Operation Command Is Impracticable - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

(2) Operation Command Is Impracticable:

When the command data instructed by the sequencer is not formal or when the robot is out of work, the
robot stores a number indicating an impracticable reason in "Completion status" against "Command
request" from the sequencer and then returns "Command completed".
Sequencer Robot
Command data
- Command No
- Command data 1
- Command data 2
Command
condition data
Command request
Command running
Command
completed
Completion status
Command data
- Command No
- Command data 1
- Command data 2
Robot operation
(1) The sequencer sets up "Command data" and "Condition data" and sends "Command request ON."
(2) When "Command request ON from OFF" is received, the robot imports "Command data" and "Condi-
tion data." When the imported data is not official or when the robot is impracticable of sequencer
direct, the robot sets "Command data" (returned data) and "Completion status" to other than one,
and sends "Command completed ON."
(3) When the sequencer receives "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(4) When the robot receives "Command request OFF", the robot clears "Completion status" and "Com-
mand data" and sends "Command completed OFF".
(1) (2) (3) (4)
1, 100, 0
Override, acceleration, deceleration, speed, ...
Other than 1
1, 100, 0
8Perform Sequencer Direct
How to Operate Sequencer Direct 2-82