Mitsubishi Electric MELFA BFP-A8787-F - 8 Perform Sequencer Direct; Sequencer Direct Performance Function

2-63Sequencer Direct Performance Function
8Perform Sequencer Direct
8 Perform Sequencer Direct
8.1 Sequencer Direct Performance Function
The sequencer direct performance function directly operates the robot by using the extended shared mem-
ory.
The performance function is composed of robot operation, hand open/close, working speed/ acceleration
setting, position data management, etc.
The figure below shows the data flow between sequencer and robot when performing the sequencer direct.
(1) The sequencer specifies a command (instruction) to directly operate the robot (sequencer direct per-
formance).
(2) The sequencer controls a hand (dedicated I/O signal control).
(3) The sequencer specifies the command conditions and speed, acceleration, tool setting, etc. for the
sequencer direct performance.
(4) The sequencer prepares up to 999 pieces of position data for sequencer direct performance in the
robot controller.(Teaching data does not occupy all the memory area of the sequencer device.)
(5) The sequencer can move the robot relatively with reference to robot's current position.
(6) The sequencer moves the robot to the position by specifying the position data.
ｼｰｹﾝｽﾌﾟﾛｸﾞﾗﾑ
動作指示ﾃﾞｰﾀ
専用入出力信号
入力
出力
ｺﾏﾝﾄﾞ条件
状態ﾃﾞｰﾀ
ｼｰｹﾝｻ設定
ﾎﾟｼﾞｼｮﾝ(3 点)
速度
共有メモリ
シーケンサ
ﾛﾎﾞｯﾄ状態
(共有ﾒﾓﾘ拡
張機能)
ロボット
信号制御
命令実行
ﾎﾟｼﾞｼｮﾝﾃﾞｰﾀ
1～999
要求信号
動作完了信号
動作中信号
動作中ﾃﾞｰﾀ
加速度
・
・
・
現在位置
5000
5102
X:***
Y:***
・
・
FL2:***
5101
X:***
Y:***
・
・
FL2:***
5100
X:***
Y:***
・
・
FL2:***
(2) Open/close hand
(1) Perform an operation
(Mov, Mvs, ,..)
(3) Set up the detailed operation
(speed, acceleration and
deceleration, etc.)
(6) Sequencer setting
position data (three)
(4) Robot can prepare up to 999
pieces of position data
Sequencer
Sequence program
Shared memory
Dedicated I/O signal
Input Output
Request
signal
Completion signal
Working signal
Working data
Robot
Current
Position 5000
(5) Enabled to specify
current position
Signal
control
Perform
instruction
Position data
Instruction data
Command con-
dition
Speed
Accele
Sequencer setting
position (three)
State data
Robot state
(shared
memory
extended
function)