8Perform Sequencer Direct
Samples 2-104
(2) Details
[Sequencer device mapping]
[Description]
(1) When M1 (transfer instruction) is turned ON, carries out an operation to take out a work. When the
operation is completed, Work transfer completed (M209) is turned ON.
(2) The robot operates only when the System running (M5) is ON.
When the sequencer direct performance is suspended (M253 is turned ON) and becomes error
(M254 is turned ON), carry out a system control (create it separately) to stop the system and turn
OFF System running (M5). When System running (M5) is turned ON due to the resume, the robot
operation resumes.
(3) The robot hand control in the sequencer is carried out only in AUTOMATIC mode.
(4) When Error reset instruction (M7) is turned ON, the robot error is reset.
Device Name Description
M1 Robot transfer instruction Turn it ON when carrying out an operation to take out works in the
system.
M5 System running Turn it ON when system is running.
Turn it OFF when a suspension or error occurred.
M7 Error reset instruction When instructing an error reset in the system, turn it ON.
M200 - M209 Work takeout operation Sets up the flow of work takeout operation.
M240 Sequencer direct practicable condition Turn it ON, when the sequencer direct is practicable.
M250 Sequencer direct performance trigger When requesting for sequencer direct performance, turn it ON.
M251 Sequencer direct performed When the sequencer direct performance is completed, turn it ON.
M252 Sequencer direct performed successfully When the sequencer direct performance is successfully completed,
turn it ON.
M253 Sequencer direct performance sus-
pended
When the sequencer direct performance is suspended (paused), turn
it ON.
→It is necessary to issue this signal to suspend the system.
M254 Sequencer direct performance error exit When the sequencer direct performance is unavailable, turn it ON.
→It is necessary to issue this signal to admit the system error.
D20 Sequencer direct performance comple-
tion status
Stores the completion status of sequencer direct performance.
D104-D106 Command data value Sets up the command data for sequencer direct performance.
D110-D118 Command condition data value Sets up the command condition data for sequencer direct perfor-
mance.
T10 Work takeout position arrival check A timer to set up the delay time for arrival check after moving to the
work takeout position.
T20 Hand close delay timer A timer to set up the delay time after hand close.
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