Mitsubishi Electric CR750-Q - Page 586

6-566 Dedicated input/output
6External input/output functions
HANDENA Input Hand control permis-
sion input
Permit or prohibit control of the robot hand by
the external signal.
1/0 = permission / prohibition
Notes) The control of the robot's hand is avail-
able during automatic execution. The
interlocking of the robot and external
equipment, such as the sequencer, is
necessary sure because of the safety.
When the control of robot's hand by an
external signal is permitted, the com-
mands: HOpen/HClose, of a program
becomes invalid.
Level -1,
-1
-1,
-1
Output Hand control permis-
sion output
The permission condition of control of robot's
hand by the external signal is outputted.
1/0 = permission / prohibition
When the hand control permission input signal
is turned on and T/B is not available, this sig-
nal turns on.
HANDOUT Input Hand output control sig-
nal
Set up the external input-signal range for con-
trolling the robot hand.
The input signal set up here is matched in
order with the hand signal set up by parame-
ter: HANDTYPE
Element 1: Hand output control signal start
number
Element 2: Hand output control signal finish
number
Edge -1,
-1
-1,
-1
Output - -
HNDERRn
(n=1 to 3)
Input Mechanism n hand
error input signal
Requests the hand error occurrence.
A LOW level error (error number 30) will be
generated.
Level
-1,
-1
-1,
-1
Output Mechanism n hand
error output signal
Outputs that a hand error is occurring.
AIRERRn
(n=1 to 5)
Input Mechanism n pneu-
matic pressure error
input signal
Request the pneumatic pressure error occur-
rence.
A LOW level error (error number 31) will be
generated.
Level
-1,
-1
-1,
-1
Output Mechanism n pneu-
matic error output sig-
nal
Outputs that a pneumatic pressure error is
occurring.
USRAREA
Refer to Page
474, "5.8
About user-
defined area"
Input - -
Note5)
10064(Start bit),
10071(End bit)
Note5)
-1(Start bit),
-1(End bit)
Output User-designated area
8-points
(start No., end No.)
Outputs that the robot is