Sample Operation Setting In Got Screen - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8.4.3 Sample Operation Setting in GOT Screen

Realizes a robot operation without user program by entering the robot operation into GOT.
Sequencer handling is provided by function block or ladder program. Also GOT screen is provided. (Refer to
MELFANS Web.)
System control ladder
Peripheral
control 1
Operation A
Peripheral
control 2
Operation B
Peripheral
control 3
Operation C
Peripheral
control 4
(1) Input robot control commands sequentially in GOT.
The input data is stored in the sequencer device table.
(2) When a robot operation is generated in the system control, the sequencer calls up the device table
control by designating the table number.
(3) As for the device table control, the sequencer reads the setting values for target device table and car-
ries out the control steps (4) - (6) in order according to the setting values.
(4) As for robot movement, the sequencer sends the instruction of sequencer direct performance to the
robot based on the values in device table.
(5) As for hand control, the sequencer sends the dedicated signals for hand control.
(6) As for inner sequencer processing, the sequencer carries out the sequencer's target operation.
(7) The robot carries out operations instructed by sequencer direct performance and hand control.
<S/W for robot operation>
Item
Program created by the customer Sequencer
Function block and screen pro-
vided by us
2-109 Samples
<Sequencer>
ﾃﾞﾊﾞｲｽ Device
(2)
ﾃｰﾌﾞﾙ table
Instruct to
ﾃｰﾌﾞﾙ1
select table
選択指示
Target table data
対象ﾃｰﾌﾞﾙﾃﾞｰﾀ
1
(3)
Instruct to
ﾃｰﾌﾞﾙ2
Device table
select table
選択指示
2
Control ladder
(FB)
Instruct to
ﾃｰﾌﾞﾙ3
select table
選択指示
3
(6)
Ladder waiting f or time
(FB)
Ladder waiting f or
signal (FB)
Signal output
ladder (FB)
Inner sequencer processing
Target
Robot
Sequencer
GOT
(1)
GOT setting
(FB)
GOT command edit screen
(4)
Perform
ｼｰｹﾝｻﾀﾞｲﾚ
Sequencer
sequencer
ｸﾄ実行
Direct performance
direct
I/F ladder
(FB)
Hand control
ﾊﾝﾄﾞ制御
dedicated
Hand control 専用信号
signal
(5) I/F ladder (FB)
Program to be prepared
None
None
● GOT setting
● Device table control
● I
nner sequencer processing (waiting for time and signal, signal output, etc.)
●
I/F handling of sequencer direct performance
● Hand control I/F handling
● Command edit screen
<Robot>
Sequencer direct
perf ormance
(7)
Dedicated I/O
Action