Mitsubishi Electric CR800 Series Instruction Manual page 59

M_EHBusy
M_EHInPs
M_EHHold
M_EHZone
M_EHOrg
[Function]
Return the condition of the electric hand.
M_EHBusy........... Operation status. (1: Executing /0: Not executing)
M_EHInPs ........... Arrival condition to target position. (1: Arrived /0: Not arrived)
M_EHHold ........... Hand grip condition. (1: Gripping /0: Not gripping)
M_EHZone .......... Inside of the specified area. (1: Inside specified area /0: Outside specified area)
M_EHOrg............. Completion condition of hand origin setting. (1: Completed /0: Not completed)
[Format]
<Numerical variable>=M_EHOrg [(<Hand No.>)] *Other status variables are equivalent.
[Terminology]
<Numerical variable>.... Specify the numerical variable which substitutes electric hand condition.
<Hand No> ............ ..... Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the
[Reference Program]
1 If M_EHOrg=0 THEN
2 EHOrg 1
3 Wait M_EHOrg=1
4 EndIf
5 EHOpen 1, 100, 20
6 Mov PUP
7 Wait M_EHInPs=1
8 Mvs PGET
9 Fine 0.5, P
10 EHClose 1, 50, 20, 20.00 22.00
11 Wait M_EHBusy=0
12 If M_EHHold=1 AND M_EHZone=1 Then 'Confirming of the grip & zone.
13 Mvs PUP
14 EndIf
numeric variable. 1 is set as the default value.
'Condition the origin setting is not completed.
'Execute the origin setting of the hand1.
'Wait for completion of the origin setting of hand1.
'Open the hand1 (speed =100%, force = 20%).
'Move to higher place of the grip position.
'Confirming completion of the move to open end.
'Move to the grip position.
'Waiting the completion of robot's movement. (Refet to
EHOpen/EHClose (Hand Open/Hand
'Close the hand1 (speed =50%, force = 20%, zone = 20 to
'Confirming of movement completion.
'Move to higher place of the grip position.
5Using the Electric Hand (Programming)
22mm).
(notes: The real number is rounded off.)
Close))
Operating Procedure 5-47