Hand Opening And Closing; Teaching The Moving Position - Mitsubishi Electric CR800 Series Instruction Manual

(3) Hand Opening and Closing

1) Confirm the hand number which is the target of hand opening and closing. (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)
CURRENT POS(
HCLOSE
HOPEN
2) The hand moves while pressing the function key corresponding to "HOPEN" or "HCLOSE". The indi-
cation of "BUSY" of TB screen will be "black square" during execution.
<Electric Hand Operation>
_ SPEED (100)%
_ FORCE (100)%
_ POINT No.( 1)
HOPEN HCLOSE
3) When hand has moved to open or close end the "INPS" indication will be "black square". When the
hand does the grip on the way, the "HOLD" indication will be "black square".

(4) Teaching the Moving Position

Teach the position of electric hand and it can move by the program (EHMov instruction) or TB. The maxi-
mum of 32 points can be taught to each of electric hands 1-3, and specify by the number. The method of
registering the current position of electric hand and inputting the numerical value directly can be used for the
teaching method.
1) Confirm the hand number to teach. (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)
CURRENT POS(
HOPEN HCLOSE
2) Move the electric hand to the position to teach by operation of the "HOPEN" or the HCLOSE, etc.
<Electric Hand Operation>
_ SPEED (100)%
_ FORCE (100)%
_ POINT No.( 1)
CURRENT POS(
HOPEN HCLOSE
HAND1
ORG ■ SRVO■
RDY ■ BUSY□
INPS□ HOLD■
0.00)mm
HORG
HMOV
123
→
HAND1
ORG ■ SRVO■
RDY ■ BUSY■
INPS□ HOLD■
CURRENT POS( 0.00)mm
HMOV HORG
123
→
HAND1
ORG ■ SRVO■
RDY ■ BUSY□
INPS□ HOLD■
0.00)mm
HMOV HORG
123
→
HAND1
ORG □ SRVO■
RDY ■ BUSY□
INPS□ HOLD■
0.00)mm
HMOV HORG
123
→
Confirm the target hand number.
Note) If it differs, change with referring to
Number".
Open the hand: "HOPEN"([F1])
Close the hand: "HCLOSE"([F2])
* If the key is released, execution will stop.
Confirm the target hand number.
Note) If it differs, change it with referring to
Hand Number".
Movement to the position to teach.
•Open the hand: "HOPEN"([F1])
•Close the hand: "HCLOSE"([F2])
* If the key is released, execution will stop.
•The direct teaching is possible under turning off the drive power
supply of hand.
5Using the Electric Hand (Programming)
Page 28, "(1) Changing the Hand
Page 28, "(1) Changing the
Operating Procedure 5-29