Mitsubishi Electric MELFA BFP-A8787-F - Suspension When Robots External Operation Authority Gets Invalid

2-85How to Operate Sequencer Direct
8Perform Sequencer Direct
(5) Suspension when Robot's External Operation Authority Gets Invalid
When the robot's external operation authority gets invalid while performing the sequencer direct (robot's
dedicated signal - operation authority output (IOENA) is turned OFF), the operation is suspended.
The conditions which make the robot's external operation authority invalid are as follows:
1) The MODE switch is changed from AUTOMATIC to MANUAL on the robot operation panel
(robot is turned servo OFF)
2) The sequencer set the robot's operation authority signal (IOENA) to "OFF"
(1) When the robot's external operation authority gets invalid while performing the sequencer direct, the
robot stops, sends "Command running OFF", sets "Completion status" to 30 (suspended), and
sends "Command completed ON".
(2) When the sequencer receives "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(3) When the robot receives "Command request OFF", the robot clears "Completion status" and "Com-
mand data" to zero and sends "Command completed OFF".
(1) (2) (3)
Sequencer
Robot
Command
completed
Robot operation
MOV operation
Command running
Command
condition data
Override, acceleration, deceleration,
d
Command data
- Command No
- Command data 1
- Command data 2
Command request
1, 100, 0
Completion status
Command data
- Command No
- Command data 1
- Command data 2
1, 100, 0
MODE switch
AUTO to MANUAL
Operation authority
(IOENA)
Operation authority
(IOENA)
1
30