Detailed Explanation Of Command Words - Mitsubishi Electric CR800 Series Instruction Manual

(3) Detailed explanation of command words

Each instruction is explained below.
EHOpen/EHClose (Hand Open/Hand Close)
[Function]
Commands the electric hand to open or close.
[Format]
EHOpen[]<Hand No.>, <Speed>, <Force> [, <Zone-on position>, <Zone-off position>]
EHClose[]<Hand No.>, <Speed>, <Force> [, <Zone-on position>, <Zone-off position>]
[Terminology]
<Hand No> .............Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric
<Speed> .................Specify the movement speed of the hand by the integer in % unit. Specify with the constant
<Force> ..................Specify the holding force of the hand by the integer in % unit. Specify with the constant
<Zone on position>/<Zone off position>
[Reference Program 1] (With no zone specification)
1 EHOpen 1, 100, 30
2 Mov PUP
3 Wait M_EHInPs=1
4 Mvs PGET
5 Fine 0.5, P
6 EHClose 1, 50, 30
7 Wait M_EHBusy=0
8 If M_EHHold=1 Then
9 Mvs PUP
10 EndIf
Note 1) By using the Fine command, after movement of robot arm is completed, operation of the hand can
be begun. However, the specified value as the pulse in Fine command is the value which requires
adjustment. (Refer to "Fine" command in the separate manual "Instruction Manual/Detailed
Explanation of Functions and Operations".)
And, the Dly command also has the same effect.
variable.
(notes: The real number is rounded off.)
or the numeric variable.
Range of values: 1 to 100 (%) (notes: The real number is rounded off.)
Note) 1. When setting speed is smaller than 20%, a hand vibrates.
2. When setting speed is bigger than 50%, an overload error occurs.
or the numeric variable.
Range of values: 1 to 100 (%) (notes: The real number is rounded off.)
Note) If setting the small value (less than 30%), the hand may not move due to friction of itself.
Example) The electric hand: "ESG1-SS-2815-11XW107" can move by 10% or more.
When confirming whether the hand exists in the specific area, specify that specific area
in the start zone / end zone with a constant or the numeric variable. (Refer to
Input range: -9999.99 to 9999.99 (mm) (0.01mm unit)
'Open the hand1 (speed = 100%, force = 30%).
'Move to higher place of the grip position.
'Confirming completion of the move to open end.
'Move to the grip position.
'Waiting the completion of robot's movement.
'Close the hand1 (speed = 50%, force = 30%).
'Waiting the completion of hand's operation.
'If gripping, the robot will go up.
5Using the Electric Hand (Programming)
Note1)
Operating Procedure 5-35
Fig. 5-2.)