Mitsubishi Electric CR800 Series Instruction Manual page 54

5Using the Electric Hand (Programming)
CAUTION
EHServo On/Off (Hand servo)
[Function]
A servomotor power supply of a Multifunctional Electric Hand is controlled.
[Format]
EHStop[]<Hand No>, <On/Off>
[Terminology]
<Hand No> .............Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric
<On/Off> .................On: turn on the power of a servomotor of a Multifunctional Electric Hand.
[Reference Program 1]
1 EHMov 1, 1, 100
2 Mov PUP
3 Wait M_EHBusy=0
4 EHServo 1, Off
5 Mvs P1
[Explanation]
1) A servomotor power supply of an electric hand is controlled.
- When the commands of EHOpen/EHClose/EHMov/EHHold/EHOrg are executed, a servomotor power
supply enters automatically, so it isn't necessary to carry out EHServo On.
- When a servomotor power is turned off, it's possible to move a mobile by the power from the outside.
(Only the single cam three figners type)
2) This command shifts to the next command execution after a servomotor power supply on/off is com-
pleted.
3) 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).
5-42 Operating Procedure
Don't move the robot during origin setting of the electric hand.
If the robot is moved, the origin setup may not be correctly completed under the
effect of vibration etc.
variable.
(notes: The real number is rounded off.)
Off: turn off a servomotor of a Multifunctional Electric Hand.
' Move the hand1 (point No. = 1, speed = 100%).
' Move to higher place.
' Confirming of movement completion.
' Hand 1 servo off
' When a finger of hand 1 or a workpiece were the shape of the
cone, and a finger touched a workpiece, a finger of hand 1 fol-
lows a workpiece and moves. (Only single cam and three fin-
gers-type)