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3.3 Opening/Closing the Hands
The open/close operation of the hands attached to on the robot is explained below.
Hands 1 to 6 can be opened and closed with the T/B.
<HAND> ±C : HAND1
±B : HAND2
±A : HAND3
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OUT-900□□□□□□ IN-900□□□□□□
SAFE
ALIGN
Press the [HAND] key, and display the hand screen.
Open
OUT-900 ～ OUT-907
Open/Close
Hand number
IN-900 ～ IN-907
Input signal
It is possible to mount various tools on the robot's hand area. In the case of pneumatic control, where the
solenoid valve (at double solenoid) is used, two bits of the hand signal is controlled by the open/close oper-
ation of the hand. For more information about the hand signal, please refer to
hand type"
and
Page 373, "5.13 About default hand
±Z : HAND4
±Y : HAND5
±X : HAND6
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HND
CLOSE
[-C]
[+C]
Close
7
6
5
Close Open Close Open Close Open Close Open
4
7
6
5
907
906
905
Opening and closing hand 1
Open: Press [+C ] key
Close: Press [-C ] key
Opening and closing hand 2
Open: Press [+B ] key
Close: Press [-B ] key
Opening and closing hand 3
Open: Press [+A ] key
Close: Press [-A ] key
Opening and closing hand 4
Open: Press [+Z ] key
Close: Press [-Z ] key
Opening and closing hand 5
Open: Press [+Y ] key
Close: Press [-Y ] key
Opening and closing hand 6
Open: Press [+X ] key
Close: Press [-X ] key
4
3
2
3
2
4
3
2
904
903
902
status".
3Explanation of operation methods
1
0
1
1
0
901
900
Page 372, "5.12 About the
Opening/Closing the Hands 3-26
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