Mitsubishi Electric CR800 Series Instruction Manual page 52

5Using the Electric Hand (Programming)
EHnZNCV: Constant-speed
movement distance
Speed
速度
2) In automatic operation, if hand movement begins, processing will go to the next instruction. (Don't wait for
completion of hand movement)
a) When operation of the hand needs to be completed before the robot moves, refer to the following status
variables. The reference method is shown in the above-mentioned example.
• M_EHBusy
• M_EHHold
• M_EHZone
• M_EHInPs
b) During hand movement, if the slot which executed the hand operation command stops, hand movement
will also be stopped.
Hand movement will also be resumed if the slot restarted.
However, hand movement cannot be resumed if the target hand is moved by the manual operation of T/
B etc. during the slot stop.
c) Hand movement can be stopped (end) by the program with executing the EHStop instruction.
3) Waits till completion of hand movement by execution of this instruction in step feed or direct execution.
4) If the grip is done within the constant speed moving distance and the limit width, the status variable
M_EHHold and M_EHZone are set to "1".
If the grip is done before the constant speed moving distance, only the status variable M_EHHold is set
to "1".
If the grip cannot be done within limit width, the status variable M_EHHold is set to "0", and stop the
hand, and M_EHInPs is set to "1".
5) Re-starting after stopping on the way does this positioning and grip operation again, after returning to the
starting position.
Operation which returns to the starting position is same as the EHMov instruction. (Speed is same as the
specified by EHHold command)
6) When this instruction is executed during electric hand movement, the error "Electric hand Command dou-
ble" occurs.
If it may execute overlapping, execute this command after confirming that the hand is not moving with
referring to the status variable (M_EHBusy).
7) The origin setting must be completed before executing this instruction.
If origin setting is not completed, the error will occur.
8) It is necessary to initialize the parameter (model selection) for the electric hand of new purchase.
5-40 Operating Procedure
EHnZNCV定速移動距離
Top speed
最高速度
EHnVHLD:
Gripping speed
EHnVHLD把持速度
Moving distance
移動距離
(Operation status).........................= 1: Executing
(hand grip condition) .....................= 0: Not gripping, =1: Gripping
(Halted position) ..........................= 1: Inside specified area (Constant-speed movement
(Arrival condition to target position)= 0: Not arrived, = 1: Arrived
EHnLMTW: Limit width EHnLMTWリミット幅
Effective gripping range
把持有効範囲
It's an error outside the area.
範囲外はエラー
Distance
距離
Holding position
把持位置
distance + Limit width)