Setting Of The Control Parameter - Mitsubishi Electric CR800 Series Instruction Manual

Table 5-2:Settings of each model
Model Setting
SS-2010
ST-2004
ST-4230
FS(T)2020
Caution

(2) Setting of the Control Parameter

The parameter for controlling the electric hand is shown in
7. Change if needed.
In addition, refer to the instructions manual of attachment in the electric hand for changing.
Table 5-3:Control parameter list
No Parameter
1 Soft limit (+)
2 Soft limit (-)
3 Stroke
4 Direction of the ori-
gin setting
5 Origin-setting
speed
6 Origin position shift
7 Acceleration
8 Maximum pro-
gram speed
9 Gripping Speed
10 Constant-speed
movement zone
11 Limit width
12 Positioning com-
pletion distance
Model
110 SS-2005-3N
119 SS-2815
139 SD-2005
310 FS(T)2840
If the Multifunctional Electric Hand body is replaced with a new one, clearing the
information specific to the hand body is required. Set up the actuator type again.
Even if the actuator type does not change, set up the actuator type again. Refer to
Page 24, "(1) The Actuator Type Setting"
Parameter
No. of arrays
Note1)
No. of characters
name
EHnLMTP Integer 1
EHnLMTM Integer 1
EHnSTRK Integer 1
EHnORGD Integer 1
EHnORGV Integer 1
EHnORGSF Integer 1
EHnACC Integer 1
EHnVMAX Integer 1
EHnVHLD Integer 1
EHnZNCV Integer 1
EHnLMTW Integer 1
EHnPSCD Integer 1
Setting Model
111 SS-2005-5N
120 ST-2820
210 SD-2810
320
for the actuator type setting.
Table 5-3, and each details are shown in
This parameter is used for setting a positive movable
range.
Input range: 0 to 9999 (unit: 0.1mm)
This parameter is used for setting a negative movable
range
Input range: -9999 to 0 (unit: 0.1mm)
This parameter is used for setting actuator stroke
length.
Input range: 0 to 9999 (unit: 0.1mm)
This parameter is used for specifying the direction in
which the fingers return to their origin positions.
0: Opening direction, 1: Closing direction
This parameter is used for setting the speed at which
the fingers move back to their v positions.
Input range: 20 to 50(%)
This parameter is used for shifting the coordinate posi-
tion of original data by the parameter value specified
as origin position shift.
Input range: -9999 to 9999 (unit: 0.01mm)
This parameter is used for setting actuator accelera-
tion.
Input range: 1 to 100(%)
This parameter is used for setting maximum speed
stored as point data.
Input range: 1 to 100(%)
Set up the constant speed in effective gripping range
at positioning grip movement.
Input range: 1 to 100(%)
Set up the moving distance by constant speed at posi-
tioning grip movement
Input range: 1 to 9999 (unit: 0.01mm)
Set up the limit width of moving by constant speed at
positioning grip movement
Input range: 0 to 9999 (unit: 0.01mm)
When moving to the specified point, complete move-
ment in the specified distance (near side).
Input range: 1 to 9999 (unit: 0.01mm)
5Using the Electric Hand (Programming)
Setting Model
112 ST-2013
129 SS-4225
220 SD-4220
Contents
Operating Procedure 5-25
Setting
118
130
230
Table 5-
Reference
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