Mitsubishi Electric R56TB Instruction Manual page 42

Table 9-3 The operation of the Electric Hand and the explanation of the functions.
Operation
Open
Close
Operation
Move
Hold
Origin
Hand Servo Off
Note) When the value of speed or force (grip force) is set that is smaller than the smallest setting value of the
operated hand, the hand moves at the smallest setting value.
CAUTION
It is possible to turn off the servo power supply of the Electric Hand
only by the Hand Servo Off operation of T/B.
It is possible to turn off the servo power supply of the Electric Hand only by the Hand Servo Off
operation of T/B.
In the following cases, the power supply of the electric hand is not turned off.
- When the robot is stopped in an emergency state.
- When the high-level error of the robot occurs.
- When the servo power supply of the robot is turned off.
The servo power supply of the Electric Hand is turned on automatically when the operation
instruction is executed.
The explanation of "CURRENT POS "<f> is as follows.
The hand is opened. (Only while holding down the button.)
The same operation as time when the EHOpen instruction was executed is done
based on a set value of the "Speed" and "Force".
The hand is closed. (Only while holding down the button.)
The same operation as time when the EHClose instruction was executed is done
based on a set value of the "Speed" and "Force".
The hand is moved by the table method. (Only while holding down the button.)
The same operation as time when the EHTble instruction was executed is done
based on a set value of the "Table #".
The hand is moved. (Only while holding down the button.)
The same operation as time when the EHMov instruction was executed is done
based on a set value of the "Speed" and "Point #.".
The hand holding operation is executed. (Only while holding down the button.)
The same operation as time when the EHHold instruction was executed is done
based on a set value of the "Speed", "Force" and "Point #".
The moving to the origin point is executed. (Only while holding down the button.)
The same operation as time when the EHOrg instruction was executed is done.
The servo power of the Electric Hand is turned off.
As a result, it is possible to move the hand manually and teach directly.
Explanation
Distance from the origin point.
Percentage of distance from the center.
Center of the Electric Hand.
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