Operation Of Electric Hand - Mitsubishi Electric CR800 Series Instruction Manual

5.1.2 Operation of Electric Hand

Explains the operation method of the electric hand using R32TB. Refer to "R56TB/R57TB Instruction Man-
ual" of the separate volume (BFP-A8684) for the operation by R56TB/R57TB.
The screen related to operation of the electric hand shown in
Hand screen [HAND]
*1
<HAND> ±C:HAND1
_ ±B:HAND2
_ ±A:HAND3
_ 76543210
_OUT-900
_
SAFE ALIGN
[NORMAL] [F3]
<b> <Electric Hand Operation>
_ SPEED (100)%
<Electric Hand Operation>
_ FORCE (100)%
_ SPEED (100)%
<Electric Hand Operation>
_ POINT No.( 1)
_ FORCE (100)%
_ SPEED (100)%
<d>
CURRENT POS(
_ POINT No.( 1)
_ FORCE (100)%
HCLOSE
HOPEN
_ POINT No.( 1)
HHOLD
HAND3
HAND2
*1) If the electric hand is connected, the screen
<Electric Hand Operation> is displayed first.
<d>
Press and operate the function key ([F1] to [F4]) corresponding to each function currently displayed.
(Press the [FUNCTION] key, if function to wish is not displayed)
•"HOPEN".......... Open the hand. (If the key is detached, it will stop on the way)
•"HCLOSE"........ Close the hand. (If the key is detached, it will stop on the way)
•"HMOV"............ Move to the teaching position currently displayed on "Point No." (If the key is released, it will stop on the way)
•"HORG"............ Execute the origin setting. (If the key is released, it will stop on the way)
•"HHOLD" or "HACT" (*They are toggled by selecting.)
•"HHOLD"....... Execute hand grip action. (If the key is released, it will stop on the way)
•"HACT".......... The hand is moved based on the established condition by the designated table number.
•"TBL SET" or "TBL SET" (They are toggled by selecting.)
•"TBL SET"..... The table number (the condition to make them move) is designated. ( "The table number" is shown to< b> of a
screen.)
Note) When designating the table number, the condition of the speed and the power is a table, and the designated
condition becomes effective.
•"PNT SET" .... The positional number I instruct is designated. ( "The point number" is shown to< b> of a screen.)
•"HSRVOFF" ..... Turn off the drive power supply of electric hand.
* Direct teach is possible when moving the hand manually directly.
•"POINT"............ Display the screen which teaches the position of the electric hand.
•"HANDn" .......... Change the number of electric hand for the target of operation. ("n" indicates the hand number)
Note) The electric hand number not existing is not displayed.
•"NORMAL" ....... Return to the "<HAND>" screen.
•"CLOSE" .......... Close the "<Electric Hand Operation>" screen and the "<HAND>" screen, and it returns to the original screen.
Fig.5-1:Electric hand operation screen
The operation method of each function is shown below. Explain the operation method in the condition of
having displayed "<Electric Hand Operation>". Connect the electric hand in advance, TB enabling switch is
pushed, and TB is changed into available condition, press the [HAND] key, and display the <Electric Hand
Operation> screen.
Display the hand screen:
[HAND]
[Note] When stop input of the outside input signal (STOP and STOP2) turns on, a hand doesn't move. As
soon as a stop input signal turns on during hand movement, it stops.
±Z:HAND4
±Y:HAND5
±X:HAND6
76543210
IN-900
E-HAND CLOSE
123
→
[E-HAND] [F3]
HAND1
ORG ■ SRVO■
HAND1
RDY ■ BUSY□
ORG ■ SRVO■
HAND1
INPS□ HOLD■
RDY ■ BUSY□
ORG ■ SRVO■
0.00)mm
INPS□ HOLD■
RDY ■ BUSY□
HORG
HMOV
123
CURRENT POS( 0.00)mm →
INPS□ HOLD■
HSRVOFF POINT
123
CURRENT POS( 0.00)mm →
NORMAL CLOSE
123
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 1)
HCLOSE
HOPEN
Fig. 5-1
<a>
Display the electric hand number which is the target for operation.
The change of the target hand presses the function key [F1] or
[F2] corresponding to "Hand n" (n is the hand number 1 to 3).
<b>
Set up the operation data of the electric hand.
•SPEED ........ Set up speed by unit %. [1 to 100]
•FORCE........ Set up force (holding force) by unit %. [1 to 100]
•POINT No. or Table No.
*Switch over by a function key "PNT Designation" and "TBL
Designation".
<a>
•POINT No. . Specify the teaching location number. [1 to 32]
•Table No. .... Specify the table number. [1 to 32]
<c>
<c>
Display the condition of electric hand.
•ORG.............. : Origin-setting Completed/ : Uncompleted
•SRVO............ : Drive power supply ON / : OFF
•RDY .............. : Ready/ : Not ready/ Error occurring
•BUSY ............ : Busy/ : Not busy
→
•INPS ............ : Arrived to target position/ : Not arrived
•HOLD............ : Gripping/ : Not gripping
•CURRENT POS.. Signed absolute position (unit: 0.01mm)
HAND1
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY□
INPS□ HOLD■
CURRENT POS( 0.00)mm
HORG
HMOV
123
5Using the Electric Hand (Programming)
→
Operating Procedure 5-27