Robot Output; Data Description - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

(2) Robot output

Sequencer
Input
Addr (offset)
520
Bit signal
521
522
523
524 Command data
525
526
527 - 549 (Reserved)

(3) Data description

[Command data]
● Command number (524), command data 1 (525), command data 2 (526)
Instruction data (sequencer output 524 - 526) to the robot for sequencer direct performance and returned
data from the robot (robot output 524 - 526). The setting values according to the instructed operations
are as follows:
Action
Joint Moves to the specified position.
interpola- Specify the Z direction tool distance
tion to move by specified distance away
to the Z axis direction in the tool
coordinate system.
Moves the robot to the position with
coordinate value of the destination
position added by the coordinate of
the approach coordinate position.
Linear Moves to the specified position.
interpola- Specify the Z direction tool distance
tion to move by specified distance away
to the Z axis direction in the tool
coordinate system.
Moves the robot to the position with
coordinate value of the destination
position added by the coordinate of
the approach coordinate position.
Note1) These symbols MovA, MvsA are different from the robot language. They are used for description below.
Description
Command completion signal
bit15 0
0000000000000000
|+- bit0: Completed
+-- bit1: Working
(Reserved)
Completion status [1: OK/ other than 1: NG]
(Reserved)
Command No
Command data 1
Command data 2
Symbol
Command
Note1)
No
Mov 1
MovA 2
Mvs 11
MvsA 12
8Perform Sequencer Direct
Command Command
data 1 data 2
Destination Z direction tool
Position No distance
-1
[10 mm]
Destination Approach coor-
position num- dinate position
ber number
Destination Z direction tool
position num- distance
ber
-1
[10 mm]
Destination Approach coor-
position num- dinate position
ber number
How to Operate Sequencer Direct 2-74
Remarks
Remarks
When the setting
value of data 2 is set
to zero, moves to the
specified position.
When the setting
value of data 2 is set
to zero, moves to the
specified position.