OMRON NJ501-R500, NJ501-R400, NJ501-R300 User Manual

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Page 1

Machine Automation Controller

NJ-series

Robot Integrated CPU Unit

User’s Manual

NJ501-R500 NJ501-R400 NJ501-R300

CPU Unit

O037-E1-01

Page 2

NOTE

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Trademarks

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products.

• Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.

Copyrights

• Microsoft product screen shots reprinted with permission from Microsoft Corporation.

• This product incorporates certain third party software. The license and copyright information associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.

Page 3

Introduction

Thank you for purchasing an NJ-series Robot Integrated CPU Unit.

This manual contains information that is necessary to use the robot control function of the NJ-series

CPU Unit. Please read this manual and make sure you understand the functionality and performance

of the NJ-series CPU Unit before you attempt to use it in a control system.

Keep this manual in a safe place where it will be available for reference during operation.

This manual describes the functions added to the NJ501-R£££ CPU Unit.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for information on the

common functions for the NJ501-££££ CPU Unit.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical sys-

tems (an electrical engineer or the equivalent).

Personnel in charge of introducing F

•

• Personnel in charge of designing FA systems.

• Personnel in charge of installing and maintaining FA systems.

• Personnel in charge of managing FA systems and facilities.

Also, this manual is intended for the personnel, who understand the following contents.

• Personnel who understand the programming language specifications in international standard IEC

61131-3 or Japanese standard JIS B 3503, for programming.

• Personnel in charge of working with a robot and well knowing how to handle the robot.

Introduction

A systems.

Applicable Products

This manual covers the following products.

NJ-series Robot Integrated CPU Unit

•

NJ501-R500

NJ501-R400

NJ501-R300

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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Relevant Manuals

The following table provides the relevant manuals for the NJ-series CPU Units. Read all of the man-

uals that are relevant to your system configuration and application before you use the NJ-series CPU

Unit.

Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac

Studio Version 1 Operation Manual (Cat. No. W504) and the Sysmac Studio Robot Integrated System

Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for information

on the Sysmac Studio.

Basic information

NJ-series CPU Unit

Hardware User’s Manual

NJ/NX-series CPU Unit

Software User

Instructions Reference Manual

NJ/NX-series

NJ/NX-series CPU Unit

Motion Control User

NJ/NX-series

Motion Control Instructions Reference Manual

Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP Port User’

NJ/NX-series CPU Unit

Built-in EtherCA

NJ-series Robot Integrated CPU Unit

User

eV+3 User’s Manual

eV+3 Keyword Reference Manual

NJ-series NJ Robotics CPU Unit

User

NJ/NX-series

Troubleshooting Manual

Purpose of use

Introduction to NJ-series Controllers

Setting devices and hardware

Using motion control

Using EtherCAT

Using EtherNet/IP

Using robot control for OMRON robots

Software settings

Using motion control

Using EtherCAT

Using EtherNet/IP

Using robot control for OMRON robots

Using robot control with NJ Robotics function

Writing the user program

Using motion control

Using EtherCAT

Using EtherNet/IP

Using robot control for OMRON robots

Using robot control with NJ Robotics function

Programming error processing

Testing operation and debugging

Using motion control

Using EtherCAT

Using EtherNet/IP

Using robot control for OMRON robots

Using robot control with NJ Robotics function

’

s Manual

¡ ¡

’s Manual

¡ ¡

T Port User

’s Manual

s Manual

’

s Manual

¡ ¡ ¡

¡ ¡ ¡ ¡

¡ ¡ ¡

’

s Manual

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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Purpose of use

Basic information

NJ-series CPU Unit

Hardware User’s Manual

NJ/NX-series CPU Unit

Software User

Instructions Reference Manual

’

s Manual

NJ/NX-series

NJ/NX-series CPU Unit

Motion Control User

’

s Manual

NJ/NX-series

Motion Control Instructions Reference Manual

Relevant Manuals

Manual

NJ/NX-series CPU Unit

Built-in EtherCA

T Port User

’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP Port User

’

s Manual

NJ-series Robot Integrated CPU Unit

User’

s Manual

eV+3 User’s Manual

eV+3 Keyword Reference Manual

NJ-series NJ Robotics CPU Unit

User

’

s Manual

NJ/NX-series

T roubleshooting Manual

Learning about error management functions and

corrections

Maintenance

*1. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error items. However

Using motion control

Using EtherCAT

Using EtherNet/IP

refer to the manuals that are indicated with triangles for details on errors corresponding to the products with the manuals that are indicated with triangles.

r r r r ¡

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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4-9

Installation and Wiring

NJ-series CPU Unit Hardware User’s Manual (W500)

gnitn

3-4

rel

noC

4-3 Mounting Units

The Units that make up an NJ-series Controller can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the same way to the Unit on the far right side of the Controller.

1 Join the Units so that the connectors fit exactly.

2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders

toward the back of the Units as shown below until they click into place.

Precautions for Correct UsePrecautions for Correct Use

4-3-1 Connecting Controller Components

Connector

Hook

Hook holes

Slider

Lock

Release

Move the sliders toward the back until they lock into place.

Level 1 heading Level 2 heading Level 3 heading

Level 2 heading

A step in a procedure

Manual name

Special information

Level 3 heading

Page tab

Gives the current headings.

Indicates a procedure.

Icons indicate precautions, additional information, or reference information.

Gives the number of the main section.

This illustration is provided only as a sample. It may not literally appear in this manual.

e sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O Units, and CPU Bus Units must be completely locked (until they click into place) after connecting the adjacent Unit connectors.

Manual Structure

Page Structure

The following page structure is used in this manual.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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Special Information

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

Manual Structure

Version Information

Information on dif

and for dif

ferent versions of the Sysmac Studio is given.

ferences in specifications and functionality for Controller with different unit versions

Precaution on Terminology

In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Control-

ler and "upload

For the Sysmac Studio, "synchronization

"synchronize" means to automatically compare the data for the Sysmac Studio on the computer with

the data in the physical Controller and transfer the data in the direction that is specified by the user.

" refers to transferring data from the physical Controller to the Sysmac Studio.

" is used to both "upload" and "download" data. Here,

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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Manual Structure

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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Sections in this Manual

3 A

Introduction to Robot Integrated CPU Unit

Robot Control System Configuration and Functions

Robot Control Parameters

Program Design of Robot Control

Robot Control Instructions

Robot Control Function

Common Command Instructions

Variables and Instructions

Robot Command Instructions

System Control Instructions

Troubleshooting

Appendices

Index

Sections in this Manual

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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CONTENTS

Introduction .............................................................................................................. 1

Intended Audience...........................................................................................................................................1

Applicable Products

Relevant Manuals..................................................................................................... 2

Manual Structure...................................................................................................... 4

Page Structure.................................................................................................................................................4

Special Information .......................................................................................................................................... 5

Precaution on Terminology ..............................................................................................................................5

Sections in this Manual ........................................................................................... 7

Terms and Conditions Agreement........................................................................ 13

Warranty, Limitations of Liability ....................................................................................................................13

Application Considerations ............................................................................................................................14

Disclaimers ....................................................................................................................................................14

.........................................................................................................................................1

Safety Precautions................................................................................................. 16

Definition of Precautionary Information.......................................................................................................... 16

Symbols ......................................................................................................................................................... 16

WARNING......................................................................................................................................................17

Cautions......................................................................................................................................................... 17

Precautions for Safe Use ...................................................................................... 19

Precautions for Correct Use ................................................................................. 20

Regulations and Standards .................................................................................. 21

Versions.................................................................................................................. 22

Checking Versions.........................................................................................................................................22

Related Manuals..................................................................................................... 24

Terminology............................................................................................................ 27

Revision History..................................................................................................... 28

Section 1 Introduction to Robot Integrated CPU Unit

1-1 Features ..................................................................................................................................1-2

1-2 System Configuration

1-3 Specifications.........................................................................................................................1-6

1-3-1 General Specifications ................................................................................................................1-6

1-3-2 Performance Specifications ........................................................................................................1-6

1-3-3 Function Specifications ...............................................................................................................1-6

1-3-4 V+ Program Specifications..........................................................................................................1-8

1-4 Basic Procedure of Operation ..............................................................................................1-9

............................................................................................................1-4

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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CONTENTS

Section 2 Robot Control System Configuration and Functions

2-1 Internal Configuration for the Robot Integrated CPU Unit.................................................2-2

2-2 Relationship between

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 ..........................................................................................................2-12

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 ................................................................2-27

2-10 Security.................................................................................................................................2-29

2-10-1 Robot System Operation Authority............................................................................................2-29

2-10-2 CPU Unit Write Protection.........................................................................................................2-29

Robot Integrated CPU Unit and Robot...........................................2-3

Section 3 Robot Control Parameters

3-1 Introduction to Robot Control Parameters..........................................................................3-2

3-1-1 Data Flow for Robot Control Parameters

3-1-2 Relationship between V+ Program and Robot Control Parameters............................................3-3

....................................................................................3-2

3-2 Robot Common Parameters .................................................................................................3-4

3-2-1 Robot Common Parameters .......................................................................................................3-4

3-2-2 I/O Control Settings.....................................................................................................................3-4

3-3 Robot Setting Parameters.....................................................................................................3-7

3-3-1 Robot Setting Parameters...........................................................................................................3-7

3-3-2 Robot Basic Settings...................................................................................................................3-7

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 ...............................................................................4-11

4-3 V+ Program...........................................................................................................................4-14

4-3-1 Overview of V+ Programs .........................................................................................................4-14

4-3-2 Control of V+ Tasks...................................................................................................................4-14

4-3-3 I/O Control Settings for V+ Program .........................................................................................4-14

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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CONTENTS

4-4 Debugging Program ............................................................................................................4-16

4-4-1 Of

4-4-2 Transferring Settings and Programs .........................................................................................4-17

4-4-3 Online Debugging .....................................................................................................................4-17

fline Debugging......................................................................................................................4-16

4-5 States and State Transition.................................................................................................4-19

4-5-1 States of the Robot Integrated CPU Unit ..................................................................................4-19

4-5-2 States of the OMRON Robots...................................................................................................4-20

4-5-3 Changing the Operating Mode ..................................................................................................4-23

4-5-4 Operation of Events ..................................................................................................................4-24

Section 5 Robot Control Function

5-1 Robot Control Common Function ........................................................................................ 5-2

5-2 Latching

5-2-1 Robot Position Latching ..............................................................................................................5-5

5-2-2 Robot Built-in Encoder Latching..................................................................................................5-6

5-3 Coordinate System Integration with NJ Robotics Function .............................................5-8

5-4 Changing Recipe..................................................................................................................5-10

..................................................................................................................................5-5

Section 6 Robot Control Instructions

6-1 Overview of Robot Control Instructions..............................................................................6-2

6-1-1 T

6-1-2 Execution and Status of Robot Control Instructions....................................................................6-2

6-1-3 Error Processing .........................................................................................................................6-2

6-1-4 Changing Input Variables during Execution of Robot Control Instructions (Instruction

6-1-5 Multi-execution of Instructions with BufferMode..........................................................................6-3

ypes of Robot Control Instructions ............................................................................................6-2

Re-execution)..............................................................................................................................6-3

6-2 Basic Understanding of Robot Control Instructions..........................................................6-6

6-2-1 Names of Robot Control Instructions ..........................................................................................6-6

6-2-2 Languages of Robot Control Instructions ...................................................................................6-6

6-2-3 Locations of Robot Control Instructions ......................................................................................6-6

6-2-4 OMRON Robot Specification Method in Sequence Control Program .......................................6-10

6-2-5 Multi-execution of Robot Control Instructions ...........................................................................6-10

6-2-6 Executing Robot Control Instructions to Uncreated Robots...................................................... 6-11

Section 7 Variables and Instructions

7-1 System-defined variables for Robot Control.......................................................................7-2

7-1-1 Robot Control Common Variable.................................................................................................7-2

7-1-2 Robot Variables ...........................................................................................................................7-3

7-1-3 Robot I/O Variables .....................................................................................................................7-7

7-2 Instructions ............................................................................................................................7-9

7-2-1 Common Commands ..................................................................................................................7-9

7-2-2 Robot Commands .......................................................................................................................7-9

7-2-3 System Control Instructions ......................................................................................................7-10

Section 8 Common Command Instructions

RC_ExecVpPrgTask ......................................................................................................................... 8-2

Variables

Function ........................................................................................................................................................8-3

RC_AbortVpPrgTask........................................................................................................................8-6

Variables.......................................................................................................................................................8-6

.......................................................................................................................................................8-2

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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Function ........................................................................................................................................................8-7

RC_GetVpPrgTaskStatus

Variables .......................................................................................................................................................8-8

Function ........................................................................................................................................................8-9

................................................................................................................8-8

RC_ConvertCoordSystem ............................................................................................................. 8-11

Variables .....................................................................................................................................................8-11

Function ......................................................................................................................................................8-12

Section 9 Robot Command Instructions

RC_EnablePower .............................................................................................................................9-2

Variables

Function ........................................................................................................................................................9-3

RC_DisablePower ............................................................................................................................9-5

Variables.......................................................................................................................................................9-5

Function ........................................................................................................................................................9-6

RC_Calibrate.....................................................................................................................................9-8

Variables.......................................................................................................................................................9-8

Function ........................................................................................................................................................9-9

RC_AttachRobot ............................................................................................................................9-10

Variables.....................................................................................................................................................9-10

Function ...................................................................................................................................................... 9-11

Precautions for Correct Use .......................................................................................................................9-12

RC_DetachRobot............................................................................................................................9-13

Variables.....................................................................................................................................................9-13

Function ......................................................................................................................................................9-14

RC_SetToolTransform ...................................................................................................................9-15

Variables.....................................................................................................................................................9-15

Function ......................................................................................................................................................9-16

Precautions for Correct Use .......................................................................................................................9-18

RC_MoveDirect...............................................................................................................................9-20

Variables.....................................................................................................................................................9-20

Function ......................................................................................................................................................9-23

RC_MoveLinear ..............................................................................................................................9-27

Variables.....................................................................................................................................................9-27

Function ......................................................................................................................................................9-30

RC_Stop ..........................................................................................................................................9-33

Variables.....................................................................................................................................................9-33

Function ......................................................................................................................................................9-34

RC_Reset ........................................................................................................................................9-36

Variables.....................................................................................................................................................9-36

Function ......................................................................................................................................................9-37

.......................................................................................................................................................9-2

CONTENTS

Section 10 System Control Instructions

ResetRCError .................................................................................................................................10-2

Variables

Function ......................................................................................................................................................10-3

GetRCError .....................................................................................................................................10-4

Variables.....................................................................................................................................................10-4

Function ......................................................................................................................................................10-4

NJ-series Robot Integrated CPU Unit User's Manual (O037)

.....................................................................................................................................................10-2

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CONTENTS

Section 11 Troubleshooting

11-1 Errors .................................................................................................................................... 11-2

11-1-1

11-1-2 Error Sources ........................................................................................................................... 11-2

11-1-3 Error Levels...............................................................................................................................11-3

11-1-4 Robot Control Function Module Errors by Source ....................................................................11-3

11-1-5 Errors Related to EtherCAT Communications and EtherCAT Slaves .......................................11-5

11-1-6 OMRON Robot Events .............................................................................................................11-5

11-2 Identifying and Resetting Errors ........................................................................................ 11-7

11-2-1 How to Check for Errors............................................................................................................ 11-7

11-2-2 How to Reset Errors..................................................................................................................11-8

11-3 Error Table ............................................................................................................................ 11-9

11-3-1 How to Read Error Tables ......................................................................................................... 11-9

11-3-2 Error Tables............................................................................................................................... 11-9

11-4 Error Descriptions .............................................................................................................11-21

11-4-1 How to Read Error Descriptions.............................................................................................. 11-21

11-4-2 Error Descriptions ...................................................................................................................11-22

Sources of Errors Related to the Robot Control Function Module ............................................ 11-2

Appendices

A-1 Differences in Functions between Robot Integrated CPU Unit and NJ-series CPU UnitA-2

A-2 Guideline for System Service Execution T

Index

ime Ratio......................................................... A-3

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 15

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

Exclusive Warranty



Omron’s exclusive warranty is that the Products will be free from defects in materials and work-

manship for a period of twelve months from the date of sale by Omron (or such other period ex-

pressed in writing by Omron). Omron disclaims all other warranties, express or implied.

Limitations



OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT

NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF

THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE

PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based

on infringement by the Products or otherwise of any intellectual property right.

Buyer Remedy



Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally

shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-

plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal

to the purchase price of the non-complying Product; provided that in no event shall Omron be re-

sponsible for warranty, repair, indemnity or any other claims or expenses regarding the Products

unless Omron’s analysis confirms that the Products were properly handled, stored, installed and

maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return

of any Products by Buyer must be approved in writing by Omron before shipment. Omron Compa-

nies shall not be liable for the suitability or unsuitability or the results from the use of Products in

combination with any electrical or electronic components, circuits, system assemblies or any other

materials or substances or environments. Any advice, recommendations or information given orally

or in writing, are not to be construed as an amendment or addition to the above warranty.

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-

SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 16

Terms and Conditions Agreement

WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,

WARRANTY

Further, in no event shall liability of Omron Companies exceed the individual price of the Product on

which liability is asserted.

