Cancel Based On Command Request Off Signal - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

(6) Cancel Based on Command Request OFF Signal

When sequencer's "Command request" is turned OFF while performing the sequencer direct, the robot'
operation can be terminated halfway (the robot slows down and stops in the same manner as stop input).
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
(1) When the sequencer wants to terminate the robot operation halfway while performing the sequencer
direct, the sequencer sends "Command request OFF".
(2) When the robot receives "Command request OFF", the robot stops, clears "Command data" to zero
and sends "Command running OFF".
(1) (2)
1, 100, 0
Override, acceleration, deceleration, speed, ...
Cancel
1, 100, 0
MOV operation
8Perform Sequencer Direct
How to Operate Sequencer Direct 2-86