Sample Ladder For Robot Hand Control - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8.3.6 Sample Ladder for Robot Hand Control

Here, describes a ladder program example which controls a robot hand with robot dedicated signals in the
sequencer.
[Target function]
Controls a robot hand (opens/closes hand 1)
[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)
[Robot parameter setting]
• HANDENA (hand control permitted) = 10079,10079
• HANDOUT (hand output control signal) = 10080,10087
• HNDCNTL1 (hand output signal status) = 10048, 10055 (factory defaults)
• HANDTYPE (hand type) = D900, D902, D904, D906, , , , (factory defaults)
[Description]
When the robot is in AUTOMATIC mode, the sequencer controls a robot hand.
When M160 is turned ON (M161 is turned OFF), hand 1 opens. When M161 is turned ON (M160 is
turned OFF), hand 1 closes.
When the robot is in MANUAL mode ("Hand control permission output" is OFF), the sequencer reads
"Hand output signal status" and always outputs it as "Hand output control signal", thereby according the
hand state with "Hand output control signal" output from the sequencer.
Robot's dedicated output and input signals are batch transferred to B0/ B100 and after respectively.
[Device details]
M160: Hand 1 open trigger
M161: Hand 1 close trigger
B14F: Hand control permission input signal
B150: Hand output control signal (open hand 1)
B151: Hand output control signal (close hand 1)
M4F: Hand control permission output signal
B30: Hand output signal status (open hand 1)
B31: Hand output signal status (close hand 1)
8Perform Sequencer Direct
How to Operate Sequencer Direct 2-98