2-113Precautions for Sequencer Direct Performance
8Perform Sequencer Direct
8.5 Precautions for Sequencer Direct Performance
8.5.1 Requirements
Sequencer direct performance can be carried out when all conditions below are met:
(1) Valid operation authority (robot output IOENA is ON)
(2) No H or L level error (robot signals HLVLERR, LLVLERR are OFF)
(3) Program is available (robot output SLOTINIT is ON)
(4) Robot servo is ON (robot output SRVON is ON)
(5) No stop input (robot output STOPSTS is OFF)
(6) Not returning to retracting point (robot output SAFEPOS is OFF)
(7) Remote JOG is not working (robot output JOGENA is OFF)
(8) Robot's origin has been set up
(9) Parameter ALWENA is set to zero (refer to Page 113, "8.5.3 Prohibit Program Startup with always
Running Program")
(10) Robot language is set to "MELFA-BASIC V" (parameter RLNG=2) (Refer to Page 113, "8.5.4 Robot
Language Setting")
8.5.2 Running together with Program
Even when sequencer direct performance function is valid, the program startup through external signal is
possible. However, they cannot run simultaneously. The Table 8-3 lists whether it is possible to run each
program simultaneously.
Table 8-3:Possibility to run each program as well as sequencer direct performance
The robot program and the position edit/variable monitor can the handle position data for sequencer direct
performance.
The table below lists the handling of each position:
8.5.3 Prohibit Program Startup with always Running Program
When the sequencer direct performance function is valid, ALWENA=0 is assumed regardless of the param-
eter ALWENA setting (X**, SERVO, RESET ERR commands in the always running program are prohibited).
When the controller starts up with parameter ALWENA=1 while the sequencer direct performance function is
valid, an
error "L3995 Unavailable together with the function (sequencer direct, ALWENA)" occurs.
8.5.4 Robot Language Setting
The sequencer direct performance is enabled only when MELFA-BASIC V is selected for robot language
(factory default: parameter RLNG=2). When MELFA-BASIC IV is selected (parameter RLNG=1), an
error
"L3996 Sequencer direct function unavailable"
occurs on controller startup. This error cannot be reset.
Item Decision Description
Start up a program with startup condition
START simultaneously
×
• START program is unavailable during performing sequencer direct
• Sequencer direct is unavailable during running START program
Start up a program with startup condition
ALWAYS simultaneously
○
• Sequencer direct is available during running ALWAYS program
Start up a program with startup condition
ERROR simultaneously
△
• ERROR program is available during performing sequencer direct
• Sequencer direct is unavailable during running ERROR program
Positon No
Variable Name Used
in Program
Function
Reference
as a
Command
Note1)
Note1) Mov P_DM(1), etc.
Definition
as a
Command
Note2)
Note2) Def Pos P_DM, etc.
Display
Variable
Teach/
Edit
Variable
Delete
Variable
1 - 999 P_DM(1) - P_DM(999) External program variable
○×○○×
5000 P_D5000 System state variable
○×○××
5100 - 5102 P_D5100 - P_D5102
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