Mitsubishi Electric MELFA BFP-A8787-F - Page 108

2-97How to Operate Sequencer Direct
8Perform Sequencer Direct
e) Switch between hand control with external signal and hand control with robot program
(1) To control the robot hand with external signals, send "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, a robot hand can be operated with "Hand output con-
trol signal".
(3) When "Hand control permission output" is ON, the hand will not operate even if a robot program
issues a hand control command.
(4) To control a hand from the robot, send "Hand control permission input OFF".
When the robot confirmed that "Hand control permission output" is OFF, the robot sends "Hand con-
trol permission output OFF".
(5) When "Hand control permission output" is OFF, the robot program's hand control command can oper-
ate the hand. (T/B operation and forced output from RT ToolBox also can operate the hand).
When "Hand control permission output" is OFF, external controller (sequencer, etc.) reads "Hand
output" signals and always output them as "Hand output control signals" to accord the hand state
with "Hand output control signal". Then, when "Hand control permission output" is turned ON again,
the hand can be controlled without any restriction.
(6) To control the robot hand with external signals again, send "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).
External
Robot
Run robot program
HOpen1
command
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)
HOpen1
command
×
(1)
(3)
(2)
(4)
(5)
(6)
T/B valid/invalid
Invalid
×
External (GOT, etc.)
open operation
External (GOT, etc.)
close operation
HClose1
command
Because the external hand
control permission is turned
ON, hand commands from
a program are ignored.
Hand state
Close Open
Close
Open