, NEGLIGENCE OR STRICT LIABILITY.

Application Considerations

Suitability of Use

Omron Companies shall not be responsible for conformity with any standards, codes or regulations

which apply to the combination of the Product in the Buyer’

er’s request, Omron will provide applicable third party certification documents identifying ratings and

limitations of use which apply to the Product. This information by itself is not sufficient for a complete

determination of the suitability of the Product in combination with the end product, machine, system, or

other application or use. Buyer shall be solely responsible for determining appropriateness of the par-

ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re-

sponsibility in all cases.

s application or use of the Product. At Buy-

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR

PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE

HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS

PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP-

MENT OR SYSTEM.

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or

any consequence thereof.

Disclaimers

Performance Data

Data presented in Omron Company websites, catalogs and other materials is provided as a guide for

the user in determining suitability and does not constitute a warranty. It may represent the result of

Omron’

formance is subject to the Omron’s Warranty and Limitations of Liability.

s test conditions, and the user must correlate it to actual application requirements. Actual per-

Change in Specifications

Product specifications and accessories may be changed at any time based on improvements and oth-

er reasons. It is our practice to change part numbers when published ratings or features are changed,

or when significant construction changes are made. However, some specifications of the Product may

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 17

Terms and Conditions Agreement

be changed without any notice. When in doubt, special part numbers may be assigned to fix or estab-

lish key specifications for your application. Please consult with your Omron’s representative at any

time to confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; how-

ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 18

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

WARNING

aution

Safety Precautions

Definition of Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of

the NJ-series Robot Integrated CPU Unit.

The safety precautions that are provided are extremely important for safety. Always read and heed the

information provided in all safety precautions.

The following notation is used.

Symbols

The circle and slash symbol indicates operations that you must not do. The specific operation is shown in the circle and explained in text. This example indicates that disassembly is prohibited.

The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a general precaution.

The filled circle symbol indicates operations that you must do. The specific operation is shown in the circle and explained in text. This example shows a general precaution for something that you must do.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 19

WARNING

Caution

Refer to the following manuals for warnings.

• NJ-series CPU Unit Hardware User’

Designing Systems

When you build a robot system including this CPU Unit and OMRON robots, be sure to comply with laws and regulations relating to the safety of industrial robot application in a country or region where the robots are used to design and operate the system. Refer to the Robot Safety Guide (Cat. No. I590) for details.

Safety Precautions

s Manual (Cat. No. W500)

Operation

If you change the operating mode of this CPU Unit from RUN Mode to PROGRAM Mode, the sequence control program stops, but the current V+ program continues. If necessary, monitor the operating mode of the CPU Unit from the V+ program and stop the V+ program. Always confirm safety when you change the operating mode of the CPU Unit during execution of the V+ program. If you cannot confirm safety, stop the V+ program and then change the operating mode.

Cautions

Refer to the following manuals for cautions.

• NJ-series CPU Unit Hardware User’

• NJ-series NJ Robotics CPU Unit User's Manual (Cat. No. W539)

Designing Programs

There are different methods to attach a robot from the sequence control program and the V+ program. In addition, when a robot is attached from a program, the robot cannot be attached from another program without detaching the robot. If the same OMRON robot is controlled by switching the sequence control program or the V+ program respectively, make sure to detach the robot from the program that the robot is attached, and then change the control program to attach the robot.

s Manual (Cat. No. W500)

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 20

Safety Precautions

Operation

Do not remove the SD Memory Card during operation when you use the robot control function with this product. Doing so causes the robot control function to stop due to an error.

The V+ program files and the robot setting files in the SD Memory Card are required for the operation of the Robot Control Function Module. Do not edit or delete the files if you are not sure that the operation is not affected even when the files are edited and deleted. Always confirm how the file operations af SD Memory Card.

fect the control before you perform file operations in the

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 21

Precautions for Safe Use

Refer to the following manuals for precautions for safe use.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

Motion Control

• The coordinate system used by the Robot Control Function Module have different specifications

from the coordinate system used by the NJ Robotics function.

If you use both functions simultaneously, use the RC_ConvertCoordSystem instruction to set the

same coordinate system before performing the robot control.

Precautions for Safe Use

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 22

Precautions for Correct Use

Refer to the following manuals for precautions for correct use.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

Designing Programs

• If you create the program to use with the sequence control program and the V+ program, design the

interlocks between the programs with shared variables.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 23

Regulations and Standards

Refer to the following manuals for regulations and standards.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

Additional Information

The Robot Integrated CPU Unit is not a robot control device that is defined in ISO 10208-1. Therefore, the Robot Integrated CPU Unit does not comply with the robot regulations and standards. Refer to the OMRON robot manuals for information on the OMRON robot itself.

Regulations and Standards

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 24

ID information indication

NJ501

- Ver.1.

££

PORT1 MAC ADDRESS:

££££££££££££

PORT2 MAC ADDRESS:

££££££££££££

Lot No. DDMYY

xxxx

Unit model

Lot number Serial number MAC address

Unit version

HW Rev.

RC Ver.1.

££

Hardware revision

R300

Robot Control Function

Module version

Versions

Hardware revisions and unit versions are used to manage the hardware and software in NJ-series

Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a

change in hardware or software specifications. Even when two Units or EtherCAT slaves have the

same model number, they will have functional or performance differences if they have different hard-

ware revisions or unit versions.

Checking Versions

You can check versions on the ID information indications or with the Sysmac Studio.

Checking Unit Versions on ID Information Indications

The unit version is given on the ID information indication on the side of the product.

NJ501-R£00



The ID information on the NJ-series NJ501-R300 CPU Unit is shown below.

Note

The hardware revision is not displayed for the Unit that the hardware revision is in blank.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 25

Versions

Checking Unit Versions with the Sysmac Studio

You can use the Sysmac Studio to check unit versions.

Checking the Unit Version of an NJ-series CPU Unit



You can use the Production Information while the Sysmac Studio is online to check the unit version

of a Unit. You can do this for the CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus

Units. Y

ou cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.

1 Double-click CPU Rack under Configurations and Setup - CPU/Expansion Racks

Multiview Explorer. Or, right-click CPU Rack under Configurations and Setup - CPU/

Expansion Racks in the Multiview Explorer and select Edit from the menu.

The Unit Editor is displayed.

2 Right-click any open space in the Unit Editor and select Production Information.

The Production Information Dialog Box is displayed.

Changing Information Displayed in Production Information Dialog Box



1 Click the Show Detail or Show Outline Button at the lower right of the Production

Information Dialog Box.

The view will change between the production information details and outline.

in the

Outline View Detailed View

The information that is displayed is different for the Outline View and Detail View. The Detail

iew displays the unit version, hardware revision, and various versions. The Outline View dis-

plays only the unit version.

Note

The hardware revision is separated by “/” and displayed on the right of the hardware version. The hardware revision is not displayed for the Unit that the hardware revision is in blank.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 26

Related Manuals

The following are the manuals related to this manual. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NJ-series CPU Unit Hardware User's Manual

NJ/NX-series CPU Unit Software User’

NJ/NX-series Instructions Reference Manual

NJ/NX-series CPU Unit Motion Control User’

NJ/NX-series Motion Control Instructions Reference Manual

NJ/NX-series CPU Unit

Built-in EtherCA User

’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP™ Port

s Manual

User’

NJ-series Robot Integrated CPU Unit

s Manual

’

User

s Manual

T® Port

W500

W501

W502

W507

W508

W505

W506

O037

NJ501-££££ NJ301-££££ NJ101-££££

NX701-££££ NX102-££££ NX1P2-££££ NJ501-££££ NJ301-££££ NJ101-££££

NJ501-R£££

Learning the basic specifications of the NJ-series CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.

Learning how to program and set up an NJ/NX-series CPU Unit. Mainly software information is provided.

Learning detailed specifications on the basic instructions of an NJ/NX-series CPU Unit.

Learning about motion control settings and programming concepts.

Learning about the specifications of the motion control instructions.

Using the built-in

T port on an

EtherCA NJ/NX-series CPU Unit.

Using the built-in EtherNet/IP port on an NJ/NX-series CPU Unit.

Using the NJ-series Robot Integrated CPU Unit.

An introduction to the entire NJ-series system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

The following information is provided on a Controller built with an NJ/NX-series CPU Unit.

• CPU Unit operation

• CPU Unit features

• Initial settings

• Programming based on IEC 61131-3

language specifications

The instructions in the instruction set (IEC

131-3 specifications) are described.

The settings and operation of the CPU Unit and programming concepts for motion control are described.

The motion control instructions are described.

Information on the built-in EtherCAT port is provided. This manual provides an introduction and provides information on the configuration, features, and setup.

Information on the built-in EtherNet/IP port is provided. Information is provided on the basic setup, tag data links, and other features.

Describes the settings and operation of the CPU Unit and programming concepts for OMRON robot control.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 27

Manual name Cat. No. Model numbers Application Description

Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual

Sysmac Studio Robot Integrated System Building Function with IPC Application Controller Operation Manual

Sysmac Studio 3D Simulation Function Operation Manual

eV+3

s Manual

’

User

eV+3 Keyword Reference Manual

eCobra 600 and 800 Robot with EtherCAT User

Viper 650 and 850 Robot with EtherCAT User

Robot Safety Guide I590

eaching Pendant

T T20

s Manual

User’

IPC Application Controller

s Manual

User’

NJ-series NJ Robotics CPU Unit

s Manual

User’

NJ/NX-series Troubleshooting Manual

Sysmac Studio Version 1 Operation Manual

NX-series Position Interface Units

s Manual

User’

’s Guide

W595

W621

W618

I651

I652

I653

I654

I601 10046-010 Operating the OM-

I632 AC1-152000 Using the IPC Appli-

W539

W503

W504 SYSMAC

W524

SYSMAC-SE2£££ SYSMACSE200D-64

SYSMAC-SE2 SYSMAC-SA4££ £-64

NJ501-R£££

RL4-£££££££

RL6-£££££££

RL4-£££££££ RL6-£££££££

NJ501-4£££ NJ501-R£££

NX701-££££ NX102-££££ NX1P2NJ501-££££ NJ301-££££ NJ101-££££

-SE2£££

NX-EC0£££ NX-ECS£££ NX-PG0£££

£££

££££

Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Integrated System using Robot Integrated CPU Unit.

Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Integrated System using IPC Application Con-

troller

Learning about an outline of the 3D simulation function of the Sysmac Studio and how to use the function.

Operating the OMRON robot with the V + program.

Using the eCobra. Describes the eCobra.

Using the Viper. Describes the Viper.

Learning how to use the OMRON robot safely.

RON robot with a teaching pendant.

cation Controller.

Controlling robots with NJ-series CPU Units.

Learning about the errors that may be detected in an NJ/NX-series Con-

troller

Learning about the operating procedures and functions of the Sysmac Studio.

Learning how to use NX-series Position Interface Units.

Describes the operating procedures of the Sysmac Studio for Robot Integrated CPU Unit.

Describes the operating procedures of the Sysmac Studio for IPC Application Controller.

Describes an outline, execution procedures, and operating procedures for the 3D simulation function of the Sysmac Studio.

Describes the V+ language to control the OMRON robots.

Describes V+ keywords that are used in the V+ language.

Describes how to use the OMRON robot safely.

Describes the setup, operation, and user maintenance for the Teaching Pendant T20.

Describes the IPC Application Controller.

Describes the functionality to control robots.

Concepts on managing errors that may be detected in an NJ/NX-series Controller and information on individual errors are described.

Describes the operating procedures of the Sysmac Studio.

The hardware, setup, and functions for the NX-series Incremental Encoder Input Units, SSI Input Units, and Pulse Output Unit are described.

Related Manuals

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 28

Related Manuals

Manual name Cat. No. Model numbers Application Description

AC Servomotors/Servo Drives 1S-series with

Built-in EtherCA cations User's Manual

AC Servomotors/Servo Drives G5 Series with

Built-in EtherCAT® Communications User's Manual

T® Communi-

I586

I621

I576

I577

R88M-1£ R88D-1SN£

R88M-1AL£/ -1AM£ R88D-1SAN£-ECT

R88M-K R88D-KN£-ECT

R88L-EC-£ R88D-KN£-ECT-L

-ECT

Learning how to use the Servomotors/ Servo Drives with built-in EtherCAT Communications.

Learning how to use the AC Servomotors/ Servo Drives with built-in EtherCAT Communications.

Describes the hardware, setup methods and functions of the Servomotors/Servo Drives with built-in EtherCAT Communications.

Describes the hardware, setup methods and functions of the AC Servomotors/ Servo Drives with built-in EtherCAT Communications. The Linear Motor Type models and dedicated models for position control are available in G5-series.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 29

Terminology

This section describes the terms that are used in this manual.

Term Description

continuous-path motion

IEC 61131-3 language

robots controllable by NJ Robotics function

TCP A tip (Tool Center Point) defined in each OMRON robot.

V+ keyword A generic term for instructions that are used during a V+ program and monitoring com-

V+ language

V+ task A task that can execute a V+ program.

V+ program A control program written in the V+ language.

OMRON robot Specifies the OMRON robot controllable from the Robot Integrated CPU Unit.

shared variable

sequence control program

hardware servo A servo system built into the robot amplifier.

user program A generic term for the collection of programs written in the ladder diagram, ST, and V+

recipe A set of product type data in the customer’s system.

recipe change Specifies that the product data and information (recipe) related to the production process

Robot Control Function Module

robot control instructions

Robot Integrated CPU Unit

Terminology

A motion to move continuous operations smoothly without stopping motion of the OMRON robot.

A programming language to write a sequence control program.

Specify the controllable robots by the data processing for robot in the Motion Control Function Module of the NJ-series CPU Unit. The controllable robot consists of the 1S-series or G5-series Servomotor/Servo Drive with built-in EtherCA tomer.

The target position or path can be specified based on the TCP.

mand.

A programming language for OMRON robot control.

The robot consists of the robot amplifier and the robot arm connected to the robot ampli-

fier

A variable that can be shared between the sequence control program and V+ program.

A control program written in IEC 61131-3 language including the motion control.

languages.

are changed. The target recipe for the Robot Integrated CPU Unit is a property from the present values of variables and a vision sensor

A software to perform robot control that is installed in the Robot Integrated CPU Unit.

FB instructions written in the sequence control program to control the OMRON robots. They include an instruction to directly control the OMRON robots and an instruction to execute or abort V+ programs assigned to the V+ tasks.

A CPU Unit that supports control function for the OMRON robot with the NJ-series CPU Unit.

T communications and the robot arm that is prepared by the cus-

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 30

O037-E1-01

evision code

Cat. No.

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the

manual.

Revision

code

01 August 2020 Original production

Date Revised content

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 31

Introduction to Robot Integrated CPU Unit

This section describes the features, basic system configuration, specifications, and overall operating procedure of an NJ-series Robot Integrated CPU Unit

1-1 Features ..........................................................................................................1-2

1-2 System Configuration.................................................................................... 1-4

1-3 Specifications................................................................................................. 1-6

1-3-1 General Specifications .................................................................................... 1-6

1-3-2 Performance Specifications............................................................................. 1-6

1-3-3 Function Specifications ................................................................................... 1-6

1-3-4 V+ Program Specifications.............................................................................. 1-8

1-4 Basic Procedure of Operation ...................................................................... 1-9

NJ-series Robot Integrated CPU Unit User's Manual (O037)

1-1

Page 32

Motion controlSequence control

NJ-series Robot Integrated CPU Unit

IEC programming

Safety devices

Machine

vision

Servo Drives and Inverters

I/O controls

EtherCAT control network

Sysmac Studio

Automation Software

Robots

V+ program

Robot control V+ language

1 Introduction to Robot Integrated CPU Unit

1-1

Features

The NJ-series Robot Integrated CPU Units are next-generation machine automation controllers that

provide the functionality and high-speed performance that are required for machine control. They pro-

vide the safety, reliability, and maintainability that are required of industrial controllers. The NJ-series

Controllers provide the functionality of previous OMRON PLCs, and they also provide the functionality

that is required for robot control. Synchronized control of I/O devices on high-speed EtherCAT can be

applied to robots, safety devices, vision systems, motion equipment, discrete I/O, and more.

OMRON offers the new Sysmac Series of control devices designed with unified communications spec-

ifications and user interface specifications.

The NJ-series Robot Integrated CPU Units are part of the Sysmac Series. You can use them together

with EtherCAT slaves, other Sysmac products, and the Sysmac Studio Automation Software to ach-

ieve optimum functionality and ease of operation. With a system that is created from Sysmac products,

you can connect components and commission the system through unified concepts and usability.

The Robot Control Function Module (sometimes abbreviated to “RC Function Module”) is a software

function module that is built into the Robot Integrated CPU Unit

The RC Function Module can perform robot control for up to 8 OMRON robots through the built-in

EtherCAT port on the Robot Integrated CPU Unit.

The OMRON robots are controlled with robot control instructions in the sequence control program.

1-2

Robot Control Function Module

Sequence Control Program

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 33

1 Introduction to Robot Integrated CPU Unit

The sequence control program includes function blocks that are operated directly to the OMRON ro-

bots such as the robot joint interpolation, robot linear interpolation, stopping a robot, and other opera-

tions. The program also includes function blocks that controls V+ programs such as executing V+

tasks, aborting V+ tasks, and other operations.

