Mitsubishi Electric CR800 Series Instruction Manual page 63

Parameter
Parameter
name
Electric hand EHnORGD
Direction for return-
ing the fingers to
their origin positions
Electric hand EHnORGV
Speed for returning
the fingers to their
origin positions
Electric hand EHnORGSF
Origin position shift
Electric hand EHnORGS
Origin position return
system
Electric hand EHnPOS1 to
Point data EHnPOS32
Electric hand EHnTBL1 to
Table data EHnTBL32
Electric hand EHnTCM1 to
Table comment EHnTCM32
Electric hand EHOPEMD
T/B operation mode
Electric hand EHCURMD
Present location
acquisition mode
Note1) n: Indicates the hand number (1 to 3).
No. of arrays
No. of charac-
Note1)
ters
Integer 1 This parameter is used for specifying the direction in which
the fingers return to their origin positions.
0: Opening direction
1: Closing direction
If setting the direction in which the fingers return to their origin
positions to "0: OPEN", the closing direction will become a
positive direction, then the fingers move in the closing direction.
Integer 1 This parameter is used for setting the speed at which the
fingers move back to their v positions.
Input range: 20 to 50 (%)
Integer 1 This parameter is used for shifting the coordinate position of
original data by the parameter value specified as origin
position shift.
Input range: -9999 to 9999 (unit: 0.01mm)
If this parameter is specified, there is no need to reentry point
data in the case of misalignment of origin positions during product
maintenance. Zero point shift should be set within the soft limit.
Integer 1 This parameter is used for changing the method in which the
fingers return to their origin positions.
0: Stroke end
1: S stroke end + Z phase detection system
After a stroke end is detected, the fingers are reversed until Z
phase is detected. If the reversed distance until Z phase is
detected is important, change the parameter value of the
method for returning to origin positions to "0: stroke end" to
adjust the reversed distance to 0.5mm
Integer 1 Set up the point data of electric hand. (memory)
Input range: -999.99 to 999.99 (unit: 0.01mm)
Integer 7 Table data of an electric hand is established.
The 1st element: Operation mode
(0: not set, 1: movement, 2: hold, 3:Relative movement,
4:OPEN, 5:CLOSE)
The 2nd element: The point number
<setting range> operation mode /1: 0 to 32/2: 1 to 32
The 3rd element: Relative amount [mm]
<setting range> -9999.99 to 9999.99
The 4th element: Speed [%]
<setting range> operation mode /4,5: 1 to 50/1,2,3: 1 to 100
The 5th element: The power [t%]
<setting range> 1 to 100
The 6th element: The zone ON location [mm]
* An operation mode is Open (EHOpen) or Close (EHClose),
and is effective.
<setting range> -9999.99 to 9999.99
The 7th element zone OFF location [mm]
* An operation mode is Open (EHOpen) or Close (EHClose),
and is effective.
* The 6th or 7th element, when both of them are "0", the
zone designation is invalid.
<setting range> -9999.99 to 9999.99
Character Set up the comment for the table of the Multifunctional Electric Hand.
string 1 *When the character string is separated by a one-byte
semicolon or space, the subsequent characters are not saved.
Integer 1 An initial value of a TB operation mode of an electric hand is
established.
0: point designation
1: table designation
Integer 1 The present location acquisition mode of a Multifunctional
Electric Hand is established.
0: Always acquires (compatible in the past.)
1: Always acquires in manual mode. And acquires only at
once at the time of the end of a movement. Automatic
mode is acquired only once at the time of a movement end.
5Using the Electric Hand (Programming)
Details explanation
Operating Procedure 5-51
Factory setting
0
0
0
0
0
0,0,0,0,0,0,0
""(None)
0
0