Mitsubishi Electric CR800 Series Instruction Manual page 49

If it may execute overlapping, execute this command after confirming that the hand is not moving with
referring to the status variable (M_EHBusy).
6) The origin setting must be completed before executing this instruction. If origin setting is not completed,
the error will occur.
7) It is necessary to initialize the parameter (model selection) for the electric hand of new purchase.
EHMov (Hand move)
[Function]
Positioning movement of the electric hand to the specified position.
[Format]
EHMov[]<Hand No.>, <Point No.>, <Speed> [,<Relative position>]
[Terminology]
<Hand No> ............ ....Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the
<Point No>.............. ....Specify the point number (taught position) of the electric hand. Specify with the constant
<Speed> ................. ....Specify the movement speed of the hand by the integer in % unit. Specify with the
<Relative position> . ....The target position is shifted by this offset length. Specify per 0.01mm.
[Reference Program 1]
1 EHMov 1, 5, 100
2 Mov PUP
3 Wait M_EHInPs=1
4 Mvs PGET
5 Fine 0.5, P
6 EHClose 1, 50, 30
7 Wait M_EHBusy=0
8 If M_EHHold=1 Then
9 Mvs PUP
10 EndIf
[Reference Program 2]
1 Mvs PCHK
2 EHClose 1, 50, 30, 20.00 22.00
3 Wait M_EHBusy=0
4 If M_EHHold=1 AND M_EHZone=1 Then
5 MCHKOK=1
6 EndIf
7 EHMov 1, 0, 100, -10.00
8 Wait M_EHInPs=1
9 Mvs PUP
numeric variable.
(notes: The real number is rounded off.)
or the numeric variable.
The range of values is 0 to 32. (notes: The real number is rounded off.)
= 0: Current position
= 1 to 32: Move to the position which set up (taught) as the parameter
(EHnPOS1 to EHnPOS32, n: hand number)
constant or the numeric variable.
Range of values: 1 to 100 (%) (notes: The real number is rounded off.)
Note) When setting speed is smaller than 20%, a hand sometimes vibrates.
Specify with the constant or the numeric variable.
The range of values is -9999.99 to +9999.99 mm. (
(With no zone specification)
'Move the hand1 (point No. = 5, speed = 100%).
'Move to higher place of the grip position.
'Confirming completion of the move to specified position.
'Move to the grip position.
'Waiting the completion of robot's movement. (Refer to
EHClose (Hand Open/Hand
'Close the hand1 (speed = 50%, force = 30%).
'Confirming of movement completion.
'Confirming of grip completion.
'Move to higher place of the grip position.
(with zone specification)
5Using the Electric Hand (Programming)
notes:
'Move to the check position of dimensions.
'Close the hand1 (speed = 50%, force = 30% and zone
position = 20 to 22mm).
'Confirming of movement completion.
'Confirming of the grip & zone.
'Check flag =1.
'Hand1 movement: From the current position to 10mm
open. (speed = 100%)
'Confirming of movement completion.
'Move to higher place of the check position of dimensions.
The value below 0.01mm is rounded off.)
Close))
Operating Procedure 5-37
EHOpen/