Mitsubishi Electric CR800 Series Instruction Manual page 56

5Using the Electric Hand (Programming)
EHTbl (Hand table)
[Function]
Make a Multifunctional Electric Hand move by the condition of the designated table number.
[Format]
EHTbl[]<Hand No>, <Table No>
[Terminology]
<Hand No> .............Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric
<Table No> ............. The table number of the Multifunctional Electric Hand of multiple functions is designated.
[Reference Program 1]
1 EHTbl 1, 1
2 Mov PUP
3 Wait M_EHInPs=1
4 Mvs PGET
5 Fine 0.5, P
6 EHTbl 1, 2
7 Wait M_EHBusy=0
8 If M_EHHold=1 AND M_EHZone=1 Then 'Confirming of the grip & zone.
9 Mos PUP
10 EndIf
<Parameter setting>
EH1TBL1 = 3.00, 5.00, -3.00, 100.00, 0.00, 0.00, 0.00
EH1TBL2 = 4.00, 5.00, 0.00, 100.00, 30.00, 0.00, 0.00
[Explanation]
1) This command moves a electric hand by table designation.
The Multifunctional Electric Hand is operated following the table information (operation mode, the point
number, relative amount, speed, the power, the zone ON location, and the zone OFF location) set as
parameter EHnTBL1 - 32.
2) In automatic operation, if hand movement begins, processing will go to the next instruction. (Don't wait for
completion of hand movement)
Refer to the following status variables for movement completion confirming of the hand.
<Operation mode: "open" or "close">
• M_EHBusy
• M_EHInPs
• M_EHOrg
5-44 Operating Procedure
variable.
The specified range is 1 to 32.
The table information set as EHnTBL1-32 is set as a parameter.
' Move the hand1 (point No. = 5, speed = 100%, Relative amount =-
3.0mm).
' Move to higher place.
' Confirming of movement completion.
' Move to the grip position.
' Waiting the completion of robot's movement. (Dly command can also
be used)
' Grip the hand1 (point No. = 5, speed = 100%, force = 30%)
(Operation status)................................= 1: Executing
(Arrival condition to target position)......= 0: Not arrived, =1: Arrived
(hand grip condition)..............................= 0: Start the operation, = 1: Gripped on the way
' Confirming of movement completion.
' Move to higher place.