Sysmac Library for NJ/NX Machine Automation Controller

SYSMAC-XR009
Adept Robot Control Library

Control robots from the NJ/NX Machine Automation Controller.

Issue 1 There is no time to learn a new robot programming language.

Issue 2 Controller data and robot data are backed up and managed separately.

Adept Robot Control Library offers solution!

The Adept Robot Control Library allows parallel, SCARA, and articulated robots manufactured by Omron Adept
Technologies Inc. to be controlled directly from the NJ/NX Machine Automation Controller by using the same
instructions and programming method as the controller.
Function Blocks in this library enable robot control using Ladder and ST that are the programming languages used
for the NJ/NX CPU Unit, eliminating the need to learn a new robot programming language.
The NJ/NX CPU Unit integrates robot system control and data management.

"Simplicity" that only industrial automation manufacturer Omron can achieve

IoT You can easily connect robots, controller, and other devices and
control robots directly from the NJ/NX Machine Automation Controller.
Data collected from devices can be visualized.
Database

NJ/NX
Machine Automation Controller
 2

System configuration
NJ/NX
Machine Automation Controller

Directly control robots from the

NJ/NX CPU Unit by using 14 FBs

Parallel robot/Quattro SCARA robot Articulated robot

Example of combination of controller and robot

From To
Programming requires knowledge of controller and The same programming language is used for
robot. controller and robot control.
Robot control program
in robot language

MOVE P,P0STOPON DI(20)=1

WAIT DI(19)=0
MOVE P,P1
DELAY 1000
HALT
IF DI(20)=1 THEN *MAIN1
DeviceNet etc.
ELSE *MAIN2
*MAIN1:
ADG41
RUN
ERC
ERH
ADJ
B1 A1
NCF71
MLK RUN
ERC
ERH
ERM
CRM21

+100
MS
NS
SD
RD
ID231
0 1 2 3
4 5 6 7
8 9 10 11
12 13 14 15
OD231
0 1 2 3
4 5 6 7
8 9 10 11
12 13 14 15 DO(20)=1
・・・
UNIT SW 1 2 3 4 ON MACH 0 1 0 1
No. No.

x101
UNIT NETWORK PS 1 1 1 1
No.
x100
MODE

Ladder/ST program for

BS+
DC24V 4.1mA

DC24V 0.5mA

BD H

BD L
MLK

BS - 20 20 20 20

PLC control program controller and robot control

A B A B

NJ/NX
PLC
Machine Automation Controller

USB, Ethernet etc.

Programming software Automation Software

for PLC control Sysmac Studio

- Knowledge of both controller and robot - Programming only for NJ/NX CPU Unit
- I/O connection to network used for robot controller - Integrated programming and data management
- Separate programming and data backup for easy troubleshooting
Compatible Models
Name Model Version
Machine Automation Controller NX701-□□□□/NJ101-□□□□ Version 1.10 or later
NJ/NX CPU Unit NJ501-□□□□/NJ301-□□□□ Version 1.01 or later
Automation Software
SYSMAC-SE2□□□ Version 1.15 or higher
Sysmac Studio
Hornet 565 1720□-4560□ Version 2.3.C or higher
Parallel Robot
Quattro 650H/HS、 800H 1720□-26□□□ Version 2.3.C or higher
eCobra 600/800 17□□□-1□□00 Version 2.3.C or higher
SCARA Robot
Cobra 350 1720□-13000 Version 2.3.C or higher
Articulated Robot Viper 650/850 1720□-36□000 Version 2.3.C or higher

Function Block (FB) Specifications

Name FB name Description
Set Tool Trans ARB_SetToolTransform Sets a tool system transformation to the robot.
Reset Tool Transform ARB_ResetToolTransform Resets the robot tool which is set to the robot.
Define Location ARB_DefineLocation Defines a position in the robot.
Define Pallet ARB_DefinePallet Defines all pallet information in the robot.
Reset Error ARB_ResetRobotError Resets any existing error in the robot.
Robot Control ARB_RobotControl Controls the main robot settings and monitors the robot status.
Teach Position ARB_TeachPosition Teaches the current robot position and configuration.
Input Output Signals ARB_InputOutputSignals Communicates with the robot through its digital inputs and outputs.
Teach Pendant Control ARB_TeachPendantControl Sends and receives information from the manual control pendant attached to the robot.
Read Latch ARB_ReadLatch Outputs the current robot position when an external trigger is input.
Move ARB_MoveCommand Moves the robot to a target position using a linear interpolation or PTP operation.
Pick And Place ARB_PickAndPlaceCommand Moves the robot to a target position in a three-part motion.
Jog ARB_Jog Moves the specified joint or axis of the robot.
Align Tool Command* ARB_AlignToolCommand Rotates the tool to be aligned with the world coordinate system.
Move Arc Command* ARB_MoveArcCommand Moves the robot to the specified target position along arc trajectory.
Move Circular Command* ARB_MoveCircularCommand Moves the robot along a circular trajectory, passing specified two positions.
Define Belt* ARB_DefineBelt Defines a conveyor belt.
Belt Read Latch* ARB_BeltReadLatch Outputs the belt encoder value of the conveyor when an external trigger is input.
Track Belt* ARB_TrackBelt Enables tracking a workpiece.
* Supported only by the Adept Robot Control Library version 2.00 or higher.

Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products.
EtherNet/IP™ is a trademark of the ODVA.
Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.
The product photographs and figures that are used in this catalog may vary somewhat from the actual products.

Note: Do not use this document to operate the Unit.

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P106-E1-02 06/16 Note: Specifications are subject to change. © 2016 Omron. All Rights Reserved. Printed in U.S.A.

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