Hand Design - Mitsubishi CR750-Q Series Instruction Manual

Part name
Fixed hand
ATC tool
ATC master
Workpiece
Travel base
Orig1 or 2: Used to connect of parts in front and back. The second origin of a part in front and the
first origin of a part in back match, for example Orig2 of J6 axis of a 6-axis robot and
Orig1 of a fixed hand, as well as Orig1 of the ATC master and Orig2 of the ATC tool.
Pick1 to 8: Used to determine the position of a gripped workpiece.
CAUTION
Do not store your product files in the project folder.
MELFA-Works operates the project folder. So unexpected files found when closing the project will
cause a file copy error that might prevent the created project from being saved correctly. Make a
special folder for your product and store your product file there.
4.3.

Hand Design

MELFA-Works can handle the following hands.
Type
Fixed hand
ATC master
ATC tool
Two types of hand applications, gripping hands and processing hands, can also be handled by this software.
These types of hand applications are defined as follows.
Table 4-1 Rules in Parts Creation
Format of part name
(= file name)
Arbitrary character string +
"_Hand.sldprt"
(Example) Sample_Hand.sldprt
Arbitrary character string +
"_ToolATC.sldprt"
(Example)
Sample_ToolATC.sldprt
Arbitrary character string +
"_MasterATC.sldprt"
(Example)
Sample_MasterATC.sldprt
Arbitrary character string +
"_Work.sldprt"
(Example) Sample_Work.sldprt
Arbitrary character string +
".sldprt"
(Example) Sample.sldprt
Table 4-2 Hands that can be Used
Fixed hands are directly attached to a flange.
The master side of ATC (Auto Tool Changer).
The ATC master part is directly attached to a flange.
The ATC tool can be removed or attached according to commands issued via
robot input/output signals. In order to attach the tool via a signal, the ATC tool
must be in the vicinity of the robot (no more than 200 mm away).
The tool side of ATC.
The ATC tool side is fixed to the ATC master.
First origin
(for connecting robot)
Coordinate system:
Orig1
Coordinate system:
Orig1
Coordinate system:
Orig1
* Set to gripping area
(Can be omitted)
Coordinate system:
Arbitrary
(Multiple coordinate
systems can be
used.)
Explanation
24
Second origin
(for connecting workpieces)
In the case of gripping
hands
Coordinate system: Pick1
to 8
* Set to gripping area
In the case of processing
hands
Coordinate system: Orig2
* Set to processing point
Coordinate system: Orig2
None
None