Mitsubishi MELFA CR1D Instruction Manual page 360

5Functions set with parameters
Parameter
Hand and work-
piece conditions
(Used in optimum
acceleration/decel-
eration and impact
HNDDAT0
detection)
Refer to "5.16Hand
and Workpiece Con-
ditions (optimum
acceleration/deceler-
ation settings)"
HNDDAT*
* is 1 to 8
WRKDAT0
WRKDAT*
* is 1 to 8
HNDHOLD*
* is 1 to 8
Maximum acceler- ACCMODE
ation/deceleration
setting
Refer to "5.16Hand
and Workpiece Con-
ditions (optimum
acceleration/deceler-
ation settings)"
5-347 Movement parameter
Parameter
No. of arrays
No. of characters
name
Set the hand conditions and work conditions for when Oadl ON is
set with the program.
Up to eight conditions can be set. The condition combination is
selected with the LoadSet command.
Real value 7 Set the initial condition of the hand. (Designate with the tool coordi-
nate system.)
Immediately after power ON, this setting value is used.
To use the impact detection function during jog operation, set the
actual hand condition before using. If it is not set, erroneous detec-
tion may occur.
(Weight, size X, size Y, Size Z, center of gravity X, center of gravity
Y, center of gravity Z)
Real value 7 Set the initial condition of the hand. (Designate with the tool coordi-
nate system.)
(Weight, size X, size Y, Size Z, center of gravity X, center of gravity
Y, center of gravity Z)
Real value 7 Set the work conditions. (Designate with the tool coordinate sys-
tem.)
Immediately after power ON, this setting value is used.
(Weight, size X, size Y, Size Z, center of gravity X, center of gravity
Y, center of gravity Z)
Real value 7 Set the work conditions. (Designate with the tool coordinate sys-
tem.)
(Weight, size X, size Y, Size Z, center of gravity X, center of gravity
Y, center of gravity Z)
Integer 2 Set whether to grasp or not grasp the workpiece when HOpen ( or
HClose ) is executed.
(Setting for Open, setting for Close)
(No grasp/grasp = 0/1)
Integer 1 Sets the initial value and enables/disables the optimum accelera-
tion/deceleration mode. (Invalid/Valid=0/1)
Details explanation
Unit: Kg, mm
Unit: Kg, mm
Unit: Kg, mm
Unit: Kg, mm
Factory setting
RV-3SD/3SDJ/3SDB/
3SDJB
3.50, 284.00, 284.00,
286.00, 0.00, 0.00,
75.00
RV-6SD/6SDL
6.00, 213.00, 213.00,
17.00, 0.00, 0.00,
130.00
RV-12SD/12SDL
12.00, 265.00, 265.00,
22.00, 0.00, 0.00,
66.00
RH-6SDH
6.00, 99.00, 99.00,
76.00, 0.00, 0.00,
38.00
RH-12SDH
12.00, 225.00, 225.00,
30.00, 0.00, 0.00,
15.00
RH-18SDH
18.00, 258.00, 258.00,
34.00, 0.00, 0.00,
17.00
Other type are
secret.
Standard load
,0.0,0.0,0.0,0.0,0.0,
0.0
RV-SD/RH-SDH
series
0.0,0.0,0.0,0.0,0.0,0.0
,0.0
Other type are
secret.
0.0,0.0,0.0,0.0,0.0,0
.0,0.0
0,1
RH-SDH/RV-SD
series ........1
Except the
above..............0