Mitsubishi Electric CR800 Series Instruction Manual page 50

5Using the Electric Hand (Programming)
[Explanation]
1) Specify the point number and the speed and move the electric hand to the specified position.
Move by trapezoidal speed control up to the specified position.
Speed
速度
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
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 target position can shift when the relative position is specified.
5) If it stops by external force during operation, the error occurs. (Electric hand Alarm occur (Over load))
6) When this instruction is executed during electric hand movement, the error "Electric hand Command dou-
ble" occurs.
If it may execute overlapping, execute this command after confirming that the hand is not moving with
referring to the status variable (M_EHBusy).
7) The origin setting must be completed before executing this instruction. If origin setting is not completed,
the error will occur.
8) It is necessary to initialize the parameter (model selection) for the electric hand of new purchase.
5-38 Operating Procedure
Top speed
最高速度
Moving distance
移動距離
(Operation status)............................... = 1: Executing
(Arrival condition to target position)..... = 0: Not arrived, = 1: Arrived
Distance
距離