Omron NJ Series Startup Guide

; Depart/Move to wait position
DEPARTS ar.dist
MOVE gl.wait
BREAK
; Release robot control
DETACH ()
.END

V+ Program Stop Program
"run.checkmode" (V+ program stop program) is used to detect that the Robot Integrated CPU Unit
changes to PROGRAM mode and stop the robot motion and V+ program with shared variables for
sequence control program and V+ program.
A program is described below.
.PROGRAM run.checkmode()
; ABSTRACT: Stop pick and place program
; MISC: Program created in ACE version 4.1.0.22
;* Copyright (c) 2019 by {OMRON}
EXTERNAL ebool_mode
EXTERNAL ebool_exet1, ebool_reset
ebool_exet1 = TRUE
WHILE TRUE DO
; Check NJ mode and reset-button
IF (ebool_mode == FALSE) OR (ebool_reset == TRUE) THEN
; Abort current robot motion
BRAKE
; Terminate "run" program task
ABORT 0
; Wait until "run" program task has stoppped
CYCLE.END 0
; Clear a program execution stack
KILL 0
END
;Wait next robot control period
WAIT
END
.END

Read Program
"auto" (read program) is used to read the V+ program and global variables from the SD Memory
Card to main memory.
Refer to
3-3-8 Setting up Automatic Loading of V+ Programs and Variables at Power ON on page
3-67 for information on "auto" (read program).
3 Implementation Example of Static Pick-and-place Equipment
3-16
NJ-series Robot Integrated System Startup Guide (O049)

Omron NJ Series Specifications

General

Program Capacity	Up to 128 MB
SD Card Slot	Yes
Power Supply Voltage	24 VDC
Motion Control	Yes
USB Ports	1
Operating Temperature	0°C to 55°C
Communication Interfaces	Ethernet/IP, EtherCAT, USB
Safety Function	Optional
Storage Temperature	-20°C to 75°C
Communication Ports	USB
Dimensions	Varies by model
Weight	Varies by model