Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 105

b) Robot hand control through external signal
External Robot
T/B valid/invalid
Hand cont
permission input
sig (10079)
Hand cont
permission output
sig (10079)
Hand output control
signal
(10080: Hand 1 open)
Hand output
(900: Hand 1 open)
(10048: HNDCNTL1)
Hand output control
signal
(10081: Hand 1 close)
Hand output
(901: Hand 1 close)
(10049: HNDCNTL1)
(1) An external controller (sequencer, etc.) sends "Hand control permission input ON".
When T/B is invalid, the robot sends "Hand control permission output ON" to enable the hand con-
trol through external signal (hand output control signal).
(2) When "Hand control permission output" is ON, the robot hand output signal changes according to the
edge (ON to OFF or OFF to ON) of signals which are allocated to the hand output control signal.
Invalid
(1)
External (GOT, etc.) External (GOT, etc.)
close operation open operation
(2)
8Perform Sequencer Direct
How to Operate Sequencer Direct 2-94