8Perform Sequencer Direct
How to Operate Sequencer Direct 2-84
(4) Support on Occurrence of Error
When H or L level error occurs while performing the sequencer direct, the operation is suspended.
To resume after suspension, reset the error, re-set up "Command", "Command data", and "Condition data",
and send "Command request" signal again (I/F for suspension and resume is the same as Page 83, "(3)
Suspend/Resume Operation").
<Handling on error occurrence>
(1) When H or L level error occurs in the robot while performing the sequencer direct, the operation is
suspended. The robot sends "Command running OFF", sets "Completion status" to 30 (suspended),
and sends "Command completed ON".
(2) When the sequencer receives "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(3) When the robot receives "Command request OFF", the robot clears "Completion status" and "Com-
mand data" to zero and sends "Command completed OFF".
<Error reset handling>
(4) Error reset operation clears the robot error.
<Resume handling>
(5) When a resume operation is carried out in the sequencer, the sequencer sets up "Command data"
and "Condition data" and sends "Command request ON".
(6) When "Command request ON" from OFF is received, the robot imports "Command data" and "Condi-
tion data", sets up "Command data" (returned data), sends "Command running ON", and carries out
the instructed robot operation.
(1) (2) (3) (4) (5) (6)
Sequencer
Robot o
eration
Command
condition data
Override, acceleration, deceleration,
Command data
- Command No
- Command data 1
- Command data 2
Command request
1, 100, 0
Command data
- Command No
- Command data 1
1, 100, 0
MOV operation
MOV operation
Command running
Command
completed
Completion status
30
Restart
Override, acceleration, deceleration,
1, 100, 0
1, 100, 0
H/L level error
occurred
Error reset
H/L level error
occurred
(HLVLERR/LLVLERR)
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