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4MELFA-BASIC IV
Loadset (Load Set)
[Function]
This instruction specifies the condition of the hand/workpiece at execution of the Oadl instruction.
[Format]
LoadSet[]<Hand condition No.>, <Workpiece condition No.>
[Terminology]
<Hand condition No.>
<Workpiece condition No.>
[Reference Program]
1 Oadl On
2 LoadSet 1,1
3 Mov P1
4 Mov P2
5 LoadSet 1,2
6 Mov P1
7 Mov P2
8 Oadl Off
[Explanation]
(1) Set the hand conditions and workpiece conditions used for optimum acceleration/deceleration. This is
used when setting the optimum acceleration/deceleration for workpiece types having different weights.
(2) The maximum load is set for the hand when the program execution starts.
(3) Set the weight, size (X, Y, Z) and center of gravity position (X, Y, Z) as the hand conditions in parameter
(HNDDAT 1 to 8).
(4) Set the weight, size (X, Y, Z) and center of gravity position (X, Y, Z) as the workpiece conditions in
parameter (WRKDAT 1 to 8).
(5) The hand conditions and workpiece conditions changed when this command is executed are reset to the
system default value when the program is reset and when the End statement is executed.
As the system default values, the hand conditions are set to the rated load, and the workpiece condi-
tions are set to none (0kg).
(6) Refer to
Page 377, "5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration settings)"
for details on the optimum acceleration/deceleration.
[Related instructions]
Oadl (Optimal
Acceleration),
[Related parameter]
HNDDAT1 to 8, WRKDAT1 to 8, HNDHOLD1 to 8
Refer to
Page 377, "5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration
Refer to
Page 351, "Table 5-2: List Signal parameter"
4-213 Detailed explanation of command words
1 to 8.Designate the hand condition (HNDDAT 1 to 8) No. for which the weight and
size are designated.
1 to 8. Designate the hand condition (WRKDAT 1 to 8) No. for which the weight
and size are designated. .
' Hand 1(HNDDAT1) and workpiece 1(WRKDAT1) conditions.
' Hand 1(HNDDAT1) and workpiece 2(WRKDAT1) conditions.
HOpen / HClose (Hand Open/Hand Close)
for the ACCMODE.
settings)".
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