Changing The Hand Number; Origin Setting - Mitsubishi Electric CR800 Series Instruction Manual

5Using the Electric Hand (Programming)

(1) Changing the Hand Number

1) The target hand number to operate is displayed on the upper right of <Electric Hand Operation>
screen.When hand numbers differ, change in the following procedure.
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 1)
HCLOSE
HOPEN
2) Press the function key corresponding to "Hand n" (n is 1to3), and change the target hand number.
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 1)
HOPEN HCLOSE
Change the target hand number: [F1], [F2]
Finish the change of the target hand number.

(2) Origin Setting

The origin setting is action which sets up the reference position of the hand. Before moving the hand, it is
necessary to execute sure.
1) Confirm the hand number which is the target of the origin setting. (Indication at the upper right of the
<Electric Hand Operation> screen)
Change, if it differs.
<Electric Hand Operation>
_ SPEED (100)%
_ FORCE (100)%
_ POINT No.( 1)
HCLOSE
HOPEN
2) Pressing the function key corresponding to the "HORG" ([F4]) of the <Electric Hand Operation>
screen.
While pressing the key, the electric hand executes origin-setting action. The indication of "BUSY" of
TB screen will be "black square" during execution.
If the origin setting is completed, the indication of "BUSY" will be "white square" and the "HORG" indi-
cation will shift to "black square".
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 1)
HOPEN HCLOSE
Origin setting: [F4]
* If the key is released, execution will stop.
Origin-setting operation of the electric hand is completion.
5-28 Operating Procedure
HAND1
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY□
INPS□ HOLD■
CURRENT POS( 0.00)mm
HORG
HMOV
123
HAND1
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY□
INPS□ HOLD■
CURRENT POS( 0.00)mm
HMOV HORG
123
HAND1
ORG □ SRVO■
RDY ■ BUSY□
INPS□ HOLD□
CURRENT POS( 0.00)mm
HORG
HMOV
123
→
HAND1
(100)% ORG □ SRVO■
(100)% RDY ■ BUSY■
INPS□ HOLD□
CURRENT POS( 0.00)mm
HMOV HORG
123
Target hand number
→
<Electric Hand Operation>
[F2]
_ SPEED
_ FORCE
_ POINT No.( 1)
HOPEN
→
Note) The figure is the example which changed the hand number
to 2 from 1.
Press the [FUNCTION] key, if "Hand n" is not displayed.
Confirm the target hand number.
Note) If it differs, change with referring to
Number".
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 1)
HCLOSE
HOPEN
→
Completion of the origin setting.
HAND2
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY□
INPS□ HOLD■
CURRENT POS( 0.00)mm
HCLOSE HMOV HORG
123
Page 28, "(1) Changing the Hand
HAND1
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY□
INPS■ HOLD□
CURRENT POS( 0.00)mm
HORG
HMOV
123
→
→