Mitsubishi Electric CR750-Q Instruction Manual page 467

Parameter
Parameter
name
Hand type HANDTYPE
Refer to
"5.12About the
hand type"
Hand and work- Set the hand conditions and work conditions for when Oadl ON is set with the program.
piece conditions Up to eight conditions can be set. The condition combination is selected with the LoadSet com-
(Used in optimum mand.
acceleration/decel- Note) You should set up the hand and work-piece conditions correctly. If a setting is performed
eration and impact in such a way that it falls below the mounted load actually, the life span of the mechanism
detection) elements used in the robot may be shortened.
HNDDAT0
Refer to "5.16Hand
and Workpiece
Conditions (opti-
mum acceleration/
deceleration set-
tings)"
HNDDAT*
* is 1 to 8
WRKDAT0
WRKDAT*
* is 1 to 8
HNDHOLD*
* is 1 to 8
Maximum acceler- ACCMODE
ation/deceleration
setting
Refer to "5.16Hand
and Workpiece
Conditions (opti-
mum acceleration/
deceleration set-
tings)"
No. of arrays
No. of characters
Character Set the single/double solenoid hand type and output signal No.
string 8 (D: double solenoid, S: single solenoid).
Set the signal No. after the hand type.
When D900 is set, the signal No. 900 and 901 will be output.
In the case of D (double solenoid), please configure the setting
so that the signals do not overlap
Real value 7 Set the initial condition of the hand. (Designate with the tool
coordinate system.)
Immediately after power ON, this setting value is used.
To use the impact detection function during jog operation, set the
actual hand condition before using. If it is not set, erroneous
detection may occur.
(Weight, size X, size Y, Size Z, center of gravity X, center of
gravity Y, center of gravity Z)
Real value 7 Set the initial condition of the hand. (Designate with the tool
coordinate system.)
(Weight, size X, size Y, Size Z, center of gravity X, center of
gravity Y, center of gravity Z)
Real value 7 Set the work conditions. (Designate with the tool coordinate sys-
tem.)
Immediately after power ON, this setting value is used.
(Weight, size X, size Y, Size Z, center of gravity X, center of
gravity Y, center of gravity Z)
Real value 7 Set the work conditions. (Designate with the tool coordinate sys-
tem.)
(Weight, size X, size Y, Size Z, center of gravity X, center of
gravity Y, center of gravity Z)
Integer 2 Set whether to grasp or not grasp the workpiece when HOpen
(or HClose) is executed.
(Setting for Open, setting for Close)
(No grasp/grasp = 0/1)
Integer 1 Sets the initial value and enables/disables the optimum acceler-
ation/deceleration mode. (Invalid/Valid=0/1)
5Functions set with parameters
Details explanation
Unit: Kg, mm
Unit: Kg, mm
Unit: Kg, mm
Unit: Kg, mm
Movement parameter 5-447
Factory setting
CR750/CR751:
D900,D902,D904,D
906,,,,
CR760:
D764,D766,D768,D
770,,,,
Setting value for
each mechanism
Standard load
,0.0,0.0,0.0,0.0,0.0,
0.0
0.0,0.0,0.0,0.0,0.0,0.0
,0.0
0.0,0.0,0.0,0.0,0.0,0
.0,0.0
0,1
1