V+ Program

The OMRON robots are controlled using V+ programs. The V+ programs are written in the V+ lan-

guage that is a special language for the robot control. You can easily realize various operation of the

OMRON robot using V+ programs.

In addition, the V+ program can use the interlock with a sequence control program (ladder diagram

and ST language) using shared variables.

Integrated Sequence Control and Motion Control

1-1 Features

A CPU Unit can perform both sequence control and motion control. You can simultaneously achieve

both sequence control and multi-axes synchronized control. Sequence control, motion control, and I/O

refreshing are all executed in the same control period.

The same control period is also used for the process data communications cycle for EtherCAT

enables precise sequence and motion control in a fixed period with very little deviation.

. This

Programming Languages Based on the IEC 61131-3 International Standard

The Controllers support language specifications that are based on IEC 61131-3. To these, OMRON

has added our own improvements. Motion control instructions that are based on PLCopen® standards

and an instruction set (POUs) that follows IEC rules are provided.

Kinematics Function Supported

The kinematics function (NJ Robotics function) can perform data processing for robot in the Motion

Control Function Module (sometimes abbreviated to “MC Function Module”) to control robots that use

parallel link mechanism, Cartesian robots, and SCARA robots that are prepared by the customer.

Refer to the

matics function.

Note that the "kinematics function" is written as the "NJ Robotics function" in this manual.

NJ-series NJ Robotics CPU Unit User's Manual (Cat. No. W539) for details on the kine-

Data Transmission Using EtherCAT Communications

The OMRON robots are connected with EtherCAT communications to enable exchange of all control

information with high-speed data communications.

In addition, cyclic communications are performed with OMRON robots, Servo Drives and other devices

with EtherCAT communications, and the performance for the entire equipment is maximized

NJ-series Robot Integrated CPU Unit User's Manual (O037)

1-3

Page 34

Robots controllable by NJ Robotics function

FH-series Vision Systems

Camera

Safety devices

EtherNet/IP

EtherCAT

Sysmac Studio

NA-series PT

T20 Pendant

(with built-in EtherCAT communications)

Slave Terminal

IPC Application Controller

Vision sensor

OMRON robot

Robot Integrated CPU Unit NJ501-R£££

Encoder, digital I/O

Front panel

I/O control

external devices

1S-series Servo Drives G5-series Servo Drives

USB

1 Introduction to Robot Integrated CPU Unit

1-2

System Configuration

This section describes the system configuration and components related to the Robot Integrated CPU

Unit.

1-4

The function of each component in the system is given below.

Component Function in the system

EtherCAT Controls for Servo Drives and OMRON robots through the EtherCAT master port that is

built into the Robot Integrated CPU Unit. It enables precise control in a fixed period with very little deviation.

OMRON robot

T20 Pendant

Sysmac Studio An integrated development software for use with the Robot Integrated CPU Unit that al-

NA-series PT Displays various information and performs operation as required.

IPC Application Controller

1S-series Servo Drives G5-series Servo Drives

Robots controllable by NJ Robotics function

Consists of the robot amplifier and the robot arm connected to the robot amplifier. It connects with a Robot Integrated CPU Unit through EtherCA It has digital I/O ports to enable control for the external devices.

A teaching pendant for the OMRON robot. It connects to the OMRON robot and performs a test run for the OMRON robot or teaching.

lows you to create programming and make device settings.

It is used when you instruct a recipe change to the

A Controller to manage a recipe and more than one OMRON robot controlled by the Robot Integrated CPU Unit. It can perform image processing by connecting a vision sensor

Servo Drives with built-in EtherCAT communications.

Robots that can be controlled from the Robot Integrated CPU Unit that controls Servomotors/Servo Drives with built-in EtherCAT communications.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Robot Integrated CPU Unit

T communications.

Page 35

1 Introduction to Robot Integrated CPU Unit

Component Function in the system

Slave Terminal

FH-series Vision Systems

Front panel Changes the operating mode of OMRON robot and executes a emergency stop.

I/O control external devices

Safety devices Safety devices such as a Safety Controller, safety sensor, and safety relay.

*1. Refer to the T20 Pendant User’

Precautions for Correct Use

• Always insert the included SD Memory Card when you use the robot control function with the Robot Integrated CPU Unit. Do not remove the SD Memory Card while power is supplied when you use the robot control

• function with the Robot Integrated CPU Unit. Doing so causes the robot control function to stop due to an error.

• The robot setting files and V+ program files in the SD Memory Card are required for the operation of the Robot Control Function Module. Be careful not to overwrite or delete the robot setting files and V+ program files.

Consists of the NX-ECC20£ Communications Coupler Unit and NX Units that are connected to EtherCA Unit through EtherCA Various Units such as digital I/O, analog I/O are covered, therefore, you can use the NX Units depending on the system demand.

Vision systems connected to the EtherCAT communications.

External devices to control from I/O ports of the NX Units or the robot. They include a photoelectric sensor

T communications. It exchanges I/O data with a Robot Integrated CPU

T communications.

, an air cylinder

s Guide (Cat. No. I601) for details.

, a robot hand, and other devices.

1-2 System Configuration

NJ-series Robot Integrated CPU Unit User's Manual (O037)

1-5

Page 36

1 Introduction to Robot Integrated CPU Unit

1-3

1-3-1

1-3-2

Specifications

This section describes the general specifications, performance specifications, and function specifica-

tions for the Robot Integrated CPU Unit.

General Specifications

General specifications conform to the general specifications of the CPU Unit.

Refer to the NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500) for details.

Performance Specifications

Performance specifications conform to the performance specifications of the NJ-series Controllers.

Refer to the NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500) for details.

The performance specifications for the Robot Integrated CPU Unit are described below.

Item

Maximum number of controlled axes

Maximum number of controllable OMRON robots

Maximum number of robots controllable by NJ Robotics function

*1. This is the total for all axis types in Motion Control Function Module. Refer to the NJ/NX-series CPU Unit

Motion Control User’

This includes the number of axes used for the robots that are controlled with the NJ Robotics function.

*2. When the number of connected devices increases, the number of devices that can be connected to Ether-

CAT network is limited due to the restrictions for process data size of EtherCAT communications.

*3. The number of robots controllable by NJ Robotics function varies depending on the number of controlled

axes that you use. The number of controlled axes depends on the robot type. Refer to the NJ-series NJ

Robotics CPU Unit User's Manual (Cat. No. W539) for details.

s Manual (Cat. No. W507) for details on axis types.

R500 R400 R300

64 axes 32 axes 16 axes

NJ501-

8 max.

1-3-3

Function Specifications

This section describes the functions that are specific to the NJ-series Robot Integrated CPU Units.

Basic Function

Category Function Specification Reference

Tasks Task management Adds V+ tasks along with the function supported by the NJ-series

CPU Units.

Programming

1-6

V+ program execution Executes the V+ program. page 1-8

Shared variables for sequence control program and V+ program

V+ task control from sequence control program

Shares variables between the sequence control program and the V+ program.

Controls V+ tasks such as execution, end, and other operations from the sequence control program.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

page 2-12

page 4-7

page 4-6

Page 37

1 Introduction to Robot Integrated CPU Unit

Category Function Specification Reference

System-defined variables for robot control

I/O controls Read and write data for the digital I/O of the EtherCAT slave devices

Motion control

Troubleshooting

Security Robot System Operation

SD Memory Card

Memory management

Backup Backing up and restoring

Control with NJ Robotics function

Event log Manages the event log for the OMRON robot along with the function

Error management Manages the OMRON robot errors along with the function supported

Error reset Clears the OMRON robot errors along with the function supported

Authority

CPU Unit write-protection

File explorer Uses the V+ File Browser in the Sysmac Studio to access V+ pro-

Clear All Memory Includes robot setting files and V+ programs along with the function

data for the Robot Integrated CPU Unit

Backing up and restoring data for the OMRON robot

Can use the variables for monitoring the state of the RC Function Module or each OMRON robot and variables for reading and writing the built-in I/O in the each OMRON robot.

connected with EtherCA CA

T Coupler Unit from the V+ program.

Controls Servomotors/Servo Drives connected with the EtherCAT communications to control robots. The function can realize the robot operation, single-axis operation, and synchronized operation with the Motion Control Function Module.

supported by the NJ-series CPU Units.

by the NJ-series CPU Units.

Adds functions along with the function supported by the NJ-series CPU Units.

grams and other data in the Robot Integrated CPU Unit.

supported by the NJ-series CPU Units.

Includes robot setting files and V+ programs along with the function supported by the NJ-series CPU Units.

Backs up or restores data related to the OMRON robot. page 2-27

T communications or NX Units on the Ether-

page 2-8

page 3-4

page 2-4

page 11-1

page 2-29

page 2-17

page 2-22

page 2-24

1-3 Specifications

1-3-3 Function Specifications

Function for Robot Control Function Module

Catego-

Robot control

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Control program for OMRON robot

Latching Robot position latch-

Function Specification Reference

Controls the OMRON robots with the sequence control program and V+ program.

Inputs an external trigger signal to the latch input of the OM-

ing

Robot built-in encoder latching

RON robot to output the current position.

Uses the latch function of the robot built-in encoder counter to identify the encoder counter value at imaging by a vision sensor.

page 5-2

page 5-5

page 5-

1-7

Page 38

1 Introduction to Robot Integrated CPU Unit

Additional Information

Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for information on the debugging that is specific to

the Robot Control Function Module. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on the debugging that is common to the NJ-series CPU Unit.

IPC Application Controller Cooperation Function

Function Specification Reference

Image processing with a vision sensor

Conveyor tracking Synchronizes the OMRON robot and the belt conveyor using the encoder

Recipe change from CPU Unit

Detects and inspects a workpiece using a vision sensor. page 2-6

that is mounted to the belt conveyor

Requests a recipe change from the Robot Integrated CPU Unit to the IPC Application Controller.

page 2-

1-3-4

V+ Program Specifications

Refer to the eV+3 User's Manual (Cat. No. I651) and the eV+3 Keyword Reference Manual (Cat. No.

I652) for information on the V+ program specifications.

Precautions for Correct Use

The V+ keywords using for a hardware that does not support in the Robot Integrated CPU Unit, such as DeviceNet, graphics, and IEEE1394, are not supported.

1-8

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 39

Create a project

EtherCAT settings

Transfer the settings and program

*11

Operation check on Controller

*12

Operation

*13

Maintenance and inspection

*14

Start

End

OMRON robot settings

Hardware settings

Installation and wiring

Controller Setup

I/O settings

Programming

Teaching in the simulation operation

Offline debugging

1 Introduction to Robot Integrated CPU Unit

1-4 Basic Procedure of Opera-

1-4

Basic Procedure of Operation

This section describes an example of the procedure to realize applications using the OMRON robots.

tion

Sym-

bol

*1 Make the settings for the hardware

switches on the devices and other settings. If you operate a robot in the simulation operation, you can make the hardware settings later

Description Reference

Manuals for the OMRON robots that you use and the EtherCAT slaves

NJ-series Robot Integrated CPU Unit User's Manual (O037)

1-9

Page 40

1 Introduction to Robot Integrated CPU Unit

Sym-

bol

*2 Install the devices. Wire the network and

the I/O. If you operate a robot in the simulation operation, you can perform installation and wiring later.

*3 Create a new project for the Robot Inte-

grated CPU Unit in the Sysmac Studio.

*4 Make the settings for the Robot Integrated

CPU Unit.

*6 Make the robot control parameter settings. 3-3 Robot Setting Parameters on page

*7 Make the setting to control I/O from the

Add the EtherCAT slaves including the OMRON robots on the EtherCAT make the settings.

user program.

Write the user program for OMRON robots and peripheral devices with the sequence control program and the V+ program.

Description Reference

• NJ-series CPU Unit Hardware User’

W500)

• Manuals for the OMRON robots that you use

Sysmac Studio Version 1 Operation Manual (Cat. No. W504)

, and

2-5 Tasks on page 2-

2-6 EtherCAT Communications and Robot Control on

page 2-15

3-2 Robot Common Parameters on page 3-4

• Section 4 Program Design of Robot Control

4-1

• Section 5 Robot Control Function on page 5-1

• Section 6 Robot Control Instructions on page 6-1

• Section 7 Variables and Instructions on page 7-1

• Section 8 Common Command Instructions on page

8-1

• Section 9 Robot Command Instructions on page

9-1

• Section 10 System Control Instructions on page

10-1

*9 Perform teaching in the simulation opera-

tion.

• Sysmac Studio 3D Simulation Function Operation

Manual (Cat. No. W618)

• Sysmac Studio Robot Integrated System Build-

ing Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595)

*10 Verify operation in the simulation opera-

tion. Make changes as required.

• 4-4-1 Offline Debugging on page

4-16

• Sysmac Studio 3D Simulation Function Operation

Manual (Cat. No. W618)

• Sysmac Studio Robot Integrated System Build-

ing Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595)

*11 Transfer the settings and program from

the Sysmac Studio to the Robot Integrated CPU Unit and the EtherCAT slaves.

*12 Check the operations for the program and

the teaching position on the physical Controller. Make changes as required.

*13 Operate the Controller and the machine. ---

*14 Perform the troubleshooting for the error,

periodic inspections, and maintenance.

Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595)

• 4-4-3 Online Debugging on page 4-17

• Sysmac Studio Robot Integrated System Build-

ing Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595)

• T20 Pendant User’

• Section 11 Troubleshooting

s Guide (Cat. No. I601)

on page 11-1

• 2-9 Backup and Restore Operations on page 2-24

• NJ/NX-series Troubleshooting Manual (Cat. No. W503)

s Manual (Cat. No.

3-7

on page

1-10

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 41

1 Introduction to Robot Integrated CPU Unit

Additional Information

Refer to the following manuals for information on the NJ-series common procedure and the procedure and connection with peripheral devices other than the OMRON robot.

• NJ-series CPU Unit Hardware User

• NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501)

• NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507)

• NJ-series NJ Robotics CPU Unit User's Manual (Cat. No. W539)

’s Manual (Cat. No. W500)

1-4 Basic Procedure of Opera-

tion

NJ-series Robot Integrated CPU Unit User's Manual (O037)

1-11

Page 42

1 Introduction to Robot Integrated CPU Unit

1-12

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 43

Robot Control System Configuration and Functions

This section outlines the internal structure of the Robot Integrated CPU Unit and describes the configuration and functions of the Robot Control Function Module.

2-1 Internal Configuration for the

2-2 Relationship between Robot Integrated CPU Unit and Robot ................... 2-3

2-3 Relationship between Robot Integrated CPU Unit and IPC Appli-

cation 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............................................................................... 2-12

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..................................... 2-27

2-10 Security .........................................................................................................2-29

2-10-1 Robot System Operation Authority................................................................ 2-29

2-10-2 CPU Unit Write Protection............................................................................. 2-29

Robot Integrated CPU Unit ......................... 2-2

NJ-series Robot Integrated CPU Unit User's Manual (O037)

2-1

Page 44

Robot Control

Function Module

PLC Function Module

Motion Control

Function Module

EtherCAT Master

Function Module

Other function

modules

2 Robot Control System Configuration and Functions

2-1

Internal Configuration for the Robot Integrated CPU Unit

This section provides information about the internal mechanisms of the NJ-series Robot Integrated

CPU Unit.

The Robot Integrated CPU Unit has the following software configuration.

The Robot Control Function Module is a software module that performs robot control for the OMRON

robots.

*1. Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for information on other function

modules.

The PLC Function Module resides on the OS, and each function module is executed. A description of

each function module is given in the following table.

Function module

PLC Function Module

Robot Control Function Mod-

ule

Motion Control Function Module

EtherCA Function Module

*1. The Robot Control Function Module is sometimes abbreviated to "RC Function Module". *2. The Motion Control Function Module is sometimes abbreviated to "MC Function Module".

T Master

Abbreviation

PLC This module manages overall scheduling, executes the user program, sends

commands to the Robot Control Function Module, and provides interfaces to USB and the SD Memory Card.

RC This module performs robot control for the OMRON robot according to the com-

mands from robot control instructions that are executed in the user program and the commands from V+ programs. It sends data to the EtherCA tion Module.

ECAT This module communicates with the EtherCAT slaves as the EtherCAT master.

This module performs motion control according to the commands from motion control instructions that are executed in the user program. It sends data to the EtherCAT Master Function Module. It is used for the robot control with the NJ Robotics function and the motion control for a transfer equipment and a press machine.

Description

T Master Func-

2-2

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 45

EtherCAT Master Function Module

Robot Integrated CPU Unit

EtherCAT

communications

EtherCAT

communications

Motion control

instruction

Servo Drive

Command

interpretation

Data

processing

Data processing for robot

Communications

processing

Communications processing Command interpretation Status Control

Position control

Velocity control

Toque control

Configure a feedback system.

Not configure a feedback system.

