Omron NJ Series - Page 65


Robot Commands Send Program
"run" (robot commands send program) is used to send robot commands to execute the static pick-
and-place operations.
A program is described below.
.PROGRAM run()
; ABSTRACT: Pick and place program
; MISC: Program created in ACE version 4.1.0.22
;* Copyright (c) 2019 by {OMRON}
AUTO ar.speed, ar.accel, ar.wait_on, ar.wait_off, ar.dist, ar.loc[5], al.
safe
EXTERNAL ebool_exet2
ebool_exet2 = TRUE
; Set parameter
ar.speed = 100 ; Speed ratio per full speed [%]
ar.accel = 50 ; Accel ratio per full speed [%]
ar.wait_on = 0.5 ; Wait time for air-on [sec]
ar.wait_off = 0.2 ; Wait time for air-off [sec]
ar.dist = 40 ; Approach and depart distance [mm]
; Calculate and set temporary destination
DECOMPOSE ar.loc[] = HERE
SET al.safe = TRANS(ar.loc[0], ar.loc[1], DZ(gl.wait), ar.loc[3], ar.loc[
4], ar.loc[5])
; Prepare robot motion ready
CALIBRATE
ATTACH ()
SPEED ar.speed, ar.speed ALWAYS
ACCEL ar.accel, ar.accel
; Approrch/Move to wait position
MOVES al.safe
MOVE gl.wait
BREAK
; Approrch/Move to pick position
APPRO gl.pick, ar.dist
MOVES gl.pick
BREAK
; Suctioning on and waiting
SIGNAL 4001
WAIT.EVENT , ar.wait_on
; Depart/Approach/Move to place position
DEPARTS ar.dist
APPRO gl.place, ar.dist
MOVES gl.place
BREAK
; Suctioning off and waiting
SIGNAL -4001
WAIT.EVENT , ar.wait_off
3 Implementation Example of Static Pick-and-place Equipment
3-15
NJ-series Robot Integrated System Startup Guide (O049)
3-1 Program Specifications for Static Pick-and-place
Equipment
3
3-1-2 When Operations are Controlled with V+ Program