Timing Chart For Performing Operation Command; Perform Operation (Normal Operation) - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8.3.2 Timing Chart for Performing Operation Command

(1) Perform Operation (Normal Operation)

The sequencer operates the robot by setting the data for command number and command data 1, 2.
When the command condition data is set to zero, the robot runs based on the default setting.
The robot runs based on the instructed setting by setting value for condition data.
Sequencer Robot
Command data
- Command No
- Command data 1
- Command data 2
Command
condition data
Command request
Command
running
Command
completed
Completion status
Command data
- Command No
- Command data 1
- Command data 2
Robot operation
(1) The sequencer sets up "Command data" and "Condition data" and sends "Command request ON".
(2) When "Command request ON" is received, the robot imports "Command data" and "Condition data".
When the imported data is formal and sequencer direct is practicable, the robot sets up "Command
data" (returned data), sends "Command running ON", and carries out the instructed robot operation.
(3) When the robot successfully completed the operation, the robot sends "Command running OFF", sets
"Completion status" to one, and sends "Command completed ON".
(4) When the sequencer received "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(5) When the robot received "Command request OFF", the robot clears "Completion status" and "Com-
mand data" to zero and sends "Command completed OFF".
Robot's arrival point when operation command is completed
"Command completed" signal for performing an operation command is turned ON when the robot
arrived at the aimed position (encoder feedback position is not checked).
Therefore, when performing operations continuously, the robot may perform next operation before
arriving at the aimed position. In order to avoid this situation, make sure that the sequencer takes a
delay time before carrying out next operation after sequencer direct was completed.
2-81 How to Operate Sequencer Direct
(1) (2)
1, 100, 0
Override, acceleration, deceleration, speed, ...
1, 100, 0
MOV operation
(3) (4) (5)
1