Mitsubishi Electric CR750-Q Instruction Manual page 586

6External input/output functions
Parameter
Class
name
HANDENA Input Hand control permis-
sion input
Output Hand control permis-
sion output
HANDOUT Input Hand output control sig-
nal
Output
HNDERRn Input Mechanism n hand
(n=1 to 3) error input signal
Output Mechanism n hand
error output signal
AIRERRn Input Mechanism n pneu-
(n=1 to 5) matic pressure error
input signal
Output Mechanism n pneu-
matic error output sig-
nal
USRAREA Input
Output User-designated area
Refer to Page
8-points
474, "5.8
(start No., end No.)
About user-
defined area"
MnPTEXC Input
(n=1 to 3)
Output Warning for mainte-
nance parts replace-
ment time
6-566 Dedicated input/output
Name
Permit or prohibit control of the robot hand by
the external signal.
1/0 = permission / prohibition
Notes) The control of the robot's hand is avail-
able during automatic execution. The
interlocking of the robot and external
equipment, such as the sequencer, is
necessary sure because of the safety.
When the control of robot's hand by an
external signal is permitted, the com-
mands: HOpen/HClose, of a program
becomes invalid.
The permission condition of control of robot's
hand by the external signal is outputted.
1/0 = permission / prohibition
When the hand control permission input signal
is turned on and T/B is not available, this sig-
nal turns on.
Set up the external input-signal range for con-
trolling the robot hand.
The input signal set up here is matched in
order with the hand signal set up by parame-
ter: HANDTYPE
Element 1: Hand output control signal start
number
Element 2: Hand output control signal finish
number
-
Requests the hand error occurrence.
A LOW level error (error number 30) will be
generated.
Outputs that a hand error is occurring.
Request the pneumatic pressure error occur-
rence.
A LOW level error (error number 31) will be
generated.
Outputs that a pneumatic pressure error is
occurring.
-
Outputs that the robot is in the user-desig-
nated area.
The output is made sequentially for areas 1, 2
and 3, as designed from the one closest to the
start number.
The area is set with parameters AREA1P1,
AREA1P2 to AREA8P1 and AREA8P2.
Setting example)
When USRAREA is used as an example:
If only area 1 is used, USRAREA: 8, 8 Setting
valid
If only area 1,2 is used, USRAREA: 8, 9 Set-
ting valid
USRAREA:-1,-1 to Setting invalid
USRAREA: 8,-1 to Setting invalid(No Error)
USRAREA:-1,8 to Setting invalid(No Error)
USRAREA:9,8 to Setting invalid(Error L6643)
-
This output notifies that the replacement time
of maintenance parts has been reached.
Function
-
-
-
Factory shipment signal number.
Signal
Input, output
level
Note1)
CR7xx-Q
Level -1, -1,
-1 -1
Edge -1, -1,
-1 -1
Level -1, -1,
-1
-1
Level -1, -1,
-1
-1
Note5) Note5)
-1(Start bit),
10064(Start bit),
-1(End bit)
10071(End bit)
-1(No meaning), -1, (No meaning)
Level
-1 -1
CR7xx-D