Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 108

8Perform Sequencer Direct
e) Switch between hand control with external signal and hand control with robot program
External Robot
T/B valid/invalid
Hand cont
perm ission input
sig (10079)
Hand cont
perm ission 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
Run robot program
(1) To control the robot hand with external signals, send "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, a robot hand can be operated with "Hand output con-
trol signal".
(3) When "Hand control permission output" is ON, the hand will not operate even if a robot program
issues a hand control command.
(4) To control a hand from the robot, send "Hand control permission input OFF".
When the robot confirmed that "Hand control permission output" is OFF, the robot sends "Hand con-
trol permission output OFF".
(5) When "Hand control permission output" is OFF, the robot program's hand control command can oper-
ate the hand. (T/B operation and forced output from RT ToolBox also can operate the hand).
When "Hand control permission output" is OFF, external controller (sequencer, etc.) reads "Hand
output" signals and always output them as "Hand output control signals" to accord the hand state
with "Hand output control signal". Then, when "Hand control permission output" is turned ON again,
the hand can be controlled without any restriction.
(6) To control the robot hand with external signals again, send "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).
2-97 How to Operate Sequencer Direct
Invalid
(1)
Because the external hand
External (GOT, etc.)
control perm ission is turned
close operation
ON, hand com m ands from
(2)
a program are ignored.
×
×
(3)
Close
HOpen1
command
(4)
(5)
Open
HOpen1 HClose1
command command
(6)
External (GOT, etc.)
open operation
Close
Open