Mitsubishi Electric CR800 Series Instruction Manual page 53

EHOrg (Hand origin)
[Function]
Origin setting of electric hand
[Format]
EHOrg[]<Hand No>
[Terminology]
<Hand No> .............Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric
[Reference Program 1]
1 If M_EHOrg=0 THEN
2 EHOrg 1
3 Wait M_EHOrg=1
4 EndIf
5 EHOpen 1, 100, 30
[Explanation]
1) Execute the origin setting of the electric hand.
The origin setting of the electric hand is necessary after turning on the controller power.
2) In automatic operation, if hand movement begins, processing will go to the next instruction. (Don't wait for
completion of hand movement)
a) Refer to the following status variables for movement completion confirming of the hand.
• M_EHBusy (Operation status)........................................... = 1: Executing
• M_EHInPs (Arrival condition to target position)................. = 0: Not arrived, =1: Arrived
• M_EHOrg (completion condition of hand origin setting).... = 1: Completed
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) In the origin setting, if the previous origin position is not reproduced, the error occurs. "Electric hand
Alarm occur (Lag of Z phase)".
Please execute the origin setting again after solving the cause of the error.
Initialize the parameter of the electric hand, if the origin position change by replacement of the finger
etc.(model selection).
4) 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).
5) It is necessary to initialize the parameter (model selection) for the electric hand of new purchase.
6) When doing the origin setting by T/B etc. not using this command, it is convenient when you describe the
following program at top. The error occur in advance if the origin setting has not been completed
Check the completion of origin setting. (Example: When not having completed the origin setting, the
error 9100 will occur)
1 If M_EHOrg = 0 THEN
2 Error 9100
3 EndIf
Supplement: Set the error which makes occurrence as the parameter. (Refer to the parameter "USR1 to
USR20" in the separate manual "Instruction Manual/Detailed Explanation of Functions and Operations".)
variable.
(notes: The real number is rounded off.)
' When origin setting is not completed.
' Origin setting of the hand1.
' Waiting to complete the origin setting of hand1.
' Open the hand1. (speed = 100%, force = 30%)
5Using the Electric Hand (Programming)
Operating Procedure 5-41