Mitsubishi Electric MELFA BFP-A8787-F - Page 103

8Perform Sequencer Direct
How to Operate Sequencer Direct 2-92
b) T/B is invalid:
Allows you to select either external signals or controller (robot program or forced output) for the robot
hand control according to the hand control permission (HANDENA) signal.
10087
10080
General-
purpose
input
907
900
Hand output
Robot
Hand control
permission
ON
1
10072
Hand output
control signal
HOpen 2
HOpen 1
Wait M_IN(900)=1
HClose 1


Hand control through
program
Sequencer
(external
input)
Change hand output
signal by detecting the
edge (ON to OFF or OFF
to ON) of general-purpose
input signal
10079
10087 10080
General-
purpose
input
907 900
Hand output
Robot
Hand control
permission
OFF
0
10072
Hand output
control signal
HOpen 2
HOpen 1
Wait M_IN(900)=1
HClose 1


Hand control through
program
S
equencer
(external
input)
10079
b-1) HANDENA signal is ON:
External signal controls the robot hand.
→ Changes the hand output signal by detecting
the edge (ON to OFF or OFF to ON) of gen-
eral-purpose input signal which is allocated to
the hand output control signal.
b-2) HANDENA signal is OFF:
Controller (robot program or forced output) con-
trols the robot hand.
→ The hand signal control through program
command changes hand output signals.