Mitsubishi Electric MELFA BFP-A8787-F - Page 106

2-95How to Operate Sequencer Direct
8Perform Sequencer Direct
c) Robot hand control 1 when T/B gets invalid
(1) 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.
(2) When T/B gets valid, the robot sends "Hand control permission output OFF" to prohibit the hand con-
trol through external signal.
(3) When T/B opens/closes a hand while T/B is valid, the hand output signal changes and the hand oper-
ates.
(4) When T/B gets invalid, the robot sends "Hand control permission output ON" again to enable the
hand control through external signal.
In this case, because the edge of "Hand output control signal" is not detected even when "Hand out-
put control signal" is different from "Hand output", "Hand output" does not change.
(5) To operate a hand, change "Hand output control signal". (Refer to the caution below.)
When T/B gets enabled halfway and T/B operates a hand, "Hand output control sig-
nal" from the sequencer may be different from actual "Hand output". In this case,
when "Hand output control signal" from the sequencer is not accorded with actual
"Hand output", as described in the timing chart above, single hand operation may
not complete the hand operation.
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 output
(901: Hand 1 close)
(10049: HNDCNTL1)
(1)
T/B valid/invalid
Invalid
Valid
External (GOT,
etc.) close
External (GOT,
etc.) close
T/B open
operation
External (GOT, etc.)
open and close
Invalid
T/B valid T/B invalid
When an external signal tries to
open/close a hand after the robot side
controlled the hand, single signal may
not open/close the hand.
(In this case, to close the hand, open the
hand once.)
×
Even when T/B is invalid and hand
control gets permitted, because
signal's edge is not detected, the
hand output is not changed.
×
×
×
(2)
(3)
(4)
(5)
Hand state
Close
Close
Open
CAUTION