Actual value

OMRON robot

Sequence control program

RC Function Module

Robot control

instruction

V+ program

Command

interpretation

MC Function Module

command value

Robot amplifier

Communications processing Path calculation Servo control Status monitoring

Robot arm

2 Robot Control System Configuration and Functions

2-2 Relationship between Robot Integrated

2-2

Relationship between Robot Integrated CPU Unit and Robot

The Robot Integrated CPU Unit supports the RC Function Module and the MC Function Module.

• The RC Function Module can control the OMRON robot through the built-in EtherCAT port from the

robot control instructions and V+ programs.

• The MC Function Module can perform motion control through the built-in EtherCAT port on the CPU

Unit. Cyclic communications are performed with Servo Drives and other devices that are connected

to the EtherCAT port to enable high-speed and high-precision machine control.

In addition, the NJ Robotics function can perform data processing for robot in the MC Function Mod-

ule to control robots that use parallel link mechanism, Cartesian robots, and SCARA robots that are

prepared by the customer.

A Robot Integrated CPU Unit can control the OMRON robot and the robots that are prepared by the

customer.

(¡: Controllable, Ï: Not controllable)

Robot to control

OMRON robot

Robots controlled by NJ Robotics func-

tion

*1. Refer to Controllable OMRON Robots on page 2-4 for information on the OMRON robot. *2. Refer to Robot Types Controllable by NJ Robotics Function on page 2-5 for information on the robot con-

trollable by the NJ-Robotics function.

Robot control in-

struction

¡ ¡ Ï

Ï Ï ¡

V+ program

Motion control in-

struction

CPU Unit and Robot

*1. The V+ program using the RC Function Module and robot setting files are saved in an SD Memory Card.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

2-3

Page 46

2 Robot Control System Configuration and Functions

Refer to 2-7-1 Included SD Memory Card Functions on page 2-

18 for details.

Robot Control Function Module

A program that controls the OMRON robot is written with robot control instructions and V+ programs.

• The sequence control program can control OMRON robots with robot control instructions only. The

program can also control the OMRON robot by starting and stopping the V+ tasks with the robot

control instructions.

ou can use robot variables if the current position and status of the OMRON robot are monitored in

the sequence control program.

In the same way, the robot built-in I/O of OMRON robots perform the control with robot I/O variables

in the sequence control program.

• In the V+ program, the RC Function Module analyzes the V+ program line by line and sends instruc-

tions (V+ keywords) and command values to the OMRON robot connected to the EtherCAT.

After receipt of an instruction (V+ keyword) or a command value, the OMRON robot performs path

calculation and controls the robot arm.

The present value and status of the OMRON robot are sent through the EtherCAT to the RC Func-

tion Module.

Controllable OMRON Robots



The following OMRON robots that support EtherCAT communications can be controlled.

OMRON robot

SCARA robot

Articulated robot

*1. Refer to the OMRON robot manuals for information on the specifications of the OMRON robot. *2. Only the models that support EtherCAT communications are available.

Product name Model

eCobra

Viper

RL4-£££££££

RL6-£££££££

Motion Control Function Module

The MC Function Module interprets commands, performs data processing based on the commands

from the sequence control program in the CPU Unit, and performs Servo Drive control.

The NJ Robotics function performs data processing for robot in the MC Function Module and controls

Servomotors/Servo Drives with built-in EtherCAT communications to perform robot control.

• When motion control instructions are executed in the sequence control program, the MC Function

Module interprets the resulting commands.

• The MC Function Module then performs motion control processing at a fixed period based on the

results of the command interpretation. It generates command values to send to the Servo Drive. The

following command values are generated: target position, target velocity, and target torque.

• The command values are sent by using PDO communications during each process data communi-

cations cycle of EtherCAT communications.

• The Servo Drive performs position loop control, velocity loop control, and torque loop control based

on the command values received during each process data communications cycle of EtherCAT

communications.

• The encoder's current value and the Servo Drive status are sent to the CPU Unit during each proc-

ess data communications cycle of EtherCAT communications.

2-4

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 47

2 Robot Control System Configuration and Functions

Additional Information

• Motion control processing and process data communications in EtherCAT communications are performed during the same time period.

• The MC Function Module controls the Servo Drive, which contains the position control loop, velocity control loop, and torque control loop.

•

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on the configuration to use the NX-series Position Interface Units.

Robot Types Controllable by NJ Robotics Function



The robot types that can be controlled by NJ Robotics function are as follows: Delta3, Delta3R,

Delta2, Cartesian 3D, Cartesian 3D Gantry, Cartesian 2D, Cartesian 2D Gantry

pansion1, SCARA RRP, SCARA RRP+R, SCARA PRR, and SCARA PRR+R

Refer to the NJ-series NJ Robotics CPU Unit User's Manual (Cat. No. W539) for details on robot

types.

Motion Control Instructions for NJ Robotics Function



In addition to the motion control instructions that you can use with an NJ501-1£££ Unit, you can

use the following motion control instructions with the NJ Robotics function.

The motion control instructions for the NJ Robotics function are classified as the instructions for ax-

es group commands.

, H-Bot, T-Bot, Ex-

2-2 Relationship between Robot Integrated

CPU Unit and Robot

Classification

Instructions for axes group commands

Instruction Name

MC_SetKinTransform Set Kinematics Transformation

MC_DefineCoordSystem Define Coordinate

MC_DefineToolTransform Define Tool Coordinate

MC_GroupMon Group Monitor

MC_MoveTimeAbsolute Time-specified Absolute Positioning

MC_SyncLinearConveyor Start Conveyor Synchronization

MC_SyncOut End Synchronization

MC_InverseKin Inverse Kinematics

MC_RobotJog Axes Group Jog

MC_MoveDirectAbsolute Joint Interpolated Point-to Point Movement

Motion control instruction

Refer to the NJ-series NJ Robotics CPU Unit User's Manual (Cat. No. W539) for information on the

motion control instructions for NJ Robotics functions.

Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for infor-

mation on the motion control instructions that can be used for the NJ501-1£££.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

2-5

Page 48

EtherCAT Master Function Module

Robot Integrated CPU Unit

EtherCAT

communications

Communications

processing

Actual value

OMRON robot

Sequence control program

RC Function Module

Robot control

instruction

V+ program

Command

interpretation

command value

Robot amplifier

Communications processing Path calculation Servo control Status monitoring

Robot arm

IPC Application Controller

Ethernet

communications

User Application Application Manager

Robot Vision Manager

Process Manager

Recipe Manager

2 Robot Control System Configuration and Functions

2-3

Relationship between Robot Integrated CPU Unit and IPC Application Controller

This section describes the cooperation of the Robot Integrated CPU Unit and a software that is instal-

led in the IPC Application Controller.

Refer to the Sysmac Studio Robot Integrated System Building Function with IPC Application Controller

Operation Manual (Cat. No. W621) for information on the software that is installed in the IPC Applica-

tion Controller.

Image Processing with Vision Sensor

You can detect and inspect a workpiece with the vision sensor connected to the IPC Application Con-

troller.

The image processing uses the Robot V

2-6

Refer to the Sysmac Studio Robot Integrated System Building Function with IPC Application Controller

Operation Manual (Cat. No. W621) for details.

ision Manager function in the IPC Application Controller.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 49

Vision data

IPC Application Controller

EtherCAT

Ethernet

Robot Integrated CPU Unit NJ501-R£££

Belt position

Belt conveyor

2 Robot Control System Configuration and Functions

Conveyor Tracking

You can make the operation of OMRON robot follow the operation of belt conveyor using the encoder

that is mounted to the belt conveyor to configure applications for conveyor tracking.

2-3 Relationship between Robot Integrated

CPU Unit and IPC Application Controller

*1. Robot path (conveyor tracking) *2. Workpiece position detected by the image processing *3. Input a shutter signal as a latch signal *4. Pulse of encoder mounted to the belt conveyor *5. Latched belt position

The conveyor tracking uses the Pack Manager function and Process Manager function in the IPC Ap-

plication Controller.

Refer to the

Sysmac Studio Robot Integrated System Building Function with IPC Application Controller

Operation Manual (Cat. No. W621) for details.

Request for Recipe Change

You can request a recipe change from the Robot Integrated CPU Unit to the IPC Application Control-

ler

The recipe change uses the Recipe Manager function and Robot V

Application Controller.

Refer to 5-4 Changing Recipe on page 5-10 for information on how to create the user program to

request a recipe change.

ision Manager function in the IPC

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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2 Robot Control System Configuration and Functions

2-4

2-4-1

System-defined Variables for Robot Control

This section describes the system-defined variables for robot control that belong to the RC Function

Module.

In a Robot Integrated CPU Unit, in the same way for an NJ-series CPU Unit, you use variables in the

sequence control program to access I/O and memory in the CPU Unit.

You also use the "system-defined variables for robot control" to access the state of OMRON robot and

Robot built-in I/O.

Overview of System-defined Variables for Robot Control

System-defined variables are provided in advance in an NJ-series Controller. The variables and all at-

tributes are defined by the system. They have specific functions. You cannot change the variable

names or any other attributes.

Of these, system-defined variables that belong to the RC Function Module are called "system-defined

variables for robot control".

Of these, system-defined variables that belong to current errors (events) in the RC Function Module

are called "error status variables".

Refer to 7-1 System-defined variables for Robot Control on page 7-2 for details on the list of sys-

tem-defined variables for robot control.

Refer to Error Status Variables on page 11-7 for information on the error status variables.

Level 1 Level 2 Level 3 Description

System-defined variables

Refer to the NJ/NX-series CPU Unit Software User’

tem-defined variables for an NJ-series Controller.

System-defined variables for robot control

Error status variables Robot Control Error

Robot control common variable

Robot variables Monitor the status of each OMRON robot.

Robot I/O variables Read and write the robot built-in I/O of

Status

Robot Control Common Error Status

Robot Error Status Gives the collective error status of all error

s Manual (Cat. No. W501) for details on the sys-

Monitor the common status of the RC Function Module.

each OMRON robot.

Gives the collective error status of all error status for the RC Function Module.

Gives the collective error status of all errors that occur for common processing in the RC Function Module.

status for each OMRON robot.

2-4-2

2-8

System of System-defined Variables for Robot Control

System-defined variables for robot control consist of information representing the status of the RC

Function Module, control command to the OMRON robots connected to EtherCAT communications,

status information, and the portion of the robot control parameter settings used to perform robot con-

trol.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 51

ID211

C24V

7mA

C OM

MACH No

AD042

RUN ERC ERH

B1 A1

x10

0 1 2 3 4 5 6 7

10 11 12 13 14 15

CPU Unit

Main memory

Sequence

control program

System-defined

variable for

robot control

OMRON robot

Status

Robot built-in

I/O

Read

Robot variables

RC Function

Module

Robot control

common variable

Robot I/O

variables

Sysmac Studio

EtherCA

communi

cations

Write

2 Robot Control System Configuration and Functions

You can access system-defined variables for robot control from the sequence control program, and

read and write them from the Sysmac Studio.

Among the values of system-defined variables for robot control, the TCPActPos

TCP for OMRON Robot) and JointActPos (Actual Position of Each Joint of OMRON Robot) robot vari-

ables retain the previous values even if EtherCAT communications have been disconnected or not es-

tablished.

(Actual Position of

2-4 System-defined Variables for Robot Con-

Precautions for Correct Use

Access the _EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable and check that the process data of the slave is enabled (operational) before the robot variables that are not

TCPActPos (Actual Position of TCP for OMRON Robot) and JointActPos (Actual Position of Each Joint of OMRON Robot) and robot I/ I/O variables are used. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for information on the _EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable.

trol

2-4-2 System of System-defined Variables for Robot Control

The system-defined variables for robot control are updated every primary period.

Information from the OMRON robots, which is obtained via EtherCAT communications, is reflected in

the system-defined variables for robot control within the control period and can be accessed when the

user program is executed.

Robot Control Common Variable

The robot control common variable can monitor the common status of the RC Function Module.

The robot control common variable is a system-defined variable. The variable name _RC_COM is

used for the robot control common variable. The data type is _sRC_COMMON_REF, which is a struc-

ture.

Refer to 7-1-1 Robot Control Common Variable on page 7-2 for details on the robot control common

variable.

Robot Variables

The robot variables can monitor the current position and state of the OMRON robot.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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2 Robot Control System Configuration and Functions

The robot variable is a system-defined variable. The variable names _RC_RBT[0..7] are used for the

robot variables. The data type is _sRC_RBT_REF, which is a structure.

ou can use robot variables to access status and position of OMRON robots from the sequence con-

trol program.

Each robot variable has two variable names: One is the system-defined variable name and the other is

the variable name that is assigned when you add an OMRON robot on the Sysmac Studio.

You can change the variable names that you created on the Sysmac Studio to any variable names for

each OMRON robot.

• The system-defined variables have the following variable names.

_RC_RBT[0] to _RC_RBT[7]

• The default variable names that are assigned when you add an OMRON robot on the Sysmac Stu-

dio are shown below.

You can change these variable names to any variable names for each OMRON robot from the Sys-

mac Studio.

RC_Robot001 to RC_Robot008 (default)

You can use either the system-defined variable names or the variable names of the OMRON robots

that you added on the Sysmac Studio in the user program.

The relationship between system-defined variable names and robot numbers is shown below.

Robot variable name in the system-defined

variables

(AT specification in global variable table)

_RC_RBT[0] RC_Robot001 1

_RC_RBT[1] RC_Robot002 2

: : :

_RC_RBT[7] RC_Robot008 8

*1. Refer to 3-3-2 Robot Basic Settings on page 3-7 for information on the robot number

Robot variable name when the robot is

added on the Sysmac Studio

(Default)

Robot number

Refer to Operation States of the OMRON Robots on page 4-22 for information on the definition of

each robot status that is stored in robot variables.

Refer to

7-1-2 Robot Variables on page 7-3 for details on robot variables.

Robot I/O Variables

The robot I/O variables are system-defined variables for handling the robot built-in I/O. The variable

names _RC_RBT_IO[0..7] are used for the robot I/O variables. The data type is _sRC_RBT_IO_REF,

which is a structure.

ou can use robot I/O variables to access the robot built-in I/O of OMRON robots from the sequence

control program.

2-10

Each robot I/O variable has two variable names: One is the system-defined variable name and the

other is the variable name that is assigned when you add a robot on the Sysmac Studio.

• The system-defined variables have the following variable names.

_RC_RBT_IO[0] to _RC_RBT_IO[7]

• The variable names that are created on the Sysmac Studio are as follows.

You can change these variable names to any variable names for each OMRON robot from the Sys-

mac Studio.

RC_Robot001_IO to RC_Robot008_IO (default)

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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2 Robot Control System Configuration and Functions

The relationship between system-defined variable names and robot numbers is shown below.

2-4 System-defined Variables for Robot Con-

2-4-3

Robot I/O variable name in the system-de-

fined variables

(AT specification in global variable table)

_RC_RBT_IO[0] RC_Robot001_IO 1

_RC_RBT_IO[1] RC_Robot002_IO 2

: : :

_RC_RBT_IO[7] RC_Robot008_IO 8

*1. Refer to 3-3-2 Robot Basic Settings on page 3-7 for information on the robot number

Robot I/O variable name when the ro-

bot I/O is added on Sysmac Studio

(Default)

Refer to 7-1-3 Robot I/O Variables on page 7-7 for details on robot I/O variables.

Precautions for Correct Use

The robot built-in I/O of OMRON robots can be read and written to the same robot built-in I/O device from both the sequence control program and V+ program. However, write from only one of the programs to the output device of the same robot built-in I/O because exclusive processing is complicated.

Attributes of System-defined Variables for Robot Control

The attributes of system-defined variables for robot control are summarized as follows.

Robot num-

ber

trol

2-4-3 Attributes of System-defined Variables for Robot Control

Attribute

Global/local Global variables

R/W access Read only Read and write are possible.

Retain Not retained.

Network Publish

Name Fixed. Different names can be created on the Sysmac Studio.

*1. Variables are published on the network with the variable names of the system-defined variables. Different

variable names that you created on the Sysmac Studio are not published on the network.

Robot control common variable Robot variables Robot I/O variables

Published.

System-defined variables for robot control

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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2 Robot Control System Configuration and Functions

2-5

2-5-1

Tasks

This section provides information on tasks for the Robot Integrated CPU Unit and task operation.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the tasks.

Tasks and Services for Robot Integrated CPU Unit

Tasks are used to specify an execution condition and execution order to a series of processes, such

as I/O refreshing and user program execution.

The NJ-series Robot Integrated CPU Unit support the following tasks.

Type of task Task name

Tasks that execute programs at a fixed period Primary periodic task

Priority-16, 17, or 18 periodic task

Tasks that execute programs only once when the execution conditions for the tasks are met

Tasks that execute V+ programs operated on the system services V+ task

The V+ task can set a maximum of 64 tasks (0 to 63).

Refer to the eV+3 User's Manual (Cat. No. I651) for details on the V+ tasks.

Refer to the NJ/NX-series CPU Unit Software User’

tasks that are not V+ tasks.

s Manual (Cat. No. W501) for information on the

Priority-8 or 48 event task

Precautions for Correct Use

The robot control instructions can be used only for the primary periodic task. If robot control instructions are used in any other tasks, an error will occur when the user program is built on the Sysmac Studio. Refer to 6-1 Overview of Robot Control Instructions on page 6-2 for information on the robot control instructions.

