Mitsubishi Electric CR800 Series Instruction Manual page 55

EHStop (Hand stop)
[Function]
Stop the electric hand.
[Format]
EHServo[]<Hand No>
[Terminology]
<Hand No> .............Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric
[Reference Program 1]
1 EHClose 1, 100, 30
2 *LOOP: If M_In(20)=1 Then EHStop ' If the input signal No. 20 turns on (sensor information etc.), hand
3 If M_EHBusy=1 Then Goto *LOOP ' Wait to complete operation of the hand.
4 Mov PUP
[Explanation]
1) Operation of the electric hand is stopped.
Operation currently executing by the instruction is stopped.
2) It is necessary to initialize the parameter (model selection) for the electric hand of new purchase.
3) After this instruction execution, when the hand operation command (EHOpen etc.) is executed immedi-
ately, the error may occur. (Hand operation command double execution ) In such a case, execute the
next instruction after confirming that the hand is not operating by referring to the status variable
M_EHBusy (Operation status).
variable.
(notes: The real number is rounded off.)
' Close the hand1. (speed = 100%, force = 30%)
operation will be stopped.
' Move to higher place.
5Using the Electric Hand (Programming)
Operating Procedure 5-43