Multi-Hand Tool - Mitsubishi R56TB Instruction Manual

17.4.3.2. Multi-Hand Tool

Selects the Hand Base of the Multi-Hand, set the offset value, set the offset value of each hand to the selected
Hand Base. The Multi-Hand Tool can be connected to the robot with remote Input/Output signals or parallel
Input/Output signals.
When the robot and the controller connected to this software correspond to the function of the 'Multi-Hand' , the
item concerning the Multi-Hand are displayed in the parameter menu. The robot and the software version of the
controller which can use the 'Multi-Hand Tool' are as follows.
Robot
RV-2SQ/2SD series
RV-3SQ/3SD series
RV-6SQ/6SD series
RV-12SQ/12SD series
This function is available from this software Ver.2.5 or later.
This position (vector) is
set as the offset.
Mounting center
of Hand 3
Hand 3
Mounting center
of Hand 4
Table 17-1 Robot that can use the 'Multi-Hand Tool'
Connection method
Remote
Input/Output
○
Not use
Table 17-2 Robot controller that can use the 'Multi-Hand Tool'
Controller
CR750-D/CRnD-700
CR750-Q/CRnQ-700
Mounting center
of Hand 2
Mounting center
of Hand 1
Hand 2
Hand 1
Hand 4
Setting of offset
Parallel
Input/Output
Not use
5-axis robot cannot use this parameter.
○: By using the standard remote Input/Output,
: By using the special remote Input/Output
: By using the air hand interface
S/W Ver. of the controller
Ver.S2a or later
Ver.R2a or later
Hand adaptor
+X axis
+Z axis
Hand
Reference
surface
Hand base
150
Notes
+Z axis
Reference
+Y axis surface