Task Period of Primary Periodic Task

The task period of primary periodic task for the Robot Integrated CPU Unit is given below.

Item Specification Initial value

Task period of primary periodic task 1 ms, 2 ms, or 4 ms 2 ms

Precautions for Correct Use

If the OMRON robot is connected, set the EtherCAT communications cycle that is supported by the OMRON robot to the task period of the Robot Integrated CPU Unit. Refer to the OMRON robot manuals for information on EtherCA tions of the OMRON robot.

T communications specifica-

2-5-2

2-12

Basic Operation of Tasks

The Robot Integrated CPU Unit cannot execute more than one periodic task and event task at the

same time.

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Page 55

UPG

MC RC

I/O

High

Low

Execution priority

Primary period Primary period

Primary periodic task

UPG

MC RC

I/O

Primary periodic task

2 Robot Control System Configuration and Functions

The order in which tasks are executed depends on the execution priority that is set for each task.

However, the V+ tasks are operated on the system services and up to 64 tasks are executed in se-

quence with time slicing according to the priority of the V+ tasks.

o operate a robot with V+ tasks as designed in advance, you must obtain the the system service exe-

cution time to design tasks.

Refer to A-2 Guideline for System Service Execution Time Ratio on page A-3 for information on the

guideline for the system service execution time.

This section explains the relationship between the primary periodic task for the Robot Integrated CPU

Unit and the V+ task.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) and the eV+3 User's

Manual (Cat. No. I651) for information on the task operation other than above, task execution priority

and system services.

Precautions for Correct Use

If sufficient system service times for execution of V+ tasks cannot be allocated due to the processing time of the user program or the system services other than V+ tasks, the V+ tasks may be executed during more than one period. Always confirm the operation of V+ tasks in the actual operating conditions. If the intended operations are not performed, make unused time by extending the primary task period or reviewing the processing.

2-5 Tasks

2-5-2 Basic Operation of Tasks

Operation of Primary Periodic Task

The primary periodic task includes operations such as system common processing, motion control,

and robot control in addition to I/O refreshing and user program execution.

After the execution of the primary periodic task, the robot control instruction written in the sequence

control program executes in the robot control processing of the next primary periodic task.

The V+ task is executed on the system services.

The operation for the NJ501-R£££ is given below

The V+ task and other services are executed on the system services.

Abbreviation Description

I/O I/O refreshing

UPG User program execution

MC Motion control

RC Robot control

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Primary periodic task

System services

UI M R

Primary period Primary period Primary period Primary period Primary period

O UI M R

Write to output variables Read input variables

2 Robot Control System Configuration and Functions

Abbreviation Description

SS System service execution including V+ task

2-5-3

Relationship between V+ Task and I/O Refreshing

The digital I/O of the EtherCAT slave devices connected to the Robot Integrated CPU Unit or the NX

Units on the EtherCAT Coupler Unit can be read and written from the V+ program assigned to the V+

task.

However

the NX Units on the EtherCAT Coupler Unit cannot be read and written directly from the V+ program,

so they are read and written through the RC Function Module.

The V+ program and the timing of I/O refreshing are shown in the following figure.

When output variables are written in the V+ program, data is output at the timing of solid line in the

following figure.

When input variables are read in the V+ program, the value input at the timing of dotted line in the

following figure is read.

, the digital I/O of the EtherCAT slave devices connected to the Robot Integrated CPU Unit or

Abbreviation Description

O Output refreshing

I Input refreshing

U User program execution

M Motion control

R Robot control

V V+ program execution

Precautions for Correct Use

If the digital I/O of the EtherCAT slave devices or the NX Units on the EtherCAT Coupler Unit are read and written in the V+ program, it takes more than one I/O refresh timing and the concurrency of data is not ensured. If ensuring concurrency is required in the V+ program, read and write I/O data in the sequence control program and use shared variables.

2-14

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2 Robot Control System Configuration and Functions

2-6 EtherCAT Communications and Robot

2-6

EtherCAT Communications and Robot Control

The RC Function Module controls OMRON robots through PDO communications of the EtherCAT

Master Function Module that is built into the Robot Integrated CPU Unit.

This section describes EtherCAT communications and other items related to the RC Function Module.

EtherCAT Communications Method

Select DC Mode for the EtherCAT communications method between the Robot Integrated CPU Unit

and OMRON robots.

If Free-Run Mode is selected for the EtherCAT communications method of the OMRON robot, the OM-

RON robot cannot be assigned to the RC Function Module.

Precautions for Correct Use

To control the OMRON robot, the process data must be enabled (operational) in the EtherCAT communications. If a teaching pendant is used, the process data must be enabled (operational) in the EtherCAT communications. Access the _EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable to confirm that the process data is enabled (operational). Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for information on the _EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable.

Control

Fail-soft Operation

The fail-soft operation can continue or stop communications with EtherCAT slaves that can operate

normally when a communications error occurred.

Continuous operation only for the EtherCAT slaves that can operate normally is called fail-soft opera-

tion.

The communications between the CPU Unit and EtherCAT slaves can continue until they stop safety

by the user program or user operation.

If the fail-soft operation is performed, set Fail-soft Operation Setting to Fail-soft.

If the Fail-soft Operation Setting parameter is set to Stop, the Robot Integrated CPU Unit will stop

process data communications for all slaves when an EtherCAT communications error is detected in a

slave. The OMRON robots also stop.

The operation when the OMRON robot stops depends on the specifications of OMRON robot.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) and the NJ/NX-series

CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for information on the fail-soft opera-

tion.

Refer to the OMRON robot manuals for information on the specifications of OMRON robot.

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2 Robot Control System Configuration and Functions

Load Rejection

If the following level Controller error occurred, the Robot Integrated CPU Unit stops output to all of the

EtherCAT slaves including the OMRON robots.

•

Major fault

• Partial fault for the EtherCAT Function Module

• Partial fault for the RC Function Module

The operation of the OMRON robot and the robot built-in I/O when the output is stopped depends on

the specifications of OMRON robot.

Refer to the OMRON robot manuals for information on the specifications of OMRON robot.

Disconnecting and Connecting EtherCAT Slave

The Robot Integrated CPU Unit does not have functionality for the OMRON robot to disconnect or

connect EtherCAT slaves and enable or disable the slaves.

Therefore, an EtherCA

disconnected from EtherCAT network or disabled by the following operations.

• If the OMRON robot is disconnected from EtherCAT network with a command from the Sysmac Stu-

dio during operation of the Robot Integrated CPU Unit.

• If the OMRON robot is disconnected from EtherCAT network with the EC_DisconnectSlave (Discon-

nect EtherCAT Slave) instruction.

• If the OMRON robot is disabled with the EC_ChangeEnableSetting (Enable/Disable EtherCAT

Slave) instruction.

The operation when the OMRON robot stops depends on the specifications of OMRON robot.

T Slave Disconnection Error (75020000 hex) occurs when the OMRON robot is

Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for information on the

EC_DisconnectSlave (Disconnect EtherCAT Slave) instruction and the EC_ChangeEnableSetting (En-

able/Disable EtherCAT Slave) instruction.

Refer to the OMRON robot manuals for information on the specifications of OMRON robot.

2-16

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2-7

2 Robot Control System Configuration and Functions

SD Memory Card Operations

This section describes the functions to access to an SD Memory Card.

The Robot Integrated CPU Unit provides functionality to access from a V+ program along with the SD

Memory Card function supported by the NJ-series CPU Units.

The following table shows the functions to access to the SD Memory Card and the range that can be

accessed.

Function Description

Downloading and uploading from/to the Sysmac Studio

V+ File Browser in the Sysmac

Studio

SD Memory Card function in the Sysmac Studio

SD Memory Card access from the FTP client

File access from the V+ pro-

gram

File access from the sequence control program

SD Memory Card backups Back up, restore, or verify data between the files under the D folder and back-

Sysmac Studio Controller backups

Save configuration setting and auto startup setting on the Sysmac Studio

Clear All Memory in the Sysmac Studio

Monitor Window on the Sysmac Studio

*1. Only the D folder under the root directory can be accessed.

The Sysmac Studio can download and upload the robot control parameters, robot setting files, and V+ programs to the Robot Integrated CPU Unit.

Use the V+ File Browser in the Sysmac Studio to access V+ programs and files created in the V+ programs in the Robot Integrated CPU Unit.

Use the SD Memory Card function in the Sysmac Studio to access files in the SD Memory Card.

Enable the FTP server for the NJ-series CPU Units to access files in the SD Memory Card from the FTP client.

The V+ programs can use V+ keywords such as FCOPY to create, edit, and delete files in the SD Memory Card.

The sequence control program can use SD Memory Card instructions or FTP client instructions to create, edit, and delete files in the SD Memory Card.

up files in the same SD Memory Card.

Back up, restore, or verify data between the files under the D folder in the SD Memory Card and backup files in the computer that the Sysmac Studio is installed.

When the save configuration setting is enabled, write the data in V+ memory into the SD Memory Card. When the auto startup is enabled, read the data in the SD Memory Card to the V+ memory

Initialize the files under the D folder in the SD Memory Card.

Use the Monitor Window on the Sysmac Studio to access files in the SD Memory Card.

2-7 SD Memory Card Operations

2-7-1 Included SD Memory Card Functions

Refer to the NJ/NX-series CPU Unit Software User’

SD Memory Card function of the NJ-series CPU Unit.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

s Manual (Cat. No. W501) for information on the

2-17

Page 60

Download

Upload

V+ program

Robot setting file

SD Memory Card

V+ program

Main memory

Sysmac Studio

NJ501-R£££

·After downloading

·When power is turned ON

2 Robot Control System Configuration and Functions

Precautions for Correct Use

• Always insert an SD Memory Card when you use the robot control function with the Robot Integrated CPU Unit.

•

Do not remove the SD Memory Card while power is supplied when you use the robot control function with the Robot Integrated CPU Unit. Doing so causes the robot control function to stop due to an error.

• The robot setting files and V+ program files in the SD Memory Card are required for the operation of the RC Function Module. Be careful not to overwrite or delite the robot setting files and V+ program files.

• Do not set write protection for the SD Memory Card. If the SD Memory Card is set to write protection, you cannot connect online.

• When you use downloading and uploading operations from the Sysmac Studio, an error occurs if data consistency is not ensured. This will occur because the SD Memory Card is faulty or writing data failed due to insufficient space available on the SD Memory Card. In the same way, if the power supply to the CPU Unit is turned OFF during transfer to the CPU Unit, when data consistency is not ensured, an error is detected.

2-7-1

Included SD Memory Card Functions

The V+ program using the Robot Integrated CPU Unit and robot setting files are saved in an SD Mem-

ory Card.

Therefore, if you use the robot control function, the included SD Memory Card is required to insert to

the Controller

2-18

*1. Use the Synchronize Menu of the Sysmac Studio to "upload" and "download" the data.

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2 Robot Control System Configuration and Functions

Precautions for Correct Use

• If you insert an SD Memory Card, always turn OFF the power supply to the Robot Integrated CPU Unit.

• If you press the power supply switch, the PWR indicator is not turned off and the power is not stopped.

•

The V+ program using the RC Function Module and robot setting files are saved in an SD Memory Card. Do not insert and remove an SD Memory Card while power is supplied to the Robot Integrated CPU Unit. When the SD Memory Card is removed, a Remove SD Memory Card with Robot Control Function Enabled error (17C10000 hex) occurs.

• Do not format the SD Memory Card, edit or delete data related to the robot control function such as the robot setting files and V+ programs while the Robot Integrated CPU Unit is operating. When these operations are performed, a Remove SD Memory Card with Robot Control Function Enabled error (17C10000 hex) occurs.

• Of the online operations in the Sysmac Studio, the following operations overwrite data in the SD Memory Card. a) Downloading from the Sysmac Studio b) Restoring in the Sysmac Studio c) Clear All Memory in the Sysmac Studio d) Save configuration setting on the Sysmac Studio e) Monitor Window on the Sysmac Studio Because a Robot Integrated CPU Unit can connect online with more than one Sysmac Studio, if the above operations are performed at the same time, these operations are not ensured. If a Robot Integrated CPU Unit connects online with more than one Sysmac Studio, pay careful attention during operation.

2-7 SD Memory Card Operations

2-7-1 Included SD Memory Card Functions

The differences of operation whether the SD Memory Card is inserted or not at startup are described

below.

SD Memory Card at startup

Inserted Not inserted

Connection with the Sysmac Studio Possible. Possible.

Troubleshooting function of the Sysmac Studio Possible. Possible.

Robot integrated system control function of the Sysmac Studio Possible. Not possible.

Downloading and uploading from/to the Sysmac Studio Possible. Not possible.

Backing up and restoring data in the Sysmac Studio Possible. Not possible.

Clear All Memory in the Sysmac Studio Possible. Not possible.

Using the RC Function Module Possible. Not possible.

Using functions other than the RC Function Module Possible.

*1. If you remove the SD Memory Card after you download data from the Sysmac Studio or restore data from

the SD Memory Card, the function can be operated.

Not possible.

Refer to A-1 Differences in Functions between Robot Integrated CPU Unit and NJ-series CPU Unit on

page A-2

for information on differences in functions for the Robot Integrated CPU Unit and the NJ-

series CPU Unit.

SD Memory Card Specifications

The SD Memory Card is inserted into the Robot Integrated CPU Unit when it is shipped.

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2 Robot Control System Configuration and Functions

SDHC cards are supported, but use one of the following OMRON Cards.

OMRON is not responsible for the operation, performance, or write life of any other SDHC card.

Model Card type Capacity [GB] Formatting Number of overwrites Weight

HMC-SD491

HMC-SD1A1 16

*1. This is the SD Memory Card inserted when the CPU Unit is shipped.

Additional Information

Write Protection Key

You will not be able to write to the SD Memory Card if the key is set to the LOCK position. Use this setting to prevent overwriting.

SDHC card 4 FAT32 100,000 overwrites 2 g max.

2-7-2

State of Included SD Memory Card at Factory Setting

Nothing is recorded in the included SD Memory Card at the factory setting.

The Robot Integrated CPU Unit checks whether the D folder exists in the SD Memory Card when the

power is turned ON.

If the folder does not exist, the Robot Integrated CPU Unit

Card when the power is turned ON and copies the robot setting files from the built-in non-volatile

memory in the CPU Unit to the SD Memory Card.

Precautions for Correct Use

If the copy to the SD Memory Card fails, a Robot Control Function Enabled without SD Memory Card error (17C20000 hex) occurs. Refer to Robot Control Function Enabled without SD

Memory Card ( page 11-

24) for information on the cause of the error and correction.

creates a new folder in the SD Memory

Exclusive Control of File Access in the SD Memory Card

If the same file on the SD Memory Card is accessed from different sources, unintended operations

such as reading a file while it is being written or writing a file while it is being read may occur.

Therefore, it is necessary to perform exclusive controls in order to prevent multiple accesses ("reading

and writing data

perform exclusive controls for "reading and reading data".

When you use a combination of operations that requires exclusive controls, always execute the later

processing only after checking that the first processing is finished.

Note that the exclusive controls are performed automatically for the file accesses with more than one

instruction in the sequence control program.

" or "writing and writing data") to the same file simultaneously. It is not necessary to

2-20

When the following functions are used, an access to files on the SD Memory Card will occur.

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2 Robot Control System Configuration and Functions

• Some V+ keywords to access the SD Memory Card

• SD Memory Card operation instructions and FTP client instructions in the sequence control program

•

Backup, restore and verification operations with the SD Memory Card

• File operations in the SD Memory Card from the Sysmac Studio

• Downloading, uploading, and verification from the Sysmac Studio

• V+ Edit from the Sysmac Studio

• Backup, restore and verification operations from the Sysmac Studio

• FTP server

Refer to the eV+3 Keyword Reference Manual (Cat. No. I652) for information on some V+ keywords to

access the SD Memory Card.

Precautions for Correct Use

• Do not newly add, edit, or delete a folder or file under the D folder in the SD Memory Card during the backup or verification operation. If a folder or file is newly added, edited, or deleted under the D folder during the backup or verification operation, the uncompleted folder or file may be backed up or verified, so the operation is not ensured.

• If the restore, automatic transfer data under the D folder from a backup file is temporarily expanded under the ~~D folder in the SD Memory Card. Do not use the same folder name as a temporary folder name because the temporary folder that is existed in advance is cleared.

, program transfer, or verification operation is executed, the

2-7 SD Memory Card Operations

2-7-2 Exclusive Control of File Access in the SD Memory Card

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2 Robot Control System Configuration and Functions

2-8

2-8-1

Memory Management

This section describes the memory management for the Robot Integrated CPU Unit.

Data and File Locations

The data and files related to the robot control function are located in the built-in non-volatile memory in

the CPU Unit or SD Memory Card as described below.

The data placed in the SD Memory Card is located in the D folder under the root directory.

Data or file Description Location

V+ program A program file that includes the V+ programs SD Memory Card

Global variable data of the V+ program

Robot setting files Setting files that include the OMRON robot settings SD Memory Card

Robot control parameters Parameters that are used by the RC Function Module Built-in non-volatile

V+ program creation file Files created with a file creation instruction or copy instruc-

Saved data for global variable values of the V+ program This data includes the teaching location data.

tion during V+ program.

