Timing Chart For Robot Hand Control - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8.3.5 Timing Chart for Robot Hand Control

The figure below shows the hand control timing chart when the robot parameter is set up as follows:
• HANDENA (hand control permitted) = 10079,10079
• HANDOUT (hand output control signal) = 10080,10087
• HNDCNTL1 (hand output signal) = 10048, 10055 (factory defaults)
• HANDTYPE (hand type) = D900, D902, D904, D906, , , , (factory defaults)
a) Changes of hand control enabled state according to T/B valid/ invalid
External Robot
Mode key of robot
controller
T/B valid/invalid
Hand cont permission
input sig (10072)
Hand cont
permission output
sig (10072)
(1) When an external controller (sequencer, etc.) sends "Hand control permission input ON" while the
robot is in MANUAL mode and T/B is invalid, the robot sends "Hand control permission output ON"
to enable the hand control through external signal (hand output control signal).
(2) When T/B gets valid, the robot sends "Hand control permission output OFF" to prohibit the hand con-
trol through external signal.
(3) When T/B gets invalid again, the robot sends "Hand control permission output ON" to enable the
hand control through external signal.
(4) When T/B gets valid even while the robot is in MANUAL mode, the robot sends "Hand control permis-
sion output OFF" to prohibit the hand control through external signal.
(Error "H5000 Teaching" occurs.)
2-93 How to Operate Sequencer Direct
MANUAL
(2)
Valid
Invalid
(1)
Controllable
through external
signal
AUTOMATIC
(4)
(3)
Controllable
through external
signal