Grip Action - Mitsubishi Electric CR800 Series Instruction Manual

5Using the Electric Hand (Programming)
3) Pressing the function key corresponding to "HMOV" ([F3]). While pressing, the hand moves to the
specified position number. The indication of "BUSY" of TB screen will be "black square" during execu-
tion. When movement to the target position is completed, the indication of "BUSY" will be "white
square" and the "INPS" indication will shift to "black square."
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 3)
HOPEN HCLOSE
Movement to the specified position: [F3]
Movement to the teaching position is finishing.

(6) Grip Action

Execute grip action in the taught position. Grip action patterns, such as the trapezoid speed and the dis-
tance of moving by constant speed, are based on the set value of parameter.
The operation method of grip action is shown below.
1) Confirm the hand number to move to. (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) Specify the point number which does the grip as "POINT No." on the screen. The cursor is moved into
the parenthesis of "POINT No." by the arrow key, input the numeral (1 to 32), and press the [EXE]
key.
<Electric Hand Operation>
_ SPEED (100)%
_ FORCE (100)%
_ POINT No.( 1)
HOPEN HCLOSE
Move the cursor: [Arrow], Numerical input: [Numeral]
3) Pressing the function key corresponding to "HHOLD" ([F1]). While pressing, the hand executes grip-
ping action at the specified position number. The indication of "BUSY" of TB screen will be "black
square" during moving.
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 3)
HOPEN HCLOSE
Grip action at the specification position
4) When the grip of the work piece is done, the indication of "BUSY" will be "white square" and the
"HOLD" indication will be "black square". If hand arrive to the target position without doing the grip of
the work piece, the indication of "INPS" will be "black square".
Grip action at the teaching position is finishing.
5-32 Operating Procedure
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
ORG ■ SRVO■
RDY ■ BUSY□
INPS□ HOLD□
CURRENT POS( 0.00)mm
HMOV HORG
123
→
HAND1
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY■
INPS□ HOLD□
CURRENT POS( 0.00)mm
HMOV HORG
123
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 3)
HCLOSE
HOPEN
→
Complete
Confirm the target hand number.
Note) If it differs, change it with referring to
Hand Number".
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 3)
HOPEN HCLOSE
<Electric Hand Operation>
_ SPEED
_ FORCE
_ POINT No.( 3)
HCLOSE
HOPEN
→
Complete
HAND1
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY□
INPS■ HOLD■
CURRENT POS( 0.00)mm
HORG
HMOV
123
Page 28, "(1) Changing the
HAND1
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY□
INPS□ HOLD□
CURRENT POS( 0.00)mm
HMOV HORG
123
Note) The figure is the example which specified
the point 3 of the hand number 1.
HAND1
(100)% ORG ■ SRVO■
(100)% RDY ■ BUSY□
INPS□ HOLD■
CURRENT POS( 0.00)mm
HORG
HMOV
123
→
→
→