Mitsubishi Electric MELFA BFP-A8787-F - Prepare to Perform Sequencer Direct

2-71Operation flow
8Perform Sequencer Direct
8.2.3 Prepare to Perform Sequencer Direct
(1) In the sequencer, get the robot's external operation authority.
1) Change the MODE switch to "AUTOMATIC" on the robot operation panel.
2) Turn ON the sequencer's operation authority signal (IOENA).
3) Wait until the robot successfully gets the operation authority (robot's operation authority (IOENA) sig-
nal is ON).
(2) In the sequencer, check that H or L level error is not occurring in the robot.
Check the robot's error state (robot's HLVLERR and LLVLERR signals OFF). When either one is turned
ON, turn ON sequencer's ERRRESET signal to reset the error.
(3) In the sequencer, check that robot's program is available (program is not running).
Check the robot's program availability (robot's SLOTINIT signal ON). When it is not turned ON, turn ON
sequencer's SLOTINIT signal to reset the error.
(4) In the sequencer, turn ON the robot's servo.
Check the robot's servo ON (robot's SRVON signal ON). When it is not turned ON, turn ON sequencer's
SRVON signal and wait until the robot turns ON the servo.
* The order of steps (1) to (4) are not necessarily the same as above. But, in the sequencer, to reset a pro-
gram and turn ON the servo, it is necessary to get external operation authority.
Prepare to perform
Is it in robot automatic mode?
(ATTOPMD or ATEXTMD robot output ON)
Yes
No
Get operation authority (IOENA robot input
Is operation authority gotten successfully?
(IOENA robot output ON)
Yes
No
Is servo ON?
(SRVON robot output ON)
Yes
(1) Get operation authority
(4) Servo ON
No
Servo ON (SRVON robot input ON)
Is program available?
(SLOTINIT robot output ON)
Yes
(3) Check program is available
Change the MODE switch to "AUTOMATIC" on the robot operation panel
…
End
No
Reset program (SLOTINIT robot input ON)
H or L error occurred?
(HLVLERR, LLVLERR robot
output ON)
No
(2) Check error
Yes
Reset error (ERRRESET robot input ON)
Perform sequencer direct
Are Requirements met?
Yes
Refer to "8.5.1. Requirements."
…
No
For information on input/ output signals, refe
r
to "Instruction Manual, Detailed Description o
f
Functions and Operations."
Refer to Page 113, "8.5.1 Requirements".