Mitsubishi Electric MELFA BFP-A8787-F - Page 11

Contents
ii
Page
6.3.1 Data List ............................................................................................................................ 6-51
6.3.2 Timing Chart ..................................................................................................................... 6-53
6.3.3 Sample Ladder ................................................................................................................. 6-54
7 Read Robot Information ................................................................................................................ 7-56
7.1 Function Description ............................................................................................................... 7-56
7.2 Operation flow ......................................................................................................................... 7-56
7.3 How to Operate Robot Information ......................................................................................... 7-57
7.3.1 Data List ............................................................................................................................ 7-57
7.3.2 Timing Chart ..................................................................................................................... 7-60
7.3.3 Sample Ladder ................................................................................................................. 7-61
8 Perform Sequencer Direct ............................................................................................................ 8-63
8.1 Sequencer Direct Performance Function ................................................................................ 8-63
8.2 Operation flow ......................................................................................................................... 8-64
8.2.1 Parameter Setting ............................................................................................................. 8-65
8.2.2 Teaching ........................................................................................................................... 8-66
(1) Position Data .................................................................................................................. 8-66
(2) Position Teaching in Position Box (R32TB) ................................................................... 8-67
8.2.3 Prepare to Perform Sequencer Direct .............................................................................. 8-71
8.3 How to Operate Sequencer Direct .......................................................................................... 8-72
8.3.1 Operation Command ........................................................................................................ 8-72
(1) Sequencer output ................................................................................................................................................... 8-72
(2) Robot output .............................................................................................................................................................. 8-74
(3) Data description ............................................................................................................. 8-74
8.3.2 Timing Chart for Performing Operation Command ........................................................... 8-81
(1) Perform Operation (Normal Operation) .......................................................................... 8-81
(2) Operation Command Is Impracticable: ........................................................................... 8-82
(3) Suspend/Resume Operation .......................................................................................... 8-83
(4) Support on Occurrence of Error ..................................................................................... 8-84
(5) Suspension when Robot's External Operation Authority Gets Invalid ............................ 8-85
(6) Cancel Based on Command Request OFF Signal ......................................................... 8-86
8.3.3 Sample Ladder for Performing Operation Command ....................................................... 8-87
8.3.4 Control Robot Hand .......................................................................................................... 8-89
(2) Mapping hand signal with parameter HANDTYPE ......................................................... 8-90
(3) Hand control image ........................................................................................................ 8-91
8.3.5 Timing Chart for Robot Hand Control ............................................................................... 8-93
8.3.6 Sample Ladder for Robot Hand Control ........................................................................... 8-98
8.4 Samples ................................................................................................................................ 8-100
8.4.1 Robot Program ............................................................................................................... 8-100
8.4.2 Sample Ladder Program ................................................................................................. 8-101
8.4.3 Sample Operation Setting in GOT Screen ...................................................................... 8-109
8.5 Precautions for Sequencer Direct Performance ................................................................... 8-113
8.5.1 Requirements ................................................................................................................. 8-113
8.5.2 Running together with Program ...................................................................................... 8-113
8.5.3 Prohibit Program Startup with always Running Program ................................................ 8-113
8.5.4 Robot Language Setting ................................................................................................. 8-113
8.5.5 Operation Panel Display ................................................................................................. 8-114
9 Shared Memory Extended Function Relevant Parameter .......................................................... 9-115
9.1 Parameter of Selecting Shared Memory Extended Function ................................................ 9-115
9.2 Function Definition Parameter .............................................................................................. 9-117
10 Extended Function Relevant Error List ................................................................................... 10-118