Sample Ladder For Performing Operation Command - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8.3.3 Sample Ladder for Performing Operation Command

Here, describes a ladder program example which runs an operation command of sequencer direct perfor-
mance function.
[Target function]
Runs an operation command of sequencer direct performance function (moves to position 1 with joint
interpolation (command number: 1))
[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)
[Description]
Turn ON the sequencer direct performance trigger (M150) to run an operation command.
Operation result (completion status) is stored in D20.
When the operation is completed, M151 is turned ON. In this case, successful completion turns M152
ON, halfway suspension turns M153 ON, and abnormal completion turns M154 ON.
When M151 is turned ON, turn OFF the sequencer direct performance trigger (M150).
[Device details]
M150: Sequencer direct performance trigger
M151: Sequencer direct performed
M152: Sequencer direct performed successfully
M153: Sequencer direct performed suspendedly
M154: Sequencer direct performed abnormally
D20: Received data from the robot (completion status)
Precautions
To run an operation command, put the sequencer and robot in the state below in advance.
(For more information, refer to
• The sequencer has gotten the robot's external operation authority.
• The robot is not in H or L level error state.
• The robot can select a program.
• The robot's servo is turned ON.
2-87 How to Operate Sequencer Direct
Page 71, "8.2.3 Prepare to Perform Sequencer Direct")