Perform Sequencer Direct; Sequencer Direct Performance Function - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8 Perform Sequencer Direct

8.1 Sequencer Direct Performance Function

The sequencer direct performance function directly operates the robot by using the extended shared mem-
ory.
The performance function is composed of robot operation, hand open/close, working speed/ acceleration
setting, position data management, etc.
The figure below shows the data flow between sequencer and robot when performing the sequencer direct.
Sequencer
シーケンサ
Sequence program
ｼｰｹﾝｽﾌﾟﾛｸﾞﾗﾑ
(3) Set up the detailed operation
(speed, acceleration and
deceleration, etc.)
(6) Sequencer setting
position data (three)
(1) The sequencer specifies a command (instruction) to directly operate the robot (sequencer direct per-
formance).
(2) The sequencer controls a hand (dedicated I/O signal control).
(3) The sequencer specifies the command conditions and speed, acceleration, tool setting, etc. for the
sequencer direct performance.
(4) The sequencer prepares up to 999 pieces of position data for sequencer direct performance in the
robot controller.(Teaching data does not occupy all the memory area of the sequencer device.)
(5) The sequencer can move the robot relatively with reference to robot's current position.
(6) The sequencer moves the robot to the position by specifying the position data.
2-63 Sequencer Direct Performance Function
Shared memory
(2) Open/close hand
(1) Perform an operation
(Mov, Mvs, ,..)
Command con-
dition
ｼｰｹﾝｻ設定
Sequencer setting
ﾎﾟｼﾞｼｮﾝ(3 点)
position (three)
共有メモリ
Dedicated I/O signal
専用入出力信号
Input Output
入力
出力
Completion signal
Request
動作完了信号
要求信号
Working signal
signal
動作中信号
Working data
Instruction data
動作指示ﾃﾞｰﾀ 動作中ﾃﾞｰﾀ
ｺﾏﾝﾄﾞ条件
(5) Enabled to specify
Speed
速度
Accele
加速度
・
・
・
5100
5101
X:***
5102
X:***
Y:***
X:***
Y:***
・
Y:***
・
・
State data
状態ﾃﾞｰﾀ
・
・
FL2:***
・
FL2:***
FL2:***
Robot state
(shared
ﾛﾎﾞｯﾄ状態 memory
extended
(共有ﾒﾓﾘ拡
function)
張機能)
(4) Robot can prepare up to 999
pieces of position data
現在位置
Current
Position 5000
5000
current position
Robot
ロボット
Signal
信号制御 control
Perform
命令実行
instruction
Position data
ﾎﾟｼﾞｼｮﾝﾃﾞｰﾀ
1～999