Mitsubishi Electric CR800 Series Instruction Manual page 48

5Using the Electric Hand (Programming)
[Reference Program 2]
1 Mvs PCHK
2 Fine 0.5, P
3 EHClose 1, 50, 30, 20.00 22.00
4 Wait M_EHBusy=0
5 If M_EHHold=1 AND M_EHZone=1 Then
6 MCHKOK=1
7 EndIf
8 EHMov 1, 0, 100, -10.00
9 Wait M_EHInPs=1
10 Mvs PUP
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.
[Explanation]
1) Specify the speed and the force, and open / close the hand.
Move in the open or the closed direction to the stroke end at fixed speed. If the grip is detected on the
way, hand stops in that position.
2) In automatic operation, if hand movement begins, processing will go to the next instruction (Don't wait for
completion of hand movement)
a) When operation of the hand needs to be completed before the robot moves, refer to the following status
variables. The reference method is shown in the above-mentioned example.
• M_EHBusy
• M_EHInPs
• M_EHHold
b) During hand movement, if the slot which executed the hand operation command stops, hand movement
will also be stopped.
Hand movement will also be resumed if the slot restarted.
However, hand movement cannot be resumed if the target hand is moved by the manual operation of T/
B etc. during the slot stop.
c) Hand movement can be stopped (end) by the program with executing the EHStop instruction.
3) Waits till completion of hand movement by execution of this instruction in step feed or direct execution.
4) The stopping position can be confirmed by specifying the zone position.
When the hand position is in the zone, status variable M_EHZone will be set to "1".
Example)
When "EHClose 1, 50, 30, 5, 8"
are executed. (The value of
M_EHZone is "1" when the
positions of the hand are 5mm,
to 8mm)
Fig.5-2:Hand movement and the value of status variable (M_EHZone)
5) When this instruction is executed during electric hand movement, the error "Electric hand Command dou-
ble" occurs.
5-36 Operating Procedure
(with zone specification)
(Operation status).............................. = 1: Executing
(Arrival condition to target position).... = 0: Not arrived, = 1: Arrived
(hand grip condition) .......................... = 0: Start the operation, = 1: Gripped on the way
Speed
Specified
指定速度
speed
value of
"M_EHZone"
M_EHZoneの値
'Move to the check position of dimensions.
'Waiting the completion of robot's movement.
'Close the hand1 (speed = 50%, force = 30% and zone
position = 20 to 22mm).
'Waiting the completion of hand's operation.
'"1" will be substituted to the MCHKOK (check flag) if grip-
ping in the zone position.
'Open the hand1 10mm from the current position
(speed = 100%).
'Waiting for the completion of hand movement to the speci-
fied position.
'Move to higher place of the position which checks dimen-
sions.
速度
Moving start
動作開始位置 Start zone
先頭位置
position
(Zone-on position)
（ｿﾞｰﾝON位置）
1
0
Specific area
特定領域
(Specified
（ゾーン指定）
zone)
5mm
8mm
End zone
終了位置
(Zone-on position)
（ｿﾞｰ ﾝOFF位置）
Note 1)
Position
位置
Closed position
閉端位置
Time
時間