8Perform Sequencer Direct
How to Operate Sequencer Direct 2-74
(2) Robot output
(3) Data description
[Command data]
● Command number (524), command data 1 (525), command data 2 (526)
Instruction data (sequencer output 524 - 526) to the robot for sequencer direct performance and returned
data from the robot (robot output 524 - 526). The setting values according to the instructed operations
are as follows:
Sequencer
Input
Addr (offset)
Description Remarks
520
Bit signal
Command completion signal
bit15 0
0000000000000000
|+- bit0: Completed
+-- bit1: Working
521 (Reserved)
522
Command data
Completion status [1: OK/ other than 1: NG]
523 (Reserved)
524 Command No
525 Command data 1
526 Command data 2
527 - 549 (Reserved)
Action
Symbol
Note1)
Note1) These symbols MovA, MvsA are different from the robot language. They are used for description below.
Command
No
Command
data 1
Command
data 2
Remarks
Joint
interpola-
tion
Moves to the specified position.
Specify the Z direction tool distance
to move by specified distance away
to the Z axis direction in the tool
coordinate system.
Mov
1 Destination
Position No
Z direction tool
distance
[10
-1
mm]
When the setting
value of data 2 is set
to zero, moves to the
specified position.
Moves the robot to the position with
coordinate value of the destination
position added by the coordinate of
the approach coordinate position.
MovA
2 Destination
position num-
ber
Approach coor-
dinate position
number
Linear
interpola-
tion
Moves to the specified position.
Specify the Z direction tool distance
to move by specified distance away
to the Z axis direction in the tool
coordinate system.
Mvs
11 Destination
position num-
ber
Z direction tool
distance
[10
-1
mm]
When the setting
value of data 2 is set
to zero, moves to the
specified position.
Moves the robot to the position with
coordinate value of the destination
position added by the coordinate of
the approach coordinate position.
MvsA
12 Destination
position num-
ber
Approach coor-
dinate position
number
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