Control Robot Hand - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8Perform Sequencer Direct

8.3.4 Control Robot Hand

Dedicated I/O signals allows you to control a robot hand.
Controls the hand by allocating an I/O signal number for hand control according to the parameters listed in
the table below.
The condition to control the robot hand through external signal is "T/B invalid"
(1) Dedicated I/O parameters for hand control
Parameter
Category
Name
HANDENA Input
Output
HANDOUT Input
Note1) Hand type
Factory default setting assumes that a hand of double solenoidal type is used. To use a single solenoidal type or
to control the hand through general-purpose signals, change the parameter (HANDTYPE) as follows:
Table 8-1:Factory default parameter setting
Parameter Name
HANDTYPE
The values from left to right corresponds to the hand numbers 1, 2, ... The initial values are as follows:
Hand 1: Accesses the signal numbers 900, 901
Hand 2: Accesses the signal numbers 902, 903
Hand 3: Accesses the signal numbers 904, 905
Hand 4: Accesses the signal numbers 906, 907
<How to set up>
To use double solenoidal type, specify the number by attaching 'D' at the beginning of signal number.
For double solenoidal type, the hands 1 - 4 are available.
To use single solenoidal type, specify the number by attaching 'S' at the beginning of signal number.
For single solenoidal type, the hands 1 - 8 are available.
Example:
(1) To allocate two general-purpose signal numbers beginning with #10 to the hands of double solenoidal
type:
HANDTYPE=D10, D12, , , , ,
(2) To allocate three general-purpose signal numbers beginning with #10 to the hands of single solenoi-
dal type:
HANDTYPE=S10, S11, S12, , , , ,
(3) To allocate general-purpose signal #10 to the hand 1 of double solenoidal type, #12 to the hand 2 of
single solenoidal type:
HANDTYPE=D10, S12, , , , ,
2-89 How to Operate Sequencer Direct
Name
Hand control per- Permits (ON)/ prohibits (OFF) the robot hand control
mission input through external signal.
Note: The robot can control a hand during automatic oper-
ation. For security purposes, make sure to interlock the
robot and external equipment such as a sequencer.
Hand control per- Outputs the permission (ON)/ prohibition (OFF) of the
mission output robot hand control through external signal.
When the hand control permission input signal is turned
ON while T/B is invalid, it gets permitted (ON).
Hand output con- Sets up external input signal range for robot hand control.
The specified external input signals are mapped in
trol signal
order to the hand signals established by the param-
eter HANDTYPE.
Element 1: Start number of hand output control signal
Element 2: End number of hand output control signal
D900, D902, D904, D906, , , ,
Function
Note1)
Initial value
Factory
Signal
Default
Level
Signal No
Level -1,
-1
Edge -1,-1