SD Memory Card

memory

SD Memory Card

2-8-2

Clear All Memory

You can perform the Clear All Memory operation from the Sysmac Studio to return to the factory set-

tings for the user program, configuration, settings, and variables in the CPU Unit including the SD

Memory Card.

The data for the Clear All Memory operation is given below.

Type of data Description

User programs Sequence control program Cleared.

V+ programs Cleared.

CPU Unit configuration and settings

Variables System-defined variables Cleared.

Device variables

User-defined variables

Variables for V+ programs

Event logs Cleared if the user selected.

Files under the D folder in the SD Memory Card

*1. The robot control parameters, system setting files and robot setting files are also cleared. *2. The files include the V+ program creation file.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on the Clear

All Memory operation.

Cleared.

2-22

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2 Robot Control System Configuration and Functions

Precautions for Correct Use

• The Clear All Memory operation can be performed only in PROGRAM mode.

• When the operating mode is changed to the PROGRAM mode, the OMRON robot that is controlled with the sequence control program stops.

•

If the Clear All Memory operation is performed, when V+ programs are running or OMRON robots are moving, the Sysmac Studio displays a confirmation dialog box, stops the V+ programs or OMRON robots, and clears the memory.

2-8 Memory Management

2-8-2 Clear All Memory

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Backup file Restore command file Automatic transfer command file Verification result file

SD Memory Card

Robot Integrated CPU Unit

Backing up data

Restoring data

Verifying data

Sysmac Studio

Data to back up

2 Robot Control System Configuration and Functions

2-9

2-9-1

Backup and Restore Operations

This section provides information on backup and restore operations for the Robot Integrated CPU Unit

and the OMRON robot.

Backup and Restore Operations for Robot Integrated CPU Unit

Use the SD Memory Card or the Sysmac Studio to perform backup and restore operations for the Ro-

bot Integrated CPU Unit.

The following data is included for the buckup operation, in addition to the backup operation for the NJ-

series CPU Units.

• Robot control parameters

System setting files

•

• V+ Programs

• Global variable data of the V+ Program

• Robot setting files

• V+ Program creation file

The data that is saved in the built-in non-volatile memory in the CPU Unit and all folders and files un-

der the D folder that is saved in the SD Memory Card are backed up.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for information on the

NJ-series common specifications related to the backup and restore operations.

Operating Procedure When an SD Memory Card is Used

This section describes the procedure for backup, restore, and verification operations to an SD Memory

Card.

Procedure for Backup Operations to the SD Memory Card



The Robot Integrated CPU Unit saves V+ Programs and robot setting files in the SD Memory Card.

2-24

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2 Robot Control System Configuration and Functions

If you buck up data, the V+ Programs and robot setting files in the SD Memory Card are copied to

the backup file. Therefore, perform the backup operation while the SD Memory Card used during

operation is inserted into the Robot Integrated CPU Unit

Precautions for Correct Use

The SD Memory Card used for backup is required to insert to the Robot Integrated CPU Unit in order to restart the Controller. Copy the backup-related files from the SD Memory Card that is used for backup, and then prepare a new SD Memory Card for restore operation. Refer to the the backup-related files.

NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for information on

2-9 Backup and Restore Operations

1 Set pins 1 to 4 on the DIP switch on the CPU Unit as follows: 1: OFF, 2: OFF, 3: ON, and 4:

OFF.

2 Press the SD Memory Card power supply switch for 3 seconds.

The backup is started. The SD PWR indicator will flash, lighting for 3 seconds and going out for

0.5 seconds.

When the backup operation is completed, the SD PWR indicator will stop flashing and remain

lit.

3 Set all of pins 1 to 4 on the DIP switch on the CPU Unit to OFF

4 Turn OFF the power supply to the CPU Unit and to the EtherCAT slaves.

5 Remove the SD Memory Card from the CPU Unit.

6 Copy the backup-related files from the SD Memory Card that is used for backup, and then pre-

pare a new SD Memory Card for restore operation.

7 Insert the SD Memory Card used for backup into the CPU Unit.

2-9-1 Backup and Restore Operations for Robot Integrated CPU Unit

8 Turn ON the power supply to the CPU Unit and to the EtherCAT slaves.

Additional Information

If you copy the backup-related files without turning OFF the power supply, use the Sysmac Studio or FTP client.

Procedure for Restore Operations from the SD Memory Card



The Robot Integrated CPU Unit must operate while the SD Memory Card that is used for restore

operation is inserted.

Therefore, we recommend that the SD Memory Card for restore operation is copied before you per-

form the operation.

1 Turn OFF the power supply to the CPU Unit and to the EtherCAT slaves.

2 Insert the SD Memory Card for restore operation that stores the backup file into the CPU Unit.

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2 Robot Control System Configuration and Functions

3 Set pins 1 to 4 on the DIP switch on the CPU Unit as follows: 1: OFF, 2: OFF, 3: ON, and 4:

ON.

4 Turn ON the power supply to the CPU Unit and to the EtherCAT slaves.

The restore operation is started. The SD PWR indicator will flash, lighting for 3 seconds and

going out for 0.5 seconds.

When the restore operation is completed, the SD PWR indicator will stop flashing and remain

lit.

5 Turn OFF the power supply to the CPU Unit and to the EtherCAT slaves.

6 Set all of pins 1 to 4 on the DIP switch on the CPU Unit to OFF.

7 Turn ON the power supply to the CPU Unit and to the EtherCAT slaves.

Precautions for Correct Use

• To restore data with EtherCAT slaves connected, always cycle the power supply to the CPU Unit and the EtherCAT slaves after completion of the restore operation. If you start operation without cycling the power supply operation.

• To verify the data after you restore data with EtherCAT slaves connected, first turn OFF the power supply to the CPU Unit and EtherCAT slaves, and then start the Robot Integrated CPU Unit in Safe Mode before you perform the verification procedure. If you cycle the power supply normally, the Controller will start operation before you perform the verification procedure. That means that operation could be started with data that is not correct. For information on Safe Mode, refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503).

Procedure for Verification Operations of the SD Memory Card



The Robot Integrated CPU Unit saves V+ Programs and robot setting files in the SD Memory Card.

When you verify data, the programs and settings in the V+ Programs and robot setting files are

compared with the backup file.

Therefore, perform the verification operation using the SD Memory Card for restore operation.

, the Controller may perform unintended

1 Set all of pins 1 to 4 on the DIP switch on the CPU Unit to OFF.

2-26

2 Press the SD Memory Card power supply switch for 3 seconds.

Data comparison is started. The SD PWR indicator will flash, lighting for 3 seconds and going

out for 0.5 seconds.

If the verification operation is completed and the data is the same, the SD PWR indicator will stop

flashing and remain lit.

If the verification operation is completed and differences were found in the data, the SD PWR indi-

cator will flash, lighting for 0.5 seconds and going out for 0.5 seconds.

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2 Robot Control System Configuration and Functions

Operating Procedure When the Sysmac Studio is Used

2-9 Backup and Restore Operations

Refer to the NJ/NX-series CPU Unit Software User’

Version 1 Operation Manual (Cat. No. W504) for information on the procedures for backup, restore,

and verification operations to the Sysmac Studio.

The Robot Integrated CPU Unit saves V+ programs and robot setting files in the SD Memory Card.

When you back up, restore, or verify data, write or access V+ programs and robot setting files. There-

fore, perform the backup, restore, and verification operations while the SD Memory Card used during

operation is inserted.

s Manual (Cat. No. W501) and the Sysmac Studio

Required Available Space of SD Memory Card

If you use the SD Memory Card for the backup and restore operations of the Robot Integrated CPU

Unit, the backup file is saved in the SD Memory Card.

If the backup is executed using an SD Memory Card without sufficient available capacity

Failed (102A0000 hex) occurs.

The capacity of data to back up vary depending on the operating conditions of the Robot Integrated

CPU Unit. Therefore, confirm that the backup operation is normally ended before the Robot Integrated

CPU Unit is started.

, a Backup

2-9-2 Backup and Restore Operations for OMRON Robot

Folders in SD Memory Card

If the D folder does not exist in the SD Memory Card when data is backed up, a Backup Failed

(102A0000 hex) will occur.

The data placed in the D folder is included in the User program and settings under Data group. There-

fore, be sure to back up the data group.

Refer to the

data group.

NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for information on the

Precautions for Correct Use

, program transfer, or verification operation is executed, the

2-9-2

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Backup and Restore Operations for OMRON Robot

The OMRON robot settings are stored in the SD Memory Card in the Robot Integrated CPU Unit. The

settings are automatically transferred from the Robot Integrated CPU Unit to the OMRON robot.

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2 Robot Control System Configuration and Functions

Therefore, use the SD Memory Card or Sysmac Studio to perform backup and restore operations for

the Robot Integrated CPU Unit. This can also back up and restore the OMRON robot settings.

If you need to replace the OMRON robot, the OMRON robot settings are automatically transferred, so

you can quickly replace the OMRON robot.

Replacement Procedure for OMRON Robot

This section describes the procedure to replace an OMRON robot.

1 Turn OFF the power supply to the CPU Unit, OMRON robot, and other EtherCAT slaves.

2 Replace the OMRON robot.

3 Turn ON the power supply to the CPU Unit, OMRON robot, and other EtherCAT slaves.

Refer to the OMRON robot manuals for details on the replacement procedure for OMRON robot.

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2-10

2-10-1

Security

To protect your assets, you can use security functions to protect the user program and various data in

the Controller. To prevent incorrect operation, you can also use security functions to restrict operations

on the Sysmac Studio.

The Robot Integrated CPU Unit adds V+ programs and robot control parameters along with the securi-

ty function supported by the NJ-series CPU Units.

The operation authority verification is the same function supported by the NJ-series CPU Units.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the opera-

tion authority verification.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific operating proce-

dures for operation authorities.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the securi-

ty functions.

Robot System Operation Authority

Online operations are restricted by operation rights to prevent damage to equipment or injuries that

may be caused by operating mistakes.

The online operations that are allowed for each operation authority in the Robot Integrated CPU Unit

are given below.

You can use online operations with the Robot System Operation Authority to set the operation authori-

ties.

2-10 Security

2-10-1 Robot System Operation Authority

2-10-2

The access level in default setting is the design engineer access level.

Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU

Unit Operation Manual (Cat. No. W595) for information on the Robot System Operation Authority.

(OK: Operation possible, NP: Operation not possible)

Function Operator Teaching engineer Design engineer

Robot built-in I/O

Variables for V+ programs

Online editing of V+ programs

Monitoring window of V+ programs

Restarting V+OS

File explorer related to V+

Robot test run

Virtual front panel

V+ task status control

Vision sensor window

NP OK OK

NP NP OK

OK OK OK

NP OK OK

NP NP OK

NP OK OK

CPU Unit Write Protection

This function disables the ability to write data to the CPU Unit to protect user program assets and pre-

vent misuse.

The following protect data added for the Robot Integrated CPU Unit is given below.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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2 Robot Control System Configuration and Functions

CPU Unit data

Robot control parameters Not possible. Built-in non-volatile memory

Refer to the NJ/NX-series CPU Unit Software User’

Writing data to the CPU Unit during write protec-

tion

s Manual (Cat. No. W501) for information on the

Data location

CPU Unit write protection.

2-30

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 73

Robot Control Parameters

This section describes the parameters that are set in the Robot Control Function Module.

3-1 Introduction to Robot Control Parameters

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 I/O Control Settings ......................................................................................... 3-4

3-3 Robot Setting Parameters ............................................................................. 3-7

3-3-1 Robot Setting Parameters ............................................................................... 3-7

3-3-2 Robot Basic Settings ....................................................................................... 3-7

.................................................. 3-2

NJ-series Robot Integrated CPU Unit User's Manual (O037)

3-1

Page 74

Download

Upload

Robot common parameters

Robot setting parameters

Non-volatile memory

Robot control common variable

Execute V+ Task, Abort V+ Task, and Get V+ Task Status instructions

Some parameters can be read as system-defined variables for robot control.

Robot variables

Robot I/O variables

Sequence control program

V+ program

Robot common parameters

·After downloading

·When power is turned ON

Robot setting parameters

Main memory

Sysmac Studio

NJ501-R£££

Robot setting files

SD Memory Card

·After downloading

·When power is turned ON

Upload

Download

Robot control parameters

3 Robot Control Parameters

3-1

Introduction to Robot Control Parameters

You can use the sequence control program or V+ program to control OMRON robots with the Robot

Control Function Module of the Robot Integrated CPU Unit.

To set the motion of each OMRON robot, robot control parameters and robot setting files are used.

Robot control parameters are stored in the non-volatile memory, whereas robot setting files are stored

in an SD Memory Card.

Robot control parameters are a generic term for parameters including following:

• Robot common parameters

• Robot setting parameters

3-1-1

*1. Use the Synchronize Menu of the Sysmac Studio to "upload" and "download" the project. *2. System-defined variables for robot control corresponding to robot control parameters can be read only. They

cannot be written.

Data Flow for Robot Control Parameters

• Download the robot control parameters that you set using the Sysmac Studio to the Robot Integrat-

ed CPU Unit

ed CPU Unit. When you upload the robot control parameters to the Sysmac Studio, the robot control

parameters that were saved in the non-volatile memory are uploaded.

3-2

to save the parameter settings in the built-in non-volatile memory in the Robot Integrat-

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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3 Robot Control Parameters

• The settings that were saved in the non-volatile memory are applied to the main memory after you

download them or when the power is turned ON.

• If the settings are correct, the RC Function Module executes control based on the settings in the

main memory

If there is a mistake or error in the settings, the RC Function Module causes a partial fault.

• The settings of some of the parameters can be accessed as system-defined variables for robot con-

trol with the user program.

• You can upload and download robot control parameters regardless of the Robot Integrated CPU

Unit’s mode or the status of the RC Function Module.

3-1 Introduction to Robot Control Parameters

3-1-2

Relationship between V+ Program and Robot Control Parameters

• You cannot read or change robot control parameters directly from the V+ program.

o read robot control parameters, you need to share variables in the V+ program and the sequence

•

control program to read them indirectly. However, some parameters can be read.

Refer to 4-2-5 Shared Variables with V+ Program on page 4-7 and 4-2-6 Using Shared Variables

with V+ Programs on page 4-11 for details on the shared variables.

3-1-2 Relationship between V+ Program and Robot Control Parameters

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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3 Robot Control Parameters

3-2

3-2-1

Robot Common Parameters

The robot common parameters provide settings that are required for OMRON robots to the RC Func-

tion Module.

Even if more than one OMRON robot is connected to the Robot Integrated CPU Unit, there is only one

set of robot common parameters per Robot Integrated CPU Unit.

Robot Common Parameters

Use the Sysmac Studio to set the robot common parameters for each Robot Integrated CPU Unit.

Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU

Unit Operation Manual (Cat. No. W595) for details on how to set the robot common parameters.

Classification Parameter name Reference

I/O Control Setting 1 Signal Number 3-2-2 I/O Control Settings on page

Device

Port

I/O Control Setting 2 Signal Number

Device

Port

⁞ (Each element above can be repeated up to 999 times)

I/O Control Setting 999

Signal Number

Device

Port

3-4

3-2-2

I/O Control Settings

Make the I/O Control Settings to use I/O ports of the EtherCAT slave devices that are connected to

the Robot Integrated CPU Unit and NX Units on the EtherCAT Coupler Unit as I/O signals in the V+

program.

Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU

Unit Operation Manual (Cat. No. W595) for how to set the I/O control settings.

Parameter name Function Setting range

Signal Number Set the signal number that is used when a device

is accessed from the V+ program.

Device Select an EtherCAT slave device or an NX Unit on

the EtherCA signal number

Port Select the port to assign to the signal number. ---

The images of the setting tab pages are shown below.

The following figures are the setting tab pages for I/O Map (upper figure) and Robot Common Settings

(lower figure).

T Coupler Unit that is assigned to the

4001 to 4999

---

3-4

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 77

PLC Function

Module

EtherCAT input slave

Input port 1

Input port 2

Output Unit

Output port 1

Output port 2

Robot Control

Function Module

V+ program

Signal number 4001

Signal number 4999

Signal input

Signal output

⁞

3 Robot Control Parameters

3-2 Robot Common Parameters

3-2-2 I/O Control Settings

The following figure shows an overview of I/O control settings.

In an example below, the port 1 of input slave in the EtherCA

number 4001. The port 2 of the Digital Output Unit in NX Units on the EtherCAT Coupler Unit is as-

signed to the signal number 4999.

*1. Assign to an EtherCAT slave device or an NX Unit on the EtherCAT Coupler Unit. *2. Can be used from the V+ program in the same way as the robot built-in I/O.

Precautions for Correct Use

• Device variables cannot be assigned in the I/O Map for output ports to which the signal numbers are assigned in the I/O Control Settings. Therefore, the output ports to which the signal numbers are assigned cannot output signals from the sequence control program. The signal numbers can be assigned in the I/O Control Settings for the output ports that are assigned to the device variables in the I/O Map. In this case, the device variables in the I/O Map are cleared (not assigned). Therefore, the output ports that are assigned to the device variables cannot output signals from the V+ program.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

•

Device variables can be assigned for input ports to which the signal numbers are assigned in the I/O Control Settings. Therefore, the input ports to which the signal numbers are assigned can be accessed in the sequence control program.

