About Default Hand Status - Mitsubishi MELFA CR1D Instruction Manual

5Functions set with parameters

5.13 About default hand status

The factory default setting is shown below.
Hand type
When pneumatic hand inter-
face is installed (double-sole-
noid is assumed)
When electric-powered hand
interface is installed
I/F before interface installation
A single controller can control multiple robots. If pneumatic hand interface is to be used for each robot, the
hand output signal number is assigned in the following manner.
Mechanism #1 = #900 to #907 (This will be the case for standard configuration with one unit connected.)
Mechanism #2 = #910 to #917
Mechanism #3 = #920 to #927
When electric-powered hand interface is used, the system will use the 900's using special controls. The
users should not access the 900's directly but instead use the hand control instructions or the hand opera-
tion from T/B only. If you access the 900's, normal opening and closing of the hand will not be possible.
The default parameters are set as shown below so that all hands start as "Open" immediately after power
up.
Parameter name
HANDINIT
The above describes the situation for standard configuration (one unit is connected). When multiple mecha-
nisms are used, specify the mechanism number to set the HANDINIT parameter.
If for instance hand 1 alone needs to be closed when the power is turned ON, the following should be set.
Similarly, in the case of electric-powered hand (hand number is fixed to 1), the hand will be closed when the
power is turned on if the following configuration is applied.
Parameter name
HANDINIT
[Caution1] If you set the initial hand status to "Open," note that the workpiece may be dropped when the
power is turned ON.
[Caution2] This parameter specifies the initial value when turning ON the power to the dedicated hand sig-
nals (900's) at the robot's tip.
To set the initial status at power ON when controlling the hand using general-purpose I/Os (other
than 900's) or CC-Link (6000's) (specifying a signal other than one in 900Åfs by the HANDTYPE
parameter), do not use this HANDINIT parameter, but use the ORST* parameter.
The value set by the ORST* parameter becomes the initial value of signals at power ON.
[Caution3] The RC-1300G series uses #224 to #227 and #192 to #195 for hand input signals. Use the
ORST224 and ORST192 parameters, rather than the HANDINIT parameter, to set the initial value
when the power supply is turned on.
5-373 About default hand status
Status
Hand 1 = Open 900=1
901=0
Hand 2 =Open 902=1
903=0
Hand 3 =Open 904=1
905=0
Hand 4 =Open 906=1
907=0
Hand open M_Out (9*0) through M_Out (9*7) are used by the system and therefore
unavailable to the user. If used, normal opening and closing of the hand
will not be possible.
- M_Out (9*0) through M_Out (9*7) do not function.
Signal number
900, 901, 902, 903, 904, 905, 906, 907
Signal number
900, 901, 902, 903, 904, 905, 906, 907
Status of output signal number
Mechanism #1 Mechanism #2
910=1
911=0
912=1
913=0
914=1
915=0
916=1
917=0
Mechanism #3
920=1
921=0
922=1
923=0
924=1
925=0
926=1
927=0
Value
1, 0, 1, 0, 1, 0, 1, 0
Value
0, 1, 1, 0, 1, 0, 1, 0, 1