Mitsubishi Electric MELFA CR750 Series User Manual page 412

17.3.9.3. Hand
Click [Edit] button on "Hand file" screen. The "Hand" screen is displayed. The parts of the hand registered are
displayed on a "Hand" screen. Nothing is displayed when the hand is not created.
When you set a white space (for false) in the checkbox of the parts on "Hand" screen, the parts of the hand
are not displayed.
Figure 17-50 Hand
Figure 17-51 Hand (Version 3.10L or earlier)
The origin of Hand screen (Figure 17-48) becomes the mechanical interface center of the robot. The parts
arranged to + direction of Z pole is displayed in front of the mechanical interface of the robot. Arrange the parts
like Figure 17-50.
The mechanical interface parts and +X arrow is displayed with Version 3.60N or later of this software.
Direction of this arrow matches direction of the arrow +X of the mechanical interface on 3D monitor. Please
refer to the hand design.
Vertical robot Horizontal 4-axis robot
Example of making hand
Figure 17-52 the way of arranging hand
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