Mitsubishi Electric CR800 Series Instruction Manual page 51

EHHold (Hand hold)
[Function]
Positioning and grip operation of the electric hand.
[Format]
EHHold[]<Hand No.>, <Point No>, <Speed>, <Force>
[Terminology]
<Hand No> .............Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric
<Point No>..............Specify the point number (taught position) of the electric hand. Specify with the constant
<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
[Reference Program 1]
1 EHOpen 1, 100, 30
2 Mov PUP
3 Wait M_EHInPs=1
4 Mvs PGET
5 Fine 0.5, P
5 EHHold 1, 5, 100, 30
6 Wait M_EHBusy=0
7 If M_EHHold=1 AND M_EHZone=1 Then ' Confirming of the grip & zone.
8 Mvs PUP
9 EndIf
[Explanation]
1) Specify the point number, the speed and the force and move and grip the electric hand to the specified
position.
Move by trapezoidal speed control up to the specified position near side, and do grip operation by con-
stant speed at just before the grip position.
The control pattern of this function is set up as parameter.
• The Constant-speed movement zone (EHnZNCV)
• The Gripping Speed (EHnVHLD)
• The Limit width (EHnLMTW)
variable.
(notes: The real number is rounded off.)
or the numeric variable.
The range of values is 0 to 32. (notes: The real number is rounded off.)
= 0: Current position
= 1 to 32: Move to the position which set up (taught) as the parameter
(EHnPOS1 to EHnPOS32, n: hand number)
or the numeric variable.
Range of values: 1 to 100 (%) (notes: The real number is rounded off.)
Note) When setting speed is smaller than 20%, a hand sometimes vibrates.
or the numeric variable.
Range of values: 1 to 100 (%) (notes: The real number is rounded off.)
Note) 1. The real number is rounded off.
2. When setting speed is smaller than 30%, a hand is the frictional influence, and
I don't move. If setting the small value, the hand may not move due to friction of itself.
Example) The electric hand: "ESG1-SS-2815-11XW107" can move by 10% or
more.
5Using the Electric Hand (Programming)
' 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. (Refer to
EHOpen/EHClose (Hand Open/Hand
' Grip the hand1 (point No. = 5, speed = 100%,
force = 30%).
' Confirming of movement completion.
' Move to higher place of the grip position.
Close))
Operating Procedure 5-39