Hand And Tool Control - Mitsubishi Electric CR750-Q Instruction Manual

(8) Hand and tool control

The hand open/close state and tool shape can be designated.
*Command word
Command word
HOpen
HClose
Tool
*Statement example
Statement example
HOpen 1 ...........................................................................
HOpen 2 ...........................................................................
HClose 1...........................................................................
HClose 2...........................................................................
Tool (0, 0, 95, 0, 0, 0) ......................................................
*Program example
Robot movement
(1)
P1
(2)
(4)
Workpiece
(3) Grasps
workpiece
•Program example
Program
1 Tool(0, 0, 95, 0, 0, 0)
2 Mvs P1, -50 *1)
3 Ovrd 50
4 Mvs P1
5 Dly 0.5
6 HClose 1
7 Dly 0.5
8 Ovrd 100
9 Mvs , -50 *1)
10 Mvs P2, -50 *1)
11 Ovrd 50
12 Mvs P2
13 Dly 0.5
14 HOpen 1
15 Dly 0.5
16 Ovrd 100
17 MVS , -50 *1)
18 End
*Related functions
Appended statement.......................................................................................
Opens the designated hand.
Closes the designated hand.
Sets the shape of the tool being used, and sets the control point.
Opens hand 1.
Opens hand 2.
Closes hand 1.
Closes hand 2.
Sets the robot control point to the position 95 mm from the flange plane in the extension
direction.
Hand
:Robot movement
:Movement position
(5)
(6)
P2
(8)
(7) Releases
workpiece
'Sets the hand length to 95 mm.
(1)
' Moves with joint interpolation from P1 to position retracted 50mm in hand direction.
'Sets the movement speed to half of the maximum speed.
(2)
' Moves with linear interpolation to P1. (Goes to grasp workpiece.)
' Wait for the 0.5 seconds for the completion of arrival to the target position.
(3)
' Closes hand 1. (Grasps workpiece.)
'Waits 0.5 seconds.
'Sets movement speed to maximum speed.
(4)
' Moves linearly from current position (P1) to position retracted 50mm in hand direction. (Lifts up
workpiece.)
(5)
' Moves with joint interpolation from P2 to position retracted 50mm in hand direction.
'Sets movement speed to half of the maximum speed.
(6)
' Moves with linear interpolation to P2. (Goes to place workpiece.)
' Wait for the 0.5 seconds for the completion of arrival to the target position.
(7)
' Opens hand 1. (Releases workpiece.)
'Waits 0.5 seconds.
' Sets movement speed to maximum speed.
(8)
' Moves linearly from current position (P2) to position retracted 50mm in hand direction.
(Separates from workpiece.)
'Ends the program.
Function
Explanation
Explanation
CAUTION
The statement examples and program exam-
ples are for a vertical 6-axis robot.The hand
advance/retrace direction relies on the Z axis
direction (+/- direction) of the tool coordinate
set for each model.
Refer to the tool coordinate system shown in
"Confirmation of movement" in the separate
"From Robot unit setup to maintenance", and
designate the correct direction.
Explanation
Explanation page
Page 302, " Wth (With)"
MELFA-BASIC V functions 4-107
4MELFA-BASIC V
*1) Specification of for-
ward/backward move-
ment of the hand