Timing Chart - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

3.1.3 Timing Chart

Sequencer
Sequencer Robot Robot
Select function, bit 4
(Monitor current and
aimed positions)
Select function, bit 6
(Monitor maintenance
information)
Specify mecha
No
Performing function, bit 4
(Monitor current and
aimed positions)
Performing function, bit 6
(Monitor maintenance
information)
Mecha No
Data for monitoring
current and
aimed positions
Data for monitoring
maintenance
information
Fig.3-1:Timing chart for selecting monitoring items and target mecha
(1) When the sequencer sets the target bit of "Select function" to "ON", the robot sets the target bit of
"Performing function" to "ON" to start the monitoring output of target item. Here, when "Specify
mecha number" is other than 1 - 3, the robot waits to update the data.
(2) When the sequencer sets "Specify mecha number" to one, the robot starts to update mecha 1's data.
(3) When the target bit of "Select function" is set to "ON" while the sequencer sets "Specify mecha num-
ber", the robot starts to update the data of target item while at the same time the robot sets the target
bit of "Performing function" to "ON".
(4) When the sequencer changes "Specify mecha number", the robot outputs the data of specified
mecha.
(5) When the sequencer sets "Mecha number" to other than 1 - 3, the robot clears the output data.
(6) When the sequencer re-sets "Mecha number", the robot outputs the data of target mecha.
(7) When the sequencer sets the target bit of "Select function" to "OFF", the robot sets the target bit of
"Performing function" to "OFF" to initialize the output data.
CAUTION
(1) (2) (3)
1
1
Mecha 1's
value
Mecha 1's
value
The data is updated periodically while outputting
setting values (monitoring output)
The synchronization of data in shared memory is guaranteed on a per 32bit (2
word) basis. But, the synchronization in the unit more than this bit cannot be guaran-
teed. Therefore, be aware that the position type and joint type data is guaranteed for
each axis, the data is not guaranteed as a whole.
(4) (5)
2 0
2
Mecha 2's
value
Mecha 2's
value
3Monitor Robot Information
(6) (7)
1
0 1
Mecha 1's
value
Mecha 1's
value
Operation Flow 3-20