Precautions For Sequencer Direct Performance; Requirements; Running Together With Program; Prohibit Program Startup With Always Running Program - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8.5 Precautions for Sequencer Direct Performance

8.5.1 Requirements

Sequencer direct performance can be carried out when all conditions below are met:
(1) Valid operation authority (robot output IOENA is ON)
(2) No H or L level error (robot signals HLVLERR, LLVLERR are OFF)
(3) Program is available (robot output SLOTINIT is ON)
(4) Robot servo is ON (robot output SRVON is ON)
(5) No stop input (robot output STOPSTS is OFF)
(6) Not returning to retracting point (robot output SAFEPOS is OFF)
(7) Remote JOG is not working (robot output JOGENA is OFF)
(8) Robot's origin has been set up
(9) Parameter ALWENA is set to zero (refer to
Running
(10) Robot language is set to "MELFA-BASIC V" (parameter RLNG=2) (Refer to
Language

8.5.2 Running together with Program

Even when sequencer direct performance function is valid, the program startup through external signal is
possible. However, they cannot run simultaneously. The
program simultaneously.
Table 8-3:Possibility to run each program as well as sequencer direct performance
Item
Start up a program with startup condition
START simultaneously
Start up a program with startup condition
ALWAYS simultaneously
Start up a program with startup condition
ERROR simultaneously
The robot program and the position edit/variable monitor can the handle position data for sequencer direct
performance.
The table below lists the handling of each position:
Variable Name Used
Positon No
1 - 999 P_DM(1) - P_DM(999)
5000 P_D5000
5100 - 5102 P_D5100 - P_D5102
Note1) Mov P_DM(1), etc.
Note2) Def Pos P_DM, etc.

8.5.3 Prohibit Program Startup with always Running Program

When the sequencer direct performance function is valid, ALWENA=0 is assumed regardless of the param-
eter ALWENA setting (X**, SERVO, RESET ERR commands in the always running program are prohibited).
When the controller starts up with parameter ALWENA=1 while the sequencer direct performance function is
valid, an error "L3995 Unavailable together with the function (sequencer direct, ALWENA)" occurs.

8.5.4 Robot Language Setting

The sequencer direct performance is enabled only when MELFA-BASIC V is selected for robot language
(factory default: parameter RLNG=2). When MELFA-BASIC IV is selected (parameter RLNG=1), an error
"L3996 Sequencer direct function unavailable" occurs on controller startup. This error cannot be reset.
2-113 Precautions for Sequencer Direct Performance
Program")
Setting")
Decision
in Program
External program variable
System state variable
Page 113, "8.5.3 Prohibit Program Startup with always
Table 8-3
• START program is unavailable during performing sequencer direct
×
• Sequencer direct is unavailable during running START program
• Sequencer direct is available during running ALWAYS program
○
• ERROR program is available during performing sequencer direct
△
• Sequencer direct is unavailable during running ERROR program
Reference
as a
Function
Command
Note1)
○
○
Page 113, "8.5.4 Robot
lists whether it is possible to run each
Description
Definition
as a
Display
Command
Variable
Note2)
× ○
× ○
Teach/
Delete
Edit
Variable
Variable
○ ×
× ×