Mitsubishi Electric MELFA BFP-A8787-F - Sample Operation Setting in GOT Screen

2-109Samples
8Perform Sequencer Direct
8.4.3 Sample Operation Setting in GOT Screen
Realizes a robot operation without user program by entering the robot operation into GOT.
Sequencer handling is provided by function block or ladder program. Also GOT screen is provided. (Refer to
MELFANS Web.)
(1) Input robot control commands sequentially in GOT.
The input data is stored in the sequencer device table.
(2) When a robot operation is generated in the system control, the sequencer calls up the device table
control by designating the table number.
(3) As for the device table control, the sequencer reads the setting values for target device table and car-
ries out the control steps (4) - (6) in order according to the setting values.
(4) As for robot movement, the sequencer sends the instruction of sequencer direct performance to the
robot based on the values in device table.
(5) As for hand control, the sequencer sends the dedicated signals for hand control.
(6) As for inner sequencer processing, the sequencer carries out the sequencer's target operation.
(7) The robot carries out operations instructed by sequencer direct performance and hand control.
<S/W for robot operation>
Item Target Program to be prepared
Program created by the customer Sequencer None
Robot None
Function block and screen pro-
vided by us
Sequencer ● GOT setting
● Device table control
● Inner sequencer processing (waiting for time and signal, signal output, etc.)
● I/F handling of sequencer direct performance
● Hand control I/F handling
GOT ● Command edit screen
<Sequencer> <Robot>
System control ladder
(1)
GOT setting
(2)
(FB)
Operation A
GOT command edit screen
(3)
Device table
Control ladder
(4)
Operation B
(FB)
Seq uencer
Dir ect performance
Sequencer direct
I/F ladder
perf ormance
(FB)
(7)
Hand control Dedicated I/O
(6) (5)
I/F ladder (FB) Action
Ladder waiting f or time
(FB)
Operation C
Inner sequencer processing
Peripheral
control 4
Ladder waiting f or
signal (FB)
Signal output
ladder (FB)
Peripheral
control 1
Peripheral
control 2
Peripheral
control 3
ﾃﾞﾊﾞｲｽ
ﾃｰﾌﾞﾙ
ﾃｰﾌﾞﾙ1
選択指示
ﾃｰﾌﾞﾙ2
選択指示
ﾃｰﾌﾞﾙ3
選択指示
対象ﾃｰﾌﾞﾙﾃﾞｰﾀ
ｼｰｹﾝｻﾀﾞｲﾚ
ｸﾄ実行
ﾊﾝﾄﾞ制御
専用信号
Device
table
Instruct to
select table
1
Instruct to
select table
2
Instruct to
select table
3
Target table data
Perform
sequencer
direct
Hand control
dedicated
signal