Using The Electric Hand (Programming); Operating Procedure; Setting The Parameter; The Actuator Type Setting - Mitsubishi Electric CR800 Series Instruction Manual

5Using the Electric Hand (Programming)

5 Using the Electric Hand (Programming)

5.1 Operating Procedure

The operating procedure outline of the electric hand is shown below.
<Flow of operation>
(1) Installation and connection of
electric hand

(2) Setting the parameter

(3) Origin setting
(4) Operation of the hand
(open/close, etc)
5.1.1 Setting the Parameter
Set the parameter necessary for control of the electric hand.
Set up using T/B (R32TB/R33TB, R56TB/R57TB) or RT ToolBox2/RT ToolBox3. Refer to the instruction
manual of attachment to each product for details of the parameter change method. R56TB/R57TB or RT
ToolBox2 provide a dedicated screen.
• R32TB/R33TB :Refer to "Operation of maintenance screen" in the separate manual "Instruction Manual/
• R56TB/R57TB :R56TB/R57TB Instructions manual (BFP-A8591)
• RT ToolBox2
[Caution]
1) Specify correctly the parameter name corresponding to the hand number (station number setup by the
rotary switch) to be used. In this manual, "n" indicates the place corresponding to the hand number in
parameter name.
<Example>
Actuator type: EHnTYPE
If you set up the actuator type of the hand number 1, specify the parameter name as "EH1TYPE."
2) A setup of the actuator type will initialize the control parameter. We recommend to back up the parame-
ter changed in preparation for the maintenance of the exchange of the robot etc.
3) During data writing, always connect the signal cable of the electric hand.

(1) The Actuator Type Setting

Set up the type of electric hand to be used. Please set up with referring to the instruction manual attached to
electric hand.
The contents of the parameters which should be set are shown in
Table 5-1:Actuator type parameter
Parameter
Actuator type EHnTYPE
Note) When this parameter is set, the control parameter will be read from electric hand body, and it will be
automatically set as the parameter of the robot controller. (Initial value) Since the parameter changed
by then is overwritten, we recommend to back up the parameter using optional RT ToolBox2.
5-24 Operating Procedure
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Detailed Explanation of Functions and Operations".
:RT ToolBox2 / RT ToolBox2 mini Instructions manual (BFP-A8617)
Parameter No. of arrays
name No. of characters
Integer 1
Install the electric hand to the mechanical interface of robot arm with refer-
ring to the instruction manual attached to electric hand.
Connect the signal cable (attached to the electric hand).
Note) Install in the direction with which the positioning pin was aligned.
Set each parameter, to control the electric hand correctly.
Set up the reference position, to move the electric hand. It is necessary, after
turning on the power supply.
Operation of the electric hand is possible after completion of the above-men-
tioned setup.
Table
Details explanation
Set up the type (model) of the electric hand.
Input range is 0 to 65535.
The settings of each Model are shown in
n: indicates the hand number (1 to 3).
5-1.
Factory setting
0
Table 5-2.