Hand And Workpiece Conditions (Optimum Acceleration/Deceleration Settings) - Mitsubishi MELFA CR1D Instruction Manual

5Functions set with parameters

5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration settings)

Optimum acceleration/deceleration control allows the optimum acceleration/deceleration to be performed by
LoadSet and Oadl instructions automatically in response to the load at the robot tip. The following parame-
ters must be set correctly in order to obtain the optimum acceleration/deceleration.
This parameter is also used in the impact detection function installed in the RV-SD/RH-SDH series.
When using the impact detection function during jog operation, set HNDDAT0 and WRKDAT0 correctly.
The factory default setting is as follows.
Parameter
HNDDAT0
HNDDAT1
HNDDAT2
HNDDAT3
HNDDAT4
HNDDAT5
HNDDAT6
HNDDAT7
HNDDAT8
WRKDAT0
WRKDAT1
WRKDAT2
WRKDAT3
WRKDAT4
WRKDAT5
WRKDAT6
WRKDAT7
WRKDAT8
Parameter values define, from the left in order, weight, size X, Y, and Z, and center of gravity X, Y, and Z. Up
to eight hand conditions and eight workpiece conditions can be set. For the size of a hand, enter the length
of a rectangular solid that can contain a hand. Optimal acceleration/deceleration will be calculated from the
hand condition and the workpiece condition specified by a LoadSet instruction.
Parameter
HNDHOLD1
HNDHOLD2
HNDHOLD3
HNDHOLD4
HNDHOLD5
HNDHOLD6
HNDHOLD7
HNDHOLD8
Parameter values that define grasping or not grasping is shown from the left for cases where the hand is
open or closed.
"0" = Set to not grasping
"1" = Set to grasping
Depending on the hand's open/close status, optimum acceleration/deceleration calculation will be per-
formed for either hand-alone condition or hand-and-workpiece condition.
The hand's open/close status can be changed by executing the HOpen/HClose instruction.
The coordinate axes used as references when setting the hand and workpiece conditions are shown below
for each robot model. The references of the coordinate axes are the same for both the hand and workpiece
conditions. Note that all the sizes are set in positive values.
5-377 Hand and Workpiece Conditions (optimum acceleration/deceleration settings)
It varies with models.
Maximum load, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
Maximum load, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
Maximum load, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
Maximum load, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
Maximum load, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
Maximum load, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
Maximum load, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
Maximum load, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
It varies with models.
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0, 1
0, 1
0, 1
0, 1
0, 1
0, 1
0, 1
0, 1
Value
Value(Factory default)