Mitsubishi Electric MELFA BFP-A8787-F - Cancel Based on Command Request off Signal

8Perform Sequencer Direct
How to Operate Sequencer Direct 2-86
(6) Cancel Based on Command Request OFF Signal
When sequencer's "Command request" is turned OFF while performing the sequencer direct, the robot'
operation can be terminated halfway (the robot slows down and stops in the same manner as stop input).
(1) When the sequencer wants to terminate the robot operation halfway while performing the sequencer
direct, the sequencer sends "Command request OFF".
(2) When the robot receives "Command request OFF", the robot stops, clears "Command data" to zero
and sends "Command running OFF".
(1) (2)
Sequencer
Robot
Command
completed
Robot
MOV operation
Command
running
Command
condition data
Override, acceleration, deceleration, speed, ...
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
Cancel