Hand Editing Operations; Hand Edit Tree - Mitsubishi Electric MELFA FR CR800 Series User Manual

Industrial robots

Table of Contents

Hand editing operations

Operation methods are basically the same as in the 3D monitor. So, refer to "21.3 3D Monitor Operations" for

Note, however, that view center rotation differs from operation in the 3D monitor in that this can be operated by

the mouse only.

To save hand files, click the [3D view] tab -> [Hand file] group -> [Save]/ [Save as] button on the ribbon.

The display content and operation methods on the hand edit tree are basically the same as in the layout tree. So,

refer to "21.4 Layout Tree" for details.

Note, however, that display and operations related to the robot, hands, robot parts, user mech. and splines

cannot be executed. Display conditions cannot be set to objects for hand parts.

Also, [3D Monitor] in the layout tree is changed to [Mechanical interface] on the hand edit tree. The properties of

this item will not be displayed even if this item is selected. However, the mechanical interface in the "Hand editor"

screen can be switched between displayed and hidden by selecting the [Mechanical interface] checkbox.

A TCP item is added to the child item of the mechanical interface. TCP is displayed as a gray ball and a rotated

coordinate system in the hand deitor screen. Select the TCP item and press [Ctrl], click on a part from hand editor

screen, the TCP will move to the clicked position. In addition, the coordinates of the TCP (hand tip) can be written

to the TOOL parameter (MEXTL/MEXLn). Please refer to "21.7.3Write TCP (hand tip)" for details.

Figure 21-128 Saving Hand Files

Figure 21-129 Hand edit tree mechanical interface