Suspend/Resume Operation - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

(3) Suspend/Resume Operation

When the robot stops due to the robot's stop operation or stop input while performing the sequencer direct,
the operation is suspended and the command is also suspended (Completion status = 30, suspended).
To resume after suspension, set up "Command data" and "Condition data" again and send "Command
request" signal again.
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
<Suspension handling>
(1) When the robot stops while performing the sequencer direct, the robot sends "Command running
OFF", sets "Completion status" to 30 (suspended), and sends "Command completed ON".
(2) When the sequencer receives "Command completed ON", the sequencer imports "Completion sta-
tus" and sends "Command request OFF".
(3) When the robot receives "Command request OFF", the robot clears "Completion status" and "Com-
mand data" to zero and sends "Command completed OFF".
<Resume handling>
(4) When a resume operation is carried out in the sequencer, the sequencer sets up "Command data"
and "Condition data" and sends "Command request ON".
(5) When "Command request ON" from OFF is received, the robot imports "Command data" and "Condi-
tion data", sets up "Command data" (returned data), sends "Command running ON", and carries out
the instructed robot operation.
2-83 How to Operate Sequencer Direct
(1) (2) (3)
1, 100, 0
Override, acceleration, deceleration,
1, 100, 0
Stop
MOV
operation
(4) (5)
Restart
Override, acceleration, deceleration,
30
1, 100, 0
1, 100, 0
MOV operation