Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 107

d) Robot hand control 2 when T/B gets invalid (recommended)
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)
Hand state
(1) 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.
(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 opens/closes a hand while T/B is valid, the hand output signal changes and the hand oper-
ates.
CAUTION
(4) When T/B gets invalid, the robot sends "Hand control permission output ON" again to enable the
hand control through external signal.
(5) Even after the robot side controlled a hand, the hand can be controlled with "Hand output control sig-
nal" without any restriction.
Invalid
T/B valid
(2)
External (GOT, etc.) T/B
close operation operation
(1)
Close
When "Hand control permission output" is OFF, external controller (sequencer, etc.)
reads "Hand output" signals and always output them as "Hand output control sig-
nals," thereby according the hand state with "Hand output control signal".
Valid
Invalid
T/B invalid
(4)
External (GOT, etc.)
open
close operation
(3)
Open
When "Hand control permission output signal" is OFF,
external controller (sequencer, etc.) reads "Hand output"
signals and always outputs them as "Hand output control
signals". (Accord the Hand state with "Hand output
control signal")
How to Operate Sequencer Direct 2-96
8Perform Sequencer Direct
Even after the robot side
controlled a hand, the hand can
be operated without any
restriction.
(5)
Close