Omron NJ Series

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Implementation Example of Static Pick-and-place

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Before You Begin

Overview

Sections in this Manual

NJ-series Robot Integrated System Startup Guide (O049)

Main Page

Intended Audience3
Applicable Products3
Relevant Manuals5
Manual Structure7
Page Structure7
Special Information8
Precaution on Terminology8
Sections in this Manual9
Table of Contents10
Terms and Conditions Agreement13
Warranty, Limitations of Liability13
Application Considerations14
Disclaimers14
Safety Precautions16
Definition of Precautionary Information16
Symbols16
Warning17
Cautions17
Precautions for Safe Use18
Precautions for Correct Use19
Regulations and Standards20
Versions21
Checking Versions21
Related Manuals24
Relevant Technical Guides27
Terminology28
Revision History29
Overview31
Features of Robot Integrated System32
Features of the NJ-Series Robot Integrated CPU Unit32
Features of the Ethercat-Compatible OMRON Robots32
Features of the Sysmac Studio Automation Software32
System Configuration for Static Pick-And-Place Equipment33
Operations of Static Pick-And-Place Equipment35
Operating Specifications35
Operating Modes for Equipment36
Hardware37
Software38
Sysmac Studio38
User Program39
Types of Method to Create User Program39
Proper Use of Sequence Control Program and V+ Program39
Command and Data Flow40
Installing the Sysmac Studio44
Installing and Wiring the System45
Wiring the Robot Integrated CPU Unit and the Ethercat Digital I/O Terminal45
Setting the Node Address of the Ethercat Digital I/O Terminal46
Wiring the Ethercat Digital I/O Terminal and the Robot46
Setting the Ethercat Node Address of the Robot47
Wiring the Robot Integrated CPU Unit and the Computer47
Wiring the Robot, T20 pendant and the Front Panel47
Wiring the Ethercat Digital I/O Terminal and the Solenoid Valve49
Implementation Example of Static Pick-And-Place Equipment51
Program Specifications for Static Pick-And-Place Equipment52
When Operations Are Controlled with Sequence Control Program53
When Operations Are Controlled with V+ Program61
Basic Startup Procedures67
Programming and Simulation Procedures68
Creating a Project File68
Creating the Ethercat Network Configuration69
Creating a Sequence Control Program72
Creating V+ Programs82
Placing 3D Shape Data84
Starting Simulation106
Teaching Positions107
Setting up Automatic Loading of V+ Programs and Variables at Power on117
Running the Program and Checking Operation120
Setup Procedure for Actual System125
Connecting Online125
Transferring Settings and Programs127
Teaching130
Executing Program to Check Operation141
Appendices145
Designing Example of the Safety Functions for the Pick-And-Place Equipment146
Designing Example of the Safety Functions for the Pick-And- Place Equipment146
A-1-1 Pick-And-Place Equipment Configuration146
Pick-And-Place Equipment Configuration146
A-1-2 Hazards148
A-1-3 Protective Measure148
A-1-4 Safety Functions148
A-1-5 Safety System Configuration and Devices149
A-1-6 Installation and Wiring151
A-1-7 Settings and Programming157
Setting Items on the Sysmac Studio and the Setting Targets165
Using Troubleshooting Functions166

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