Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 115

(2) Details
[Sequencer device mapping]
Device
M1 Robot transfer instruction
M5 System running
M7 Error reset instruction
M200 - M209 Work takeout operation
M240 Sequencer direct practicable condition
M250 Sequencer direct performance trigger
M251 Sequencer direct performed
M252 Sequencer direct performed successfully When the sequencer direct performance is successfully completed,
M253 Sequencer direct performance sus-
pended
M254 Sequencer direct performance error exit
D20 Sequencer direct performance comple-
tion status
D104-D106 Command data value
D110-D118 Command condition data value
T10 Work takeout position arrival check
T20 Hand close delay timer
[Description]
(1) When M1 (transfer instruction) is turned ON, carries out an operation to take out a work. When the
operation is completed, Work transfer completed (M209) is turned ON.
(2) The robot operates only when the System running (M5) is ON.
When the sequencer direct performance is suspended (M253 is turned ON) and becomes error
(M254 is turned ON), carry out a system control (create it separately) to stop the system and turn
OFF System running (M5). When System running (M5) is turned ON due to the resume, the robot
operation resumes.
(3) The robot hand control in the sequencer is carried out only in AUTOMATIC mode.
(4) When Error reset instruction (M7) is turned ON, the robot error is reset.
Name
Turn it ON when carrying out an operation to take out works in the
system.
Turn it ON when system is running.
Turn it OFF when a suspension or error occurred.
When instructing an error reset in the system, turn it ON.
Sets up the flow of work takeout operation.
Turn it ON, when the sequencer direct is practicable.
When requesting for sequencer direct performance, turn it ON.
When the sequencer direct performance is completed, turn it ON.
turn it ON.
When the sequencer direct performance is suspended (paused), turn
it ON.
→It is necessary to issue this signal to suspend the system.
When the sequencer direct performance is unavailable, turn it ON.
→It is necessary to issue this signal to admit the system error.
Stores the completion status of sequencer direct performance.
Sets up the command data for sequencer direct performance.
Sets up the command condition data for sequencer direct perfor-
mance.
A timer to set up the delay time for arrival check after moving to the
work takeout position.
A timer to set up the delay time after hand close.
8Perform Sequencer Direct
Description
Samples 2-104