Opening/Closing The Hands - Mitsubishi Electric CR750-Q Instruction Manual
Cr750/cr751/cr760 series
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- Instruction manual (222 pages) ,
- Instruction manual (126 pages) ,
- Instruction manual (126 pages)
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3Explanation of operation methods
3.3 Opening/Closing the Hands
The open/close operation of the hands attached to on the robot is explained below.
The a maximum of six hands are controllable. The hand 6, 5, 4, 3, 2, and 1 are assigned to each key of X, Y,
Z, A, B, and C axis. To open the hand press each the key of "+", to close the hand press each the key of "-".
1) Set the controller mode to "MANUAL", and set the T/B [ENABLE] switch to "ENABLE". (The switch
and the ENABLE LED light up.)
MODE
MANUAL
2) Press the [HAND] key and display the <HAND> screen. The opening and closing condition of the
hand is shown in OUT-900, and the ON/OFF condition of the hand check input signal is shown in IN-
900. To open the hand1 press the key of [+C], to close the hand1 press the key of [-C].
The other hands can be operated in the same way by the key of X, Y, Z, A, and B axis.
Display the <HAND> screen: [HAND] key
Open
OUT-900 to OUT-907
Open/Close
Hand number
IN-900 to IN-907
Input signal
It is possible to mount various tools on the robot's hand area. In the case of pneumatic control, where the
solenoid valve (at double solenoid) is used, two bits of the hand signal is controlled by the open/close oper-
ation of the hand. For more information about the hand signal, please refer to
hand type"
and
Page 485, "5.13 About default hand
3-30 Opening/Closing the Hands
AUTOMATIC
Rear of T/B
[-C]
[+C]
Close
7
6
5
Close Open Close Open Close Open Close Open
4
7
6
5
907
906
905
Up ：DISABLE
Down：ENABLE
*Lighting
<HAND>
±C:HAND1
_
±B:HAND2
_
±A:HAND3
_
76543210
_OUT-900
_
ALIGN
SAFE
Op
ening and closing hand 1
Open: Press [+C ] key
Close: Press [-C ] key
Opening and closing hand 2
Open: Press [+B ] key
Close: Press [-B ] key
Opening and closing hand 3
Open: Press [+A ] key
Close: Press [-A ] key
Opening and closing hand 4
Open: Press [+Z ] key
Close: Press [-Z ] key
Opening and closing hand 5
Open: Press [+Y ] key
Close: Press [-Y ] key
Opening and closing hand 6
Open: Press [+X ] key
Close: Press [-X ] key
4
3
2
3
2
4
3
2
904
903
902
status".
±Z:HAND4
±Y:HAND5
±X:HAND6
76543210
IN-900
CLOSE
123
1
0
1
1
0
901
900
Page 484, "5.12 About the
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