Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 103

b) T/B is invalid:
Allows you to select either external signals or controller (robot program or forced output) for the robot
hand control according to the hand control permission (HANDENA) signal.
b-1) HANDENA signal is ON:
External signal controls the robot hand.
→ Changes the hand output signal by detecting
the edge (ON to OFF or OFF to ON) of gen-
eral-purpose input signal which is allocated to
the hand output control signal.
General-purpose
1
10079
10087
Change hand output
signal by detecting the
edge (ON to OFF or OFF
to ON) of general-purpose
input signal
Hand output
907
Hand control through
HOpen 2
HOpen 1
Wait M_IN(900)=1
HClose 1
Sequencer
Robot
(external
input
input)
Hand control
permission
ON
10072
10080
Hand output
control signal
900
program


b-2) HANDENA signal is OFF:
Controller (robot program or forced output) con-
trols the robot hand.
→ The hand signal control through program
command changes hand output signals.
General-purpose
input
10079
0
10087
Hand output
907
Hand control through
program
HOpen 2
HOpen 1
Wait M_IN(900)=1
HClose 1


How to Operate Sequencer Direct 2-92
8Perform Sequencer Direct
Sequencer
Robot
(external
input)
Hand control
permission
OFF
10072
10080
Hand output
control signal
900