Sample Ladder Program - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8.4.2 Sample Ladder Program

(1) Condition
[CPU configuration]
Sequencer plus one robot
[Sequencer multiple CPUs setting]
The figure below shows the multiple CPU parameter setting of the sequencer:
[Robot parameter setting]
● Selecting shared memory extended function
• IQMEM: Set both bits 0, 1 to one to enable the sequencer direct performance function
● Robot output signal control
• HANDENA (hand control permitted):
• HANDOUT (hand output control signal): 10080, 10087
Use the robot input signals (10080 - 10087) to control the robot hand output signal (900 - 907)
Refer to Table
[Robot hand]
Table 8-2:Hand output
Hand No
Open/Close
Robot hand output sig
Hand output control signal
2-101 Samples
8-2.
1
Open Close
900 901
10080 10081
10079, 10079
2
Open Close Open
902 903 904
10082 10083 10084
Allocates 1K to the sequencer (#1) and
robot (#2) respectively
3 4
Close Open Close
905 906 907
10085 10086 10087