Parameter List - Mitsubishi Electric CR800 Series Instruction Manual

5Using the Electric Hand (Programming)

5.1.4 Parameter list

The list of the parameters is shown in
Table 5-7:Electric hand control parameter list
Parameter
Electric hand
Actuator Type
Electric hand
Soft limit (+)
Electric hand
Soft limit (-)
Electric hand
Stroke
Electric hand
Positioning comple-
tion distance
Electric hand
Acceleration
Electric hand
Maximum program
speed
Electric hand
Gripping Speed
Electric hand
Constant-speed
movement zone
Electric hand
Limit width
5-50 Operating Procedure
Table
No. of arrays
Parameter
No. of charac-
Note1)
name
ters
EHnTYPE Integer 1
EHnLMTP Integer 1
EHnLMTM Integer 1
EHnSTRK Integer 1
EHnPSCD Integer 1
EHnACC Integer 1
EHnVMAX Integer 1
EHnVHLD Integer 1
EHnZNCV Integer 1
EHnLMTW Integer 1
5-7.
Details explanation
This parameter is used for setting the type of a gripper
currently used.
Input range: 0 to 65535
By this parameter setting, the parameter of the connected
electric hand is initialized and memorize parameter initial
values.
This parameter is used for setting a positive movable range.
Input range: 0 to 9999 (unit: 0.1mm)
If you set the direction in which the fingers return to their
origin positions to OPEN, the closing direction becomes
positive direction.
If you set the direction in which the fingers return to their
origin positions to CLOSE, the opening direction becomes
positive direction.
This parameter is used for setting a negative movable range
Input range: -9999 to 0 (unit: 0.1mm)
If you set the direction in which the fingers return to their
origin positions to OPEN, the closing direction becomes
positive direction.
If you set the direction in which the fingers return to their
origin positions to CLOSE, the opening direction becomes
positive direction.
This parameter is used for setting actuator stroke length.
Input range: 0 to 9999 (unit: 0.1mm)
When moving to the specified point, complete movement in
the specified distance (near side).
Input range: 1 to 9999 (unit: 0.01mm)
Increase the parameter to shorten tact time of the system.
This parameter is used for setting actuator acceleration.
Optimum acceleration is automatically set by setting actuator
type and mass of moving parts.
To decrease acceleration in consideration of the installation
place of the actuator and rigidity of fingernails, change the
acceleration parameter value.
Input range: 1 to 100 (%)
This parameter is used for setting maximum speed stored as
point data
Input range: 1 to 100 (%)
Set up the constant speed in effective gripping range at
positioning grip movement (movement by EHHold
instruction).
Input range: 1 to 100 (%)
Set up the moving distance by constant speed at positioning
grip movement (movement by EHHold instruction).
Move by gripping speed in the moving distance by constant
speed (near side) from target position.
Input range: 1 to 9999 (unit: 0.01mm)
Set up the limit width of moving by constant speed at
positioning grip movement (movement by EHHold
instruction).
Move at gripping speed to the position which added limit
width from the target position.
If the fingers moved beyond the effective gripping range, they
stop at the point (movement distance + limit width)
Input range: 0 to 9999 (unit: 0.01mm)
Factory setting
0
0
0
0
0
0
0
0
0
0