How To Operate Sequencer Direct; Operation Command; Sequencer Output - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8.3 How to Operate Sequencer Direct

Here, describes the robot's operation commands and how to control hand.
To issue an operation instruction to the robot, set up the command data (command number + auxiliary data)
and command condition data and turn ON the command request signal. The robot runs according to the
specified command. Control the hand by turning ON/OFF the hand output signal.

8.3.1 Operation Command

Memory map of sequencer direct performance area corresponding to the robot operation commands is as
follows:

(1) Sequencer output

Sequencer
Output
Addr (offset)
520
Bit signal
521
522
523
524 Command data
525
526
527 (Reserved)
528 (Reserved)
529 (Reserved)
530
531
532
533
534
535
Command con-
dition data
536
537
538
539 - 639 (Reserved)
Description
Command request signal
Bit allocation
bit15 0
0000000000000000
+- bit0: Command request
(Reserved)
(Reserved)
(Reserved)
Command No
Command data 1
Command data 2
Override [%: 1 - 100, 0]
Acceleration rate [%: 1 - 100, 0]
Deceleration rate [%: 1 - 100, 0]
(Reserved)
(Reserved)
Speed setting [mm/s: 1 - 10000, 0]
Shortcut/roundabout specification
[0: Initial value/ 1: Opposite of initial value]
Auxiliary operation specification
[0: Equivalent rotation/1: Orthogonal triaxis/2: Sin-
gularity pass]
Tool setting [0: Current tool/ 1- 4: Tool number]
8Perform Sequencer Direct
Remarks
100% when zero
100% when zero
100% when zero
When either 0 or 10000, it operates at
maximum speed.
<Joint interpolation>
0: Roundabout (teaching posture)
1: Shortcut
<Linear/ circular interpolation>
0: Shortcut /1: Roundabout
Valid for linear/ circular interpolation
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