8Perform Sequencer Direct
How to Operate Sequencer Direct 2-72
8.3 How to Operate Sequencer Direct
Here, describes the robot's operation commands and how to control hand.
To issue an operation instruction to the robot, set up the command data (command number + auxiliary data)
and command condition data and turn ON the command request signal. The robot runs according to the
specified command. Control the hand by turning ON/OFF the hand output signal.
8.3.1 Operation Command
Memory map of sequencer direct performance area corresponding to the robot operation commands is as
follows:
(1) Sequencer output
Sequencer
Output
Addr (offset)
Description Remarks
520
Bit signal
Command request signal
Bit allocation
bit15 0
0000000000000000
+- bit0: Command request
521 (Reserved)
522
Command data
(Reserved)
523 (Reserved)
524 Command No
525 Command data 1
526 Command data 2
527 (Reserved)
528 (Reserved)
529 (Reserved)
530
Command con-
dition data
Override [%: 1 - 100, 0] 100% when zero
531 Acceleration rate [%: 1 - 100, 0] 100% when zero
532 Deceleration rate [%: 1 - 100, 0] 100% when zero
533 (Reserved)
534 (Reserved)
535 Speed setting [mm/s: 1 - 10000, 0]
When either 0 or 10000, it operates at
maximum speed.
536
Shortcut/roundabout specification
[0: Initial value/ 1: Opposite of initial value]
<Joint interpolation>
0: Roundabout (teaching posture)
1: Shortcut
<Linear/ circular interpolation>
0: Shortcut /1: Roundabout
537
Auxiliary operation specification
[0: Equivalent rotation/1: Orthogonal triaxis/2: Sin-
gularity pass]
Valid for linear/ circular interpolation
538 Tool setting [0: Current tool/ 1- 4: Tool number]
539 - 639 (Reserved)
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