2-75How to Operate Sequencer Direct
8Perform Sequencer Direct
● Completion status (sequencer input 522)
When the sequencer direct is successfully performed or when the sequencer direct cannot be received,
the completion status is set.
The values below are established as completion status:
[Command condition data] (sequencer output 530 - 538)
The table below lists the data specified as command condition data:
Setting
Value
Description Remarks
1 Successfully completed
2 External operation authority invalid The command cannot be received
3 H or L level error is occurring
4 Program is not available (program running)
5 Not robot servo ON
6 Stop signal inputting
7 Returning to retracting point
8 Remote Jog working
9
Variable not extended
(For more information, refer to Page 115, "9.1 Parameter of Selecting
Shared Memory Extended Function")
10 Origin not set
11 Command number out of range
12 Command data 1 out of range
13 Command data 2 out of range
14
Operating condition data out of range
(Only the available operating conditions for the target operation are
checked)
20 Sequencer direct impracticable because of other causes
30 Sequencer direct performance suspended Command suspended
Name Description Setup range
Operation for
Initial Value (0)
Corresponding
Command
MELFA-BASIC
Override Specify the speed rate [%] of robot operation
[1 - 100, 0]
1 - 100, 0
(100% when zero)
100% Ovrd
Acceleration rate Specify the acceleration rate [%] of robot
operation
[1 - 100, 0]
1 - 100, 0
(100% when zero)
100& Accel
Deceleration rate Specify the deceleration rate [%] of robot
operation
1 - 100, 0
(100% when zero)
100%
Speed setting Specify the speed [mm/s] of robot's linear
interpolation
1 - 10000, 0
(When either 0 or
10000, it operates at
maximum speed)
Maximum speed Spd
Shortcut/round-
about specifica-
tion
Note1)
Note1) Shortcut/roundabout specification value
When the shortcut/roundabout specification value is zero, it specifies the initial value (without Type
specification) of the robot program commands (Mov, Mvs). When it is one, it specifies reverse initial value.
They are different from the value set up by Type specification of robot program command.
Specify the robot's shortcut/roundabout
[0: Initial value/ 1: Opposite of initial value]
<Joint interpolation>
0: Roundabout (teaching posture) /1: Short-
cut
<Linear interpolation>
0: Shortcut /1: Roundabout
Refer to the left Joint interpola-
tion
→ Roundabout
Linear interpola-
tion
→ Shortcut
Type specifica-
tion of operation
command
Auxiliary opera-
tion specification
Auxiliary specification for robot's linear inter-
polation
0: Equivalent rotation
1: Orthogonal triaxis
2: Singularity pass
Equivalent rota-
tion
Tool setting Sets the tool number.
Tool data (MEXTL 1 - 4) with specified num-
ber is used as the current tool data and is
set to parameter MEXTL.
0: Current tool
1 - 4: Tool number
Current tool M_Tool
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