Mitsubishi CR750-Q Series Instruction Manual page 36

Item
Sets the signal No. assigned to the robot hand. Here, " -1" indicates that no setting
was made. Creating a robot program to output the signals set here, allows
controlling work clamp/unclamp and ATC connect/disconnect during robot
simulations.
SIGNAL. NO. Specify a signal number. Specification of -1 means not set.
[ATC]: Connected signal of the ATC master and ATC tool.
[ Pick* ]: Connected signal of a gripping hand and workpieces.
* Attaches/grips at a rising edge and removes/releases at a falling edge.
Select either input signal or output signal for a robot.
IN/OUT IN:
OUT:
Simulate turning a signal ON/OFF.
SIGNAL
ON/OFF
/
* If a signal number has not been specified, neither attachment nor removal is
simulated.
Specify whether or not to maintain the posture at gripping.
Maintain
Posture
maintenance
Do not maintain : Grips such that the hand's PickN and the Orig1 coordinate system
Table 6-1 Details of Operation in the Dialog Box
Simulates changes of an input to a robot, i.e., M_IN(n). Corresponds to
cases where an external device (PLC, etc.) controls the robot hand.
Simulates changes of an output from a robot, i.e., M_OUT(n). Corresponds
to cases where the robot hand is controlled by a robot program.
: Indicates that the hand is attached. Click the button in this display
status to simulate removal of the hand.
: Indicates that the hand is removed. Click the button in this display
status to simulate attachment of the hand.
In hand attachment operations, ATC tools (Orig1) in the vicinity of the
ATC master (Orig2) and workpieces (Orig1, or origin point) in the
vicinity of a gripping hand (Pick*) are attached/gripped(within 200 mm).
If the action succeeds, the status changes to the
: Shifts to maintain the positional relation between the hand and
work while gripped or clamped.
of a workpiece are matched at gripping. It is possible to take a
fixed gripping posture regardless of the gripping position.
36
Explanation
status.