Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 86

8Perform Sequencer Direct
● Completion status (sequencer input 522)
When the sequencer direct is successfully performed or when the sequencer direct cannot be received,
the completion status is set.
The values below are established as completion status:
Setting
Value
1 Successfully completed
2 External operation authority invalid
3 H or L level error is occurring
4 Program is not available (program running)
5 Not robot servo ON
6 Stop signal inputting
7 Returning to retracting point
8 Remote Jog working
Variable not extended
9 (For more information, refer to
Shared Memory Extended
10 Origin not set
11 Command number out of range
12 Command data 1 out of range
13 Command data 2 out of range
Operating condition data out of range
14 (Only the available operating conditions for the target operation are
checked)
20 Sequencer direct impracticable because of other causes
30 Sequencer direct performance suspended
[Command condition data] (sequencer output 530 - 538)
The table below lists the data specified as command condition data:
Name
Override
Acceleration rate
Deceleration rate
Speed setting
Shortcut/round-
about specifica-
Note1)
tion
Auxiliary opera-
tion specification
Tool setting
Note1) Shortcut/roundabout specification value
When the shortcut/roundabout specification value is zero, it specifies the initial value (without Type
specification) of the robot program commands (Mov, Mvs). When it is one, it specifies reverse initial value.
They are different from the value set up by Type specification of robot program command.
2-75 How to Operate Sequencer Direct
Description
Page 115, "9.1 Parameter of Selecting
Function")
Description
Specify the speed rate [%] of robot operation
[1 - 100, 0]
Specify the acceleration rate [%] of robot
operation
[1 - 100, 0]
Specify the deceleration rate [%] of robot
operation
Specify the speed [mm/s] of robot's linear
interpolation
Specify the robot's shortcut/roundabout
[0: Initial value/ 1: Opposite of initial value]
<Joint interpolation>
0: Roundabout (teaching posture) /1: Short-
cut
<Linear interpolation>
0: Shortcut /1: Roundabout
Auxiliary specification for robot's linear inter-
polation
Sets the tool number.
Tool data (MEXTL 1 - 4) with specified num-
ber is used as the current tool data and is
set to parameter MEXTL.
The command cannot be received
Command suspended
Operation for
Setup range
Initial Value (0)
1 - 100, 0 100%
(100% when zero)
1 - 100, 0 100&
(100% when zero)
1 - 100, 0 100%
(100% when zero)
1 - 10000, 0 Maximum speed
(When either 0 or
10000, it operates at
maximum speed)
Refer to the left Joint interpola-
tion
→ Roundabout
Linear interpola-
tion
→ Shortcut
0: Equivalent rotation Equivalent rota-
1: Orthogonal triaxis tion
2: Singularity pass
0: Current tool Current tool
1 - 4: Tool number
Remarks
Corresponding
Command
MELFA-BASIC
Ovrd
Accel
Spd
Type specifica-
tion of operation
command
M_Tool