T slave device is assigned to the signal

3-5

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3 Robot Control Parameters

Signal Number

Set the signal number when the digital I/O of the EtherCAT slave devices or the NX Units on the Ether-

CAT Coupler Unit is accessed from the V+ program.

In the V+ program, all I/O ports are assigned to signal numbers and any signal is input or output by

specifying its signal number

For the input ports or output ports of a device connected to the Robot Integrated CPU Unit, you can

assign signal numbers between 4001 and 4999 in the V+ program.

Device

Select the device to assign to the signal number.

The following table shows the EtherCAT slave device and NX Units that can be selected.

Device Type

EtherCAT slave Digital I/O

NX Units NX Unit with input refreshing with input changed times

Digital Input Unit NX Unit with output refreshing with specified time stamps Digital Output Unit Digital Mixed I/O Unit

Precautions for Correct Use

You cannot specify CJ-series Units that are connected to the Robot Integrated CPU Unit.

Port

Select the port corresponding to the signal number.

Select a port on the device that you selected in Device on page 3-6.

3-6

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3 Robot Control Parameters

3-3

3-3-1

3-3-2

Robot Setting Parameters

The robot setting parameters provide settings for OMRON robots controlled in the RC Function Mod-

ule.

There are robot setting parameters for each OMRON robot to control.

Robot Setting Parameters

Use the Sysmac Studio to set the robot setting parameters for each OMRON robot.

Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU

Unit Operation Manual (Cat. No. W595) for details on how to set the robot setting parameters.

Classification Parameter name Reference

Robot Basic Settings Robot Number 3-3-2 Robot Basic Settings on page 3-

Robot Device Assignment

Robot Basic Settings

Set the selection of the EtherCAT slave device for the OMRON robot.

3-3 Robot Setting Parameters

3-3-1 Robot Setting Parameters

Parameter name Function Setting range Default

Robot Number

Robot Device Assignment Select the EtherCAT slave device corresponding to the

*1. You cannot change the robot number. *2. The OMRON robot that is not assigned, among the OMRON robots that exist on the EtherCAT, can be set.

Set the number that is used when a OMRON robot is accessed from the V+ program.

OMRON robot.

1 to 8 1

---

Robot Number

The robot numbers are automatically set in the order that the OMRON robots are created, and you

cannot change the numbers.

Refer to Robot Variables on page 2-

and _RC_RBT[0] to _RC_RBT[7], the robot variable names in the system-defined variables.

Also, refer to Robot I/O Variables on page 2-10 for information on the relationship between the robot

numbers and _RC_RBT_IO[0] to _RC_RBT_IO[7], the robot I/O variable names in the system-defined

variables.

9 for information on the relationship between the robot numbers

Robot Device Assignment

Select the EtherCAT slave device corresponding to the OMRON robot.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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3 Robot Control Parameters

3-8

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 81

Program Design of Robot Control

This section describes the program design of the robot control.

4-1 Introduction

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 ....................................................4-11

4-3 V+ Program ................................................................................................... 4-14

4-3-1 Overview of V+ Programs ............................................................................. 4-14

4-3-2 Control of V+ Tasks ....................................................................................... 4-14

4-3-3 I/O Control Settings for V+ Program.............................................................. 4-14

4-4 Debugging Program..................................................................................... 4-16

4-4-1 Offline Debugging.......................................................................................... 4-16

4-4-2 Transferring Settings and Programs.............................................................. 4-17

4-4-3 Online Debugging.......................................................................................... 4-17

4-5 States and State Transition......................................................................... 4-19

4-5-1 States of the Robot Integrated CPU Unit ...................................................... 4-19

4-5-2 States of the OMRON Robots ....................................................................... 4-20

4-5-3 Changing the Operating Mode ...................................................................... 4-23

4-5-4 Operation of Events....................................................................................... 4-24

.................................................................................................... 4-2

NJ-series Robot Integrated CPU Unit User's Manual (O037)

4-1

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4 Program Design of Robot Control

4-1

Introduction

The Robot Integrated CPU Unit can perform robot control, in addition to sequence control and motion

control.

There are two methods of robot control as described below.

• Write robot control instructions in a sequence control program to perform robot control.

Outputs from robot control instructions and system-defined variables for robot control are refreshed

in the same control period as that of I/O control or motion control.

This method is suitable for controlling an OMRON robot with other devices.

• Write a V+ program and execute it to perform robot control.

The V+ language provides more functions related to the robot control than robot control instructions

of the sequence control program.

In addition, because V+ programs are executed line by line, it is easy to write a sequence of OM-

RON robot motions.

This method is suitable mainly for programming OMRON robot motions.

Moreover, you can start and stop program execution and share variables between a sequence control

program and a V+ program.

4-2

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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4 Program Design of Robot Control

4-2

4-2-1

Sequence Control Program

To control a robot from a sequence control program, use robot control instructions defined as function

blocks.

Robot control instructions are also used to start and stop execution of a V+ Task.

In addition, to read information from the OMRON robot and control the robot built-in I/O, use system-

defined variables for robot control defined as system-defined variables.

It is possible to share the interlock and variable values between the programs using the shared varia-

bles between a sequence control program and a V+ program.

Robot Control Instructions

The following table lists robot control instructions.

Type Function

Common commands Instructions to start/abort the V+ Task execution and read status information

Instructions to convert a coordinate system for use with NJ Robotics functions

Robot commands Instructions to directly control the OMRON robot

4-2 Sequence Control Program

4-2-1 Robot Control Instructions

4-2-2

Refer to Section 6 Robot Control Instructions on page

tions.

In addition, the following system control instructions are used to reset errors and read status informa-

tion from the RC Function Module.

Type Function

System control instructions Instructions to reset all current errors from the RC Function Module

Instructions to read the highest level current errors from the RC Function Module

Refer to Section 10 System Control Instructions on page 10-

structions.

6-1 for details on the robot control instruc-

1 for details on the system control in-

Timing Charts for Robot Control Instructions

This section describes the basic timing charts for the robot control instructions.

Refer to the individual instruction for details on the unique input variables and output variables for

each instruction.

Execute-type Instructions

The instruction starts when Execute changes to TRUE.

Busy (Executing) changes to TRUE when the instruction is acknowledged.

If the processing is completed normally, Busy

The processing completed normally means that the command from the instruction to RC Function

Module is completed.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

changes to FALSE and Done changes to TRUE.

4-3

Page 84

Execute

Done

Busy

CommandAborted

Error

ErrorID

16#00

Execute

Done

Busy

CommandAborted

Error

ErrorID

16#00

4 Program Design of Robot Control

If the same instances of instructions are executed consecutively, wait for more than one task period

after Done for previous execution changes to FALSE, and then Execute

TRUE.

If the processing is interrupted, Busy changes to FALSE.

For the instructions with CommandAborted output variable, CommandAborted changes to TRUE at

the same time.

When an error occurs, Error changes to TRUE and Busy changes to FALSE.

If either Done or CommandAborted changes to TRUE while Execute is TRUE, both Done and

CommandAborted change to FALSE when Execute changes to FALSE.

If Done and CommandAborted change to TRUE while Execute is FALSE, both Done and

CommandAborted change to TRUE for one task period.

When an error occurs, the error code for ErrorID (Error Code) is set.

The Error and ErrorID (Error Code) are retained after Execute changes to FALSE. When the error is

reset, Error changes to FALSE and 16#0000 is set in ErrorID (Error Code).

for next instruction changes to

When the Instruction Ended Normally



When the Instruction is Aborted



4-4

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 85

Busy

Done

CommandAborted

Error

16#0000

ErrorID

Execute

ErrorID

Busy

Valid

Enable

Error

ErrorID

16#0000

Eable

Busy

Valid

Error

ErrorID

16#0000 ErrorID

4 Program Design of Robot Control

When an Error Occurred



Enable-type Instructions

The instruction is executed while Enable is TRUE.

When the instruction is acknowledged, Busy (Executing) changes to TRUE, and then Valid

changes to TRUE while output value is calculated.

4-2 Sequence Control Program

(Enabled)

When an error occurs, Error changes to TRUE and Busy (Executing) and Valid change to FALSE.

Even if Enable changes from TRUE to FALSE, Error remains TRUE.

When an error occurs, the error code for ErrorID (Error Code) is set.

When Error changes from TRUE to FALSE, 16#0000 is set in ErrorID (Error Code).

When the Instruction Ended Normally



When an Error Occurred



4-2-2 Timing Charts for Robot Control Instructions

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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4 Program Design of Robot Control

4-2-3

4-2-4

System-defined Variables for Robot Control

The following table lists system-defined variables for robot control.

Each of these variables is updated at a frequency of the control period of primary periodic task for the

Robot Integrated CPU Unit

Variable Function

Robot control common variable

Robot variables Monitor the status of each OMRON robot.

Robot I/O variables Monitor the built-in I/O of each OMRON robot.

Refer to 2-4 System-defined Variables for Robot Control on page

Monitors the common status of the RC Function Module.

Monitor the actual position of the TCP and the actual position of the joint for each OMRON robot.

Output to the output port of the built-in I/O of each OMRON robot.

2-8 for details on each variable.

Execution Control for V+ Program

You can execute robot control instructions in a sequence control program to execute V+ tasks to which

V+ programs are assigned.

You can also assign V+ programs to V+ tasks to use V+ programs that are written with OMRON robot

motions as subroutines in a sequence control program.

ou can also use robot control instructions to obtain the status of a V+ task or abort execution of a V+

task.

V+ Task Control from Sequence Control Program

This section describes the V+ task control from the sequence control program in the Robot Integrated

CPU Unit.

You can control the following V+ tasks from a sequence control program. Refer to S

and Instructions on page 7-1 for details on each instruction.

Function Description Instruction Reference

Execute V+ Task Starts execution of the specified V+ task. RC_ExecVpPrgTask page 8-2

Abort V+ Task Aborts execution of the specified V+ task. RC_AbortVpPrgTask page 8-6

Get V+ Task Status Reads the specified V+ task status. RC_GetVpPrgTaskStatus page 8-8

ection 7 Variables

4-6

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 87

Sequence

control program

V+ task

RC_ExecVpPrgTask

1 PROGRAM 2 3 ENABLE POWER 4 SELECT ROBOT=1 5 ATTACH ROBOT 6 7 (Shared variable)=TRUE 8

Start V+ tasks

Check the execution

status of V+ tasks

Abort V+ tasks

Read and

write a shared

variable

(Shared variable)

Shared variable

RC_GetVpPrgTaskStatus

RC_AbortVpPrgTask

4 Program Design of Robot Control

4-2 Sequence Control Program

Starting V+ Tasks



The sequence control program executes the RC_ExecVpPrgTask (Execute V+ Task) instruction to

start execution of a V+ task.

Refer to RC_ExecVpPrgT

Aborting V+ Tasks



The sequence control program executes the RC_AbortVpPrgTask (Abort V+ Task) instruction to re-

quest to abort a V+ task.

Refer to RC_AbortVpPrgTask on page 8-6 for details on the instruction.

Checking Execution Status of V+ Tasks



The sequence control program executes the RC_GetVpPrgTaskStatus (Get V+ Task Status) in-

struction to check execution status of a V+ task.

4-2-5

Refer to RC_GetVpPrgTaskStatus on page 8-8 for details on the instruction.

Shared Variables with V+ Program

You can share variables that you defined in a sequence control program with a V+ program.

The shared variables can be read and written from both the sequence control program and the V+ pro-

gram.

This allows you to exchange information and synchronize the timing of processing between the se-

quence control program and V+ program in execution.

ask on page 8-2

4-2-5 Shared Variables with V+ Program

for details on the instruction.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

o share a variable, you need to define it as a global variable in the global variable table of the Sys-

mac Studio. Then, you can define the variable with the same name in the V+ program as the EXTER-

NAL variable to share it.

Since, as entity

an external variable.

, the variable is a global variable, the V+ program accesses and updates its value as

4-7

Page 88

Sequence control program

V+ program

Sharable

Not sharable

Global variables

Local variables

EXTERNAL variables

AUTO variables

LOCAL variables

GLOBAL variables

Sequence control program

Used as a flag

IF NOT gisupdated THEN gsharedvar[1]: = var1; gsharedvar[2]: = var2; gisupdated: = TRUE; END_IF;

V+ program

EXTERNAL gsharedvar[] EXTERNAL gisupdated LOCAL var1, var2

IF gisupdated THEN var1=gsharedvar[1] var2=gsharedvar[2] gisupdated=FALSE END

Global variables

Array[0..10] OF LREAL

BOOL

gsharedvar

gisupdated

4 Program Design of Robot Control

You cannot share variables that are not mentioned above. The mechanism of shared variables is giv-

en below.

*1. The system-defined variables cannot share among global variables. *2. Reading a value: Access to an external variable with the same name *3. Writing a value: Update of an external variable with the same name

Refer to the eV+3 User's Manual (Cat. No. I651) and the eV+3 Keyword Reference Manual (Cat. No.

I652) for information on the EXTERNAL variable.

Additional Information

A variable name in the V+ program can be used with lowercase letters only. A variable name in the sequence control program can be used with uppercase and lowercase letters. However, it is not case sensitive. Therefore, even if the global variable name that is defined in the sequence control program includes uppercase letters, the variable can be shared with the variable, whose name is used with lowercase letters, in the V+ program.

Concurrency of Shared Variables

The concurrency of variable values is not ensured if more than one shared variable is read or write

continuously in the V+ program.

To ensure concurrency

write data.

Example: When values of array variables are accessed by a V+ program with concurrency maintained

, create a separate flag as a shared variable to control the timing to read and

4-8

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4 Program Design of Robot Control

Data Type of Shared Variables

The shared variables have sharable or not sharable data type.

The following table gives whether a variable is sharable or not depending on the data type. Be sure to

check that the variable data is within the valid range. Exceeding the valid range results in an undefined

value.

(¡: Sharable, ---: Not sharable)

4-2 Sequence Control Program

Basic data types

Data type Data size

BOOL 16 bits

BYTE 8 bits ---

WORD 16 bits ---

DWORD 32 bits ---

LWORD 64 bits ---

SINT 8 bits ---

INT 16 bits

DINT 32 bits ---

LINT 64 bits ---

USINT 8 bits ---

UINT 16 bits

UDINT 32 bits ---

ULINT 64 bits ---

REAL 32 bits

LREAL 64 bits

TIME 64 bits ---

DATE 64 bits ---

TIME_OF_DAY 64 bits ---

DATE_AND_TIME64 bits

Sharable or

not

---

Remarks

Valid range of data: -32768 to 32767

Valid range of data: 0 to 65535

Valid range of data: -3.402823 × 10

to 3.402823 × 10 (7 significant digits)

Valid range of data:

-1.79769313486231 × 10

1.79769313486231 × 10 (15 significant digits)

308

4-2-5 Shared Variables with V+ Program

STRING Number of sin-

gle-byte characters × 8 bits

Other data types

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Structure ---

Union --- ---

Enumeration --- ---

Fixed length array

Number of elements × Data size of basic data type

---

A variable can be shared if all of the following conditions are met.

• Basic data type is sharable

• One-dimensional array only

• Array with 100 elements or less

4-9

Page 90

Sequence control program

Data type conversion instruction

gsharedvardint: =var1; gsharedvarlreal: = DINT_TO_LREAL(gsharedvardint);

V+ program

EXTERNAL gsharedvarlreal

IF gsharedvarlreal==0 THEN ...

Global variables

DINT

LREAL

gsharedvardint

gsharedvarlreal

4 Program Design of Robot Control

You can use the Data type conversion instructions in the sequence control program to share variables

of data types that cannot be shared.

To share a DINT variable, for example, use the DINT_T

so the variable can be shared. Note that the Data type conversion instructions have specific valid

ranges for both the data types before and after conversion. Check the specifications of the Data type

conversion instruction that you use before use.

Refer to Data Type Conversion Instructions in the NJ/NX-series Instructions Reference Manual (Cat.

No. W502) for details on the Data type conversion instruction.

For shared variables, a V+ Program Error (96040000 hex) will occur in the following cases.

• A variable that is not defined in the sequence control program is accessed from the V+ program.

• A variable defined with the data type that cannot be shared is accessed from the V+ program.

• An attempt was made to write the variable that is declared as Read Only in the sequence control

program from the V+ program.

• A subscript (index) for an array is within the range defined in the V+ program, but it is out of range

defined in the sequence control program.

• A subscript (index) that is out of range of which the array is declared in the sequence control pro-

gram is accessed from the V+ program.

For example, for the array that ARRAY[10..100] is declared in the sequence control program, ac-

cess to ARRAY[0] in the V+ program.

O_REAL instruction to convert it to REAL data,

If Data Type That Cannot be Shared was Defined as EXTERNAL Variable



If the global variable is declared with a data type that cannot be shared and you define it as an

EXTERNAL variable in the V+ program, a system event will occur during execution of the V+ pro-

gram. In this case, it does not affect other function modules and execution of the sequence control

program.

When you share variables of data types that cannot be shared, use the Data type conversion in-

structions in the sequence control program to convert to variables of data types that can be shared.

Example: When the value of a DINT variable is accessed by a V+ program

Deleting Shared Variables

When you delete a shared variable after you set the variable to be shared, delete both the global vari-

4-10

able and the EXTERNAL declaration.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 91

V+ program

EXTERNAL gprogramstate GLOBAL gprogramstate

gprogramstep=0

WHILE TRUE DO

IF (gprogramstep==1) THEN

MOVE p1 gprogramstep=2

END

A variable with the same name already exists.

4 Program Design of Robot Control

Precautions for Correct Use

• If you delete only the global variable, a system event will occur when the EXTERNAL variable is defined during execution of the V+ program.

• If you delete only the EXTERNAL declaration, the global variable can be used only in the sequence control program. In addition, the variable is used for an independent variable that is not related in the global variable within the V+ program. In other words, the variables with the same variable name are used as dif

ferent variables in-

dividually in the sequence control program and in the V+ program.

Restrictions on Variable Names of Shared Variables

The variable names of shared variables are subject to the following restrictions.

Item Restriction

Maximum length of variable name 15 characters

Applicable characters for variable names 0 to 9, a to z, ".", and ","

The first character must be a to z.

4-2 Sequence Control Program

Precautions for Correct Use

• If you define the EXTERNAL variable in the V+ program, do not define a variable with the same name as the AUTO, LOCAL, or GLOBAL variable in the same V+ program. When the same name as the EXTERNAL variable is defined, a system event occurs in the RC Function Module.

*1. A system event occurs.

•

If you define the EXTERNAL variable in the V+ program, define a variable with the same name in the global variable table of the sequence control program. When a variable with the same name does not exist in the global variable table of the sequence control program, a system event occurs in the RC Function Module. This does not af

fect other function modules and execution of the sequence control program.

4-2-6 Using Shared Variables with V+ Programs

4-2-6

NJ-series Robot Integrated CPU Unit User's Manual (O037)

This section describes how to use the shared variables that share variables between a sequence con-

trol program and a V+ program.

Using Shared Variables with V+ Programs

4-11

Page 92

Sequence control program

IF(E001_In_Bit00=TRUE) THEN

// Interlock gsensoron: =TRUE;

END_IF;

V+ program

EXTERNAL gsensoron

gsensoron=FALSE

WHILE TRUE DO

; Interlock

IF gsensoron THEN

MOVE p1 gsensoron=FALSE

END

Sequence control program

CASE (gprogramstep) OF

// Initialize

gprogramstep: =1;

// Wait Robot

// Finalize

gprogramstep: =3;

END_CASE;

V+ program

EXTERNAL gprogramstep

gprogramstep=0

WHILE TRUE DO

IF (gprogramstep==1) THEN

MOVE p1 gprogramstep=2

END

4 Program Design of Robot Control

Using Shared Variables

The methods to share variables between a sequence control program and a V+ program are descri-

bed below.

•

Synchronizing the control timing with interlock between programs

• Controlling the processing sequence by sharing values of variables between programs

Synchronizing the Control Timing with Interlock Between Programs



You can use the shared variables if a sensor input is detected with a sequence control program and

the V+ program operation is started.

An example of a program is provided below.

In this example, when data E001_In_Bit00, which has been input to bit 0 of the Digital Input Unit

(EtherCAT slave), turns ON in the sequence control program, the value of shared variable

gsensoron changes to TRUE. Then, the V+ program starts control operation.

Controlling the Processing Sequence by Sharing Values of Variables Be-



tween Programs

The values of variables can be shared between a sequence control program and a V+ program.

This allows you to control the sequence of processing in each process.

An example of a program is provided below.

4-12

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 93

4 Program Design of Robot Control

Shared Variable Setting Procedure

The variable to share is registered in the global variable table of the sequence control program. Then,

you can use variables by sharing them when you make the EXTERNAL declaration to a variable with

the same name in the V+ program.

4-2 Sequence Control Program

4-2-6 Using Shared Variables with V+ Programs

NJ-series Robot Integrated CPU Unit User's Manual (O037)

4-13

Page 94

4 Program Design of Robot Control

4-3

4-3-1

V+ Program

A control program that is written in the V+ language is called V+ program.

The Robot Integrated CPU Unit executes V+ programs to assign to V+ tasks.

It is also possible to control the OMRON robots only with V+ programs.

This section provides information related to the V+ program in the Robot Integrated CPU Unit.

Refer to the eV+3 User's Manual (Cat. No. I651) and the eV+3 Keyword Reference Manual (Cat. No.

I652) for details on the descriptions in V+ language.

Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU

Unit Operation Manual (Cat. No. W595) for how to assign V+ programs to V+ Tasks.

Overview of V+ Programs

The Robot Integrated CPU Unit can start or stop V+ tasks from a sequence control program, a V+ pro-

gram, or the Sysmac Studio.

The RC Function Module analyzes the V+ program assigned to V+ tasks line by line and sends in-

structions (V+ keywords) and command values to the OMRON robot connected to the EtherCAT net-

work.

After receipt of an instruction (V+ keyword) or a command value, the OMRON robot performs path cal-

culation and controls the robot arm. The present value and status of the OMRON robot are sent

through the EtherCAT network to the RC Function Module.

It is possible to share the interlock and variable values between the programs using the shared varia-

bles between a sequence control program and a V+ program.

4-3-2

4-3-3

V+ programs can automatically start when the power supply to the Robot Integrated CPU Unit is

turned ON.

You can control the OMRON robots only with V+ programs using the automatic start.

Refer to the eV+3 User's Manual (Cat. No. I651) and the eV+3 Keyword Reference Manual (Cat. No.

I652) for details on the automatic start function.

Control of V+ Tasks

Refer to the eV+3 User's Manual (Cat. No. I651) and the eV+3 Keyword Reference Manual (Cat. No.

I652) for how to control V+ Tasks with V+ programs.

I/O Control Settings for V+ Program

To perform digital I/O control for the EtherCAT slave devices or the NX Units on the EtherCAT Coupler

Unit in the V+ program, you need to make the settings in the Robot Common Parameter Settings Tab

Page on the Sysmac Studio.

Refer to 3-2-2 I/O Control Settings on page 3-4 for details on the I/O control settings.

4-14

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 95

4 Program Design of Robot Control

Precautions for Correct Use

If the digital I/O control is performed for the EtherCAT slave devices that are not OMRON robots or the NX Units on the EtherCAT Coupler Unit in the V+ program, confirm that the _EC_PDSlavTbl (Process Data Communicating Slave T to TRUE in the sequence control program. Confirm that the process data communications of the EtherCAT slaves is enabled before the digital I/O control is performed for the EtherCAT slave devices or the NX Units on the EtherCAT Coupler Unit in the V+ program.

able) system-defined variable changes

4-3 V+ Program

4-3-3 I/O Control Settings for V+ Program

NJ-series Robot Integrated CPU Unit User's Manual (O037)

4-15

Page 96

Online editing

Pull

V+ Edit

Push

V+ program

SD Memory Card

Robot setting files

Virtual NJ501-R£££

Sysmac Studio

Main memory

V+ program

Non-volatile memory

4 Program Design of Robot Control

4-4

4-4-1

Debugging Program

This section describes the offline debugging from the simulation operation and the online debugging

from the online connection.

The simulation operation for the Robot Integrated CPU Unit can be performed only in EMULATION

mode.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for information on the

offline debugging in the sequence control program.

Offline Debugging

This section describes the offline debugging from the simulation operation.

When the simulation operation starts, the V+ emulator is executed on the Sysmac Studio.

When the Sysmac Studio connects to the V+ emulator, the following operations are possible.

4-16

Function Description

Online editing Edits directly to the sequence control program in the built-in non-volatile memory.

V+ Edit Edits directly to the V+ program in the main memory.

Push to V+ memory Transfers the V+ program on the Sysmac Studio to the main memory.

Pull from V+ memory Transfers the V+ program in the main memory to the Sysmac Studio.

Check V+ memory Compares the V+ program in the main memory and the V+ program on the Sysmac Stu-

The simulation operation for the Robot Integrated CPU Unit can be performed only in EMULATION

mode.

If the EMULATION mode is started, click the Enable/Disable EMULA

on the main window.

dio.

TION mode icon in the toolbar

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 97

4-4-2

Download Upload

Non-volatile memory

V+ program

Main memory

Sysmac Studio

NJ501-R£££

Robot setting files

SD Memory Card

Upload

Download

V+ program

4 Program Design of Robot Control

Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU

Unit Operation Manual (Cat. No. W595) and the Sysmac Studio 3D Simulation Function Operation

Manual (Cat. No. W618) for details on the simulation.

Precautions for Correct Use

V+ Edit is disabled during execution of V+ program. Stop the V+ program before executing the V+ Edit.

Transferring Settings and Programs

This section explains the functionality to transfer the settings and programs between the Sysmac Stu-

dio and the built-in non-volatile memory in the

Robot Integrated CPU Unit

When the Sysmac Studio connects online to the Robot Integrated CPU Unit, the following operations

are possible.

or SD Memory Card.

4-4 Debugging Program

Function Description

Downloading data Transfers the settings and programs from the Sysmac Studio to the built-in non-volatile

Uploading data Transfers the settings and programs from the built-in non-volatile memory in the Robot Inte-

Verifying data Compares the settings and programs between the built-in non-volatile memory in the Robot

Refer to the NJ/NX-series CPU Unit Software User’

downloading and uploading data.

4-4-3

Online Debugging

4-4-2 Transferring Settings and Programs

memory in the Robot Integrated CPU Unit or SD Memory Card.

grated CPU Unit or SD Memory Card to the Sysmac Studio.

Integrated CPU Unit or SD Memory Card and the Sysmac Studio.

s Manual (Cat. No. W501) for information on the

This section describes the online debugging.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

4-17

Page 98

Online editing

Pull

V+ Edit

Push

V+ program

SD Memory Card

Robot setting files

NJ501-R£££

Main memory

Sysmac Studio

V+ program

Non-volatile memory

4 Program Design of Robot Control

When the Sysmac Studio connects online to the Robot Integrated CPU Unit, the following operations

are possible.

Function Description

Online editing Edits directly to the sequence control program in the built-in non-volatile memory.

V+ Edit

Push to V+ memory Transfers the V+ program on the Sysmac Studio to the main memory.

Pull from V+ memory Transfers the V+ program in the main memory to the Sysmac Studio.

Check V+ memory Compares the V+ program in the main memory and the V+ program on the Sysmac Stu-

*1. When you perform online debugging, set V+ Edit Mode to Start in the Sysmac Studio and the V+ Program

Editor Tab Page can be edited.

The online connection to the

Edits directly to the V+ program in the main memory.

dio.

Robot Integrated CPU Unit is not possible in EMULATION mode.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) and the

Sysmac Studio

Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual (Cat.

No. W595) for details on the online connection.

Precautions for Correct Use

• The settings are required to save the V+ program in the SD Memory Card. Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for details on the save settings.

•

V+ Edit is disabled during execution of V+ program. Stop the V+ program before executing the V+ Edit. Unintended operation may occur for the online editing in the robot control instruction. Confirm

• safety before use.

4-18

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Page 99

4 Program Design of Robot Control

4-5

4-5-1

States and State Transition

This section describes the states and state transition of the Robot Integrated CPU Unit and OMRON

robots.

States of the Robot Integrated CPU Unit

This section describes the operation for states of the Robot Integrated CPU Unit when the operating

mode of the OMRON robot is in Auto mode.

Refer to Operating Mode of the OMRON Robot on page 4-21 for information on operating mode of

the OMRON robot.

Refer to CPU Unit Status in the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for

information on each state of the CPU Unit.

Precautions for Correct Use

If the operating mode of the Robot Integrated CPU Unit is changed to PROGRAM mode, the operations and control for the OMRON robot that is controlled with V+ program and I/O continue. The devices that are controlled with the sequence control program and other robots stop. Always confirm safety before you change the operating mode to prevent interference between devices.

4-5 States and State Transition

4-5-1 States of the Robot Integrated CPU Unit

Operations in Sequence Control Program

The sequence control program is executed in RUN mode.

If there are no errors in the RC Function Module, the control for all of OMRON robots attached from

the sequence control program and inputs to and outputs from the robot built-in I/O are possible.

Even if an error occurred in the RC Function Module, the execution of the sequence control program

continues.

Differences in Event Levels



The operation differs depending on the event level that occurs in the RC Function Module as de-

scribed below.

• If a partial fault level error occurs in the RC Function Module, the control for all of OMRON robots

and inputs to and outputs from the robot built-in I/O are not possible.

• If a minor fault level error that "robot" is given for the source details occurs in the RC Function

Module, the control for the OMRON robot and outputs from the robot built-in I/O are not possible.

Only inputs to the robot built-in I/O are possible.

• If an observation or information occurs in the RC Function Module, the control for all of OMRON

robots attached from the sequence control program including the OMRON robot and inputs to

and outputs from the robot built-in I/O are possible.

The operation when the control for the OMRON robots and inputs to and outputs from the built-in

I/O are not possible depends on the specifications of OMRON robot. Refer to the OMRON robot

manuals for details.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

4-19

Page 100

4 Program Design of Robot Control

Refer to the NJ/NX-series CPU Unit Software User’

series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for information on the

EtherCAT slaves that are not OMRON robots.

s Manual (Cat. No. W501) and the NJ/NX-

Operations in V+ Program

The V+ programs are executed in both RUN mode and PROGRAM mode.

The OMRON robot continues to move when the operating mode changes from RUN mode to PRO-

GRAM mode.

If there are no errors in the RC Function Module, the control for the OMRON robots attached from the

V+ program and inputs to and outputs from the robot built-in I/O are possible.

Differences in Event Levels



The operation differs depending on the event level that occurs in the RC Function Module as de-

scribed below.

•

If a partial fault level error occurs in the RC Function Module, all of V+ programs stop.

The control for all of OMRON robots and inputs to and outputs from the robot built-in I/O are not

possible.

• If a minor fault level error occurs in the RC Function Module, the operation continues for the V+

programs.

Therefore, the control for the OMRON robot and inputs to and outputs from the robot built-in I/O

are possible.

• If an observation level error or an information level error that is not V+ Program Error (96040000

hex) occurs in the RC Function Module, the operation continues for the V+ programs.

Therefore, the control for the OMRON robot and inputs to and outputs from the robot built-in I/O

are possible.

• If the V+ Program Error (96040000 hex) in an information level occurs, the V+ program in which

the OMRON robot is attached stops.

Therefore, the control for the OMRON robot and inputs to and outputs from the robot built-in I/O

are not possible.

4-5-2

4-20

The operation when the control for the OMRON robots and inputs to and outputs from the built-in

I/O are not possible depends on the specifications of OMRON robot. Refer to the OMRON robot

manuals for details.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) and the NJ/NX-

series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for information on the

EtherCAT slaves that are not OMRON robots.

States of the OMRON Robots

This section describes the types of operating mode and operations for the OMRON robots, the control

status of power supply

, and the transition of operation states.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

OMRON NJ501-R500, NJ501-R400, NJ501-R300 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Intended Audience

Applicable Products

Relevant Manuals

Manual Structure

Page Structure

Special Information

Precaution on Terminology

Sections in this Manual

CONTENTS

Terms and Conditions Agreement

Warranty, Limitations of Liability

Application Considerations

Disclaimers

Safety Precautions

Definition of Precautionary Information

Symbols

WARNING

Cautions

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Versions

Checking Versions

Related Manuals

Terminology

Revision History

Features

System Configuration

Specifications

General Specifications

Performance Specifications

Function Specifications

V+ Program Specifications

Basic Procedure of Operation

Internal Configuration for the Robot Integrated CPU Unit

System-defined Variables for Robot Control

Overview of System-defined Variables for Robot Control

System of System-defined Variables for Robot Control

2-4-3 Attributes of System-defined Variables for Robot Control

Tasks

Tasks and Services for Robot Integrated CPU Unit

Basic Operation of Tasks

Relationship between V+ Task and I/O Refreshing

2-7 SD Memory Card Operations

Included SD Memory Card Functions

Exclusive Control of File Access in the SD Memory Card

Memory Management

Data and File Locations

Clear All Memory

Backup and Restore Operations

Backup and Restore Operations for Robot Integrated CPU Unit

2-9-2 Backup and Restore Operations for OMRON Robot

2-10 Security

2-10-1 Robot System Operation Authority

CPU Unit Write Protection

Data Flow for Robot Control Parameters

3-1-2 Relationship between V+ Program and Robot Control Parameters

Robot Common Parameters

Robot Common Parameters

I/O Control Setting 1 Signal Number 3-2-2 I/O Control Settings on page

Robot Basic Settings Robot Number 3-3-2 Robot Basic Settings on page 3-

3-3 Robot Setting Parameters

3-3-1 Robot Setting Parameters

Introduction

4-2 Sequence Control Program

4-2-1 Robot Control Instructions

Timing Charts for Robot Control Instructions

System-defined Variables for Robot Control

Execution Control for V+ Program

4-2-5 Shared Variables with V+ Program

4-2-6 Using Shared Variables with V+ Programs

V+ Program

Overview of V+ Programs

Control of V+ Tasks

I/O Control Settings for V+ Program