Mitsubishi Electric MELFA BFP-A8787-F - Operation Flow

8Perform Sequencer Direct
Operation flow 2-64
8.2 Operation flow
The figure below shows the operation flow when performing the sequencer direct.
Set up parameters
(refer to "8.2.1. Set up parameter")
Start
End
* In general, parameter setting and teaching are carried
out only once on startup.
They are not necessary for operation after the startup.
Start teaching
(Refer to "8.2.2. Teaching.")
Prepare to perform sequencer direct
(Refer to "8.2.3. Prepare to perform sequencer direct.")
Is parameter setting completed?
No
Yes
Is teaching completed?
No
Yes
Perform sequencer direct
Run operation command
Control hands
● Set up multiple CPUs for sequencer and robot CPUs.
When already established, carry out the next teaching
operation.
…
● Teach robot's working position.
When teaching was already established, prepare the
next sequencer direct performance and perform the
sequencer direct.
…
● 8.3.1. Operation command
● 8.3.3. Control robot hands
…
(Refer to Page 65, "8.2.1 Parameter Setting")
(Refer to Page 66, "8.2.2 Teaching")
(Refer to Page 71, "8.2.3 Prepare to Perform Sequencer Direct")
● "8.3.1Operation Command"
● "8.3.4Control Robot Hand"