Mapping Hand Signal With Parameter Handtype - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

(2) Mapping hand signal with parameter HANDTYPE

When the parameter HANDTYPE setting is changed, robot hand signal corresponding to the hand output
control signal may change. The signals allocated to hand signals correspond to the hand output control sig-
nals in order.
● The tables below list the correspondence to the robot hand output signals, when hand output control sig-
nals (HANDOUT) are set to "10080, 10087":
a) Parameter HANDTYPE=D900,D902,D904,D906, , , , (factory defaults):
Hand No
Open/Close
Robot hand output sig
Hand output cont sig
b) Parameter HANDTYPE=D10,D12, , , , , ,:
Hand No
Open/Close
Robot hand output sig
Hand output cont sig
The areas 10084 - 10087 are not used.
c) Parameter HANDTYPE=S10, , ,S13, , , , :
Hand No
Open/Close
Robot hand output sig
Hand output cont sig
The areas 10082 - 10087 are not used.
d) Parameter HANDTYPE=D10,S12, , , , , ,:
Hand No
Open/Close
Robot hand output sig
Hand output cont sig
The areas 10083 - 10087 are not used.
● It also supports hands 5 - 8 of parameter HANDTYPE.
When parameter HANDTYPE=D900, D902, D904, D906, D10, D12, D14, D16,
hand output control signal (HANDOUT) are set to "10080, 10095":
Hand No
Open/Close
Robot hand output sig
Hand output cont sig
Hand No
Open/Close
Robot hand output sig
Hand output cont sig
1
Open Close Open
900 901 902
10080 10081 10082
1
Open Close Open
10 11 12
10080 10081 10082
1
Open Close Open
10 -
10080 -
1
Open Close Open
10 11
10080 10081 10082
1
Open Close Open
900 901 902
10080 10081 10082
5
Open Close Open
10 11 12
10088 10089 10090
2 3
Close Open Close
903 904 905
10083 10084 10085
2 3
Close Open Close
13 - -
10083 - -
2 3
Close Open Close
- - -
- - -
2 3
Close Open Close
12 - -
- -
2 3
Close Open Close
903 904 905
10083 10084 10085
6 7
Close Open Close
13 14 15
10091 10092 10093
How to Operate Sequencer Direct 2-90
8Perform Sequencer Direct
4
Open Close
906 907
10086 10087
4
Open Close
- -
- -
4
Open Close
13
10081
4
Open Close
- -
- -
4
Open Close
906 907
10086 10087
8
Open Close
16 17
10094 10095