Mitsubishi Electric MELFA BFP-A8787-F - Samples; Robot Program

8Perform Sequencer Direct
Samples 2-100
8.4 Samples
Here, as samples for sequencer direct performance, describes the examples that the robot takes out works.
The examples are a robot program which takes out works, a ladder which uses sequencer direct perfor-
mance command plus hand control function, and an operation setting in the GOT screen.
8.4.1 Robot Program
Fig.8-1:Robot operation
'// Initial setting
HOPEN 1 ' Opens hand (1)
This program is assumed to be a
vertical type robot. When a robot is
horizontal type, because tool's Z
axis is opposite to vertical type,
change the code as follows:
Mov P_Dm(1), -200
to Mov P_Dm(1), +200
'
'// Takes out a work
Mov P_DM(1),-200 ' Moves over the takeout position (2)
Ovrd 70 ' Override 70% (3)
Accel 50,50 ' Accelerate and decelerate 50% (4)
Mvs P_DM(1) ' Moves to the takeout position (5)
Dly 0.2 ' Waits for 0.2sec (arrival check) (6)
HClose 1 ' Closes hand (7)
Wait M_IN(901)=1 ' Checks hand close (8)
Dly 0.1 ' Waits for 0.1sec (9)
Ovrd 100 ' Override 100%s (10)
Accel 100,100 ' Accelerate and decelerate 100% (11)
Mvs P_DM(1),-200 ' Moves over the takeout position (12)
'
End
200mm
(2)Mov P_DM(1),-200
(Moves over the takeout
position)
(3) Ovrd 70 (Reduce speed to 70%)
(4) Accel 50.50 (Reduce acceleration and
deceleration rate to 50%)
(5) Mvs P_DM(1) (Moves to the takeout
position)
(6) Dly 0.2 (Waits for 0.2sec, arrival check)
(10) Ovrd 100 (Put back speed to 100%)
(11) Accel 100,100 (Put back acceleration and
deceleration rate to 100%)
(12) Mvs P_DM(1),-200 (Moves over the takeout
position)
(7) HClose 1 (Closes hand)
(8) Wait M_In(901)=1 (Wait for close signal)
(9) Dly 0.1 (Waits for 0.1)
(1) HOpen 1 (Opens hand)