Specification Of The Robot Programming Language; List Of Instructions; Status Variable List - Mitsubishi Electric CR800 Series Instruction Manual

5Using the Electric Hand (Programming)

5.1.3 Specification of the Robot Programming Language

(1) List of Instructions

The list of the instructions which operate the electric hand is shown in
Table 5-4:Instructions related to electric hand
No
1 EHOpen/EHClose (Hand Open/Hand Close)
2 EHMov (Hand move)
3 EHHold (Hand hold)
4 EHOrg (Hand origin)
5
EHServo On/Off (Hand servo)
6 EHStop (Hand stop)
7
EHTbl (Hand table)

(2) Status variable list

The list of the status variables related to the electric hand is shown in
Table 5-5:Status variable of the electric hand
Variable name
No
1 M_EHPos1/
M_EHPos2/
M_EHPos3
2 M_EHCur
3 M_EHBusy
4 M_EHInPs
5 M_EHHold
6 M_EHZone
7 M_EHOrg
8 M_EHTMd1/
M_EHTMd2/
M_EHTMd3
9 M_EHOPos
Note1) Point No. .......... 1 to 32, Specify point data (teaching No.).
Hand No. ........... 1 to 3, Specify the hand No.
Table number...... 1 to 32, Specify the table number of the hand are designated.
Note2) R....................... Only reading is possible.
RW ....................... Both reading and writing are possible.
5-34 Operating Procedure
Command
Note1)
Array designation
Point No. (1 to 32)
Hand No. (1 to 3)
Hand No. (1 to 3)
Hand No. (1 to 3)
Hand No. (1 to 3)
Hand No. (1 to 3)
Hand No. (1 to 3)
Table No. (1 to 32)
Hand No. (1 to 3)
Open / Close the hand
(Move to the open end / close end)
Move and positioning to the specified position
Positioning and grip operation.
Origin setting
A power supply of a servomotor is controlled.
Stop of operation.
Move by the condition of the designated table
number.
Details.
Point data for each electric hand (1
to 3)
Current position
Operation status
(1: Executing /0: Not executing)
Arrival condition to target position
(1: Arrived /0: Not arrived)
Hand grip condition
(1: Gripping /0: Not gripping)
Inside of the specified area
(1: Inside specified area /0: Outside
specified area)
Completion condition of hand origin
setting
(1: Completed /0: Not completed)
Operation mode of designated table
data of a Multifunctional Electric
Hand
Operation completion point number
of a multifunctional Electric hand
(0: Completed or moving)
Table 5-4.
Explanation
Table 5-5.
Attribute
Data type, Unit
Note2)
RW Single-precision real
number type, mm
R Single-precision real
number type, mm
R Integer type
R Integer type
R Integer type
R Integer type
R Integer type
R Integer type
R Integer type
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