2-101Samples
8Perform Sequencer Direct
8.4.2 Sample Ladder Program
(1) Condition
[CPU configuration]
Sequencer plus one robot
[Sequencer multiple CPUs setting]
The figure below shows the multiple CPU parameter setting of the sequencer:
[Robot parameter setting]
● Selecting shared memory extended function
• IQMEM: Set both bits 0, 1 to one to enable the sequencer direct performance function
● Robot output signal control
• HANDENA (hand control permitted): 10079, 10079
• HANDOUT (hand output control signal): 10080, 10087
[Robot hand]
Table 8-2:Hand output
Hand No 1 2 3 4
Open/Close Open Close Open Close Open Close Open Close
Robot hand output sig 900 901 902 903 904 905 906 907
Hand output control signal 10080 10081 10082 10083 10084 10085 10086 10087
Allocates 1K to the sequencer (#1) and
robot (#2) respectively
Use the robot input signals (10080 - 10087) to control the robot hand output signal (900 - 907)
Refer to Table 8-2.
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