Mitsubishi Electric MELFA FR CR800 Series User Manual page 219

13.3.3.2. Multi-hand base parameter
You can set multi-hand base model name and
When connecting robot and the robot
displayed in the project tree.
For robots and robot controllers that can use multi hand base, please
use parameters about multi-hand tool".
Parameter settings are used while connected to the robot controller.
From the project tree, you double-click [Movement Parameter] -> [Hand] -> [Multi-Hand Base] under [Parameter]
item to be edited.
After changing the parameter value, you click the [Write] button to write the parameters to the robot controller.
You can refer to the explanation of the displayed parameter with the [Explain] button.
This parameter cannot be set by offline editing.
13.3.3.3. Multi-hand tool parameter
You can set multi-hand tool selections and
The multi-hand tool can be connected to robot with remote I/O or parallel I/O.
When connecting robot and the robot
displayed in the project tree.
The robots and robot controllers that can use the multi-hand tool are as follows.
Table 13-3 The controller that can use parameters about multi-hand tool
Parameter settings are used while connected to the robot controller.
From the project tree, you double-click [Movement Parameter] -> [Hand] -> [Multi-Hand Tool] under [Parameter]
item to be edited.
After changing the parameter value, you click the [Write] button to write the parameters to the robot controller.
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standard coordinate values for each hand.
controller supports multi-hand function, items related to multi hand are
Figure 13-16
the offset value of each hand with respect to the selected hand base.
controller supports multi-hand function, items related to multi hand are
Robot controller
CR800-D/CR800-R/CR800-Q
CR750-D/CRnD-700
CR750-Q/CRnQ-700
see"Table 13-3 The controller that can
Multi-hand base parameter
Software version of robot controller
All versions
Ver.S2a or later
Ver.R2a or later
Set standard coordinates
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