Prepare To Perform Sequencer Direct - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8.2.3 Prepare to Perform Sequencer Direct

No
(ATTOPMD or ATEXTMD robot output ON)
Get operation authority (IOENA robot input
No
Is operation authority gotten successfully?
(HLVLERR, LLVLERR robot
(SLOTINIT robot output ON)
No
(1) In the sequencer, get the robot's external operation authority.
1) Change the MODE switch to "AUTOMATIC" on the robot operation panel.
2) Turn ON the sequencer's operation authority signal (IOENA).
3) Wait until the robot successfully gets the operation authority (robot's operation authority (IOENA) sig-
nal is ON).
(2) In the sequencer, check that H or L level error is not occurring in the robot.
Check the robot's error state (robot's HLVLERR and LLVLERR signals OFF). When either one is turned
ON, turn ON sequencer's ERRRESET signal to reset the error.
(3) In the sequencer, check that robot's program is available (program is not running).
Check the robot's program availability (robot's SLOTINIT signal ON). When it is not turned ON, turn ON
sequencer's SLOTINIT signal to reset the error.
(4) In the sequencer, turn ON the robot's servo.
Check the robot's servo ON (robot's SRVON signal ON). When it is not turned ON, turn ON sequencer's
SRVON signal and wait until the robot turns ON the servo.
* The order of steps (1) to (4) are not necessarily the same as above. But, in the sequencer, to reset a pro-
gram and turn ON the servo, it is necessary to get external operation authority.
2-71 Operation flow
Prepare to perform
Is it in robot automatic mode?
Yes
(IOENA robot output ON)
Yes
H or L error occurred?
output ON)
No
Is program available?
Yes
Is servo ON?
(SRVON robot output ON)
Yes
Perform sequencer direct
Are Requirements met?
Yes
End
...
Change the MODE switch to "AUTOMATIC" on the robot operation panel
Yes
Reset error (ERRRESET robot input ON)
No
Reset program (SLOTINIT robot input ON)
No
Servo ON (SRVON robot input ON)
...
Refer to Page 113, "8.5.1
Refer to "8.5.1. Requirements."
For information on input/ output signals, refer
to "Instruction Manual, Detailed Description of
Functions and Operations."
Requirements".