Mitsubishi Electric CR800 Series Instruction Manual page 12

5.1 Operating Procedure ............................................................................................................... 5-24
5.1.1 Setting the Parameter ....................................................................................................... 5-24
(1) The Actuator Type Setting .............................................................................................. 5-24
(2) Setting of the Control Parameter .................................................................................... 5-25
5.1.2 Operation of Electric Hand ................................................................................................ 5-27
(1) Changing the Hand Number ........................................................................................... 5-28
(2) Origin Setting .................................................................................................................. 5-28
(3) Hand Opening and Closing ............................................................................................ 5-29
(4) Teaching the Moving Position ........................................................................................ 5-29
(5) Moving to the Taught Position ........................................................................................ 5-31
(6) Grip Action ...................................................................................................................... 5-32
(7) Setting the Moving Speed .............................................................................................. 5-33
(8) Setting the Force (Holding Force) .................................................................................. 5-33
5.1.3 Specification of the Robot Programming Language ......................................................... 5-34
(1) List of Instructions .......................................................................................................... 5-34
(2) Status variable list .......................................................................................................... 5-34
(3) Detailed explanation of command words ....................................................................... 5-35
(4) Explanation of Each Robot Status Variable ................................................................... 5-45
5.1.4 Parameter list .................................................................................................................... 5-50
5.1.5 Error list ............................................................................................................................ 5-52
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