Mitsubishi Electric MELFA BFP-A8787-F - Page 105

8Perform Sequencer Direct
How to Operate Sequencer Direct 2-94
b) Robot hand control through external signal
(1) An external controller (sequencer, etc.) sends "Hand control permission input ON".
When T/B is invalid, the robot sends "Hand control permission output ON" to enable the hand con-
trol through external signal (hand output control signal).
(2) When "Hand control permission output" is ON, the robot hand output signal changes according to the
edge (ON to OFF or OFF to ON) of signals which are allocated to the hand output control signal.
External
Robot
Hand cont
permission input
sig (10079)
Hand output control
signal
(10080: Hand 1 open)
Hand output control
signal
(10081: Hand 1 close)
Hand cont
permission output
sig (10079)
Hand output
(900: Hand 1 open)
(10048: HNDCNTL1)
Hand outpu
t
(901: Hand 1 close)
(10049: HNDCNTL1)
(1)
T/B valid/invalid
Invalid
External (GOT, etc.)
close operation
External (GOT, etc.)
open operation
(2)