ 3-80
3-4-4 Executing Program to Check Operation........................................................ 3-91
3-1
NJ-series Robot Integrated System Startup Guide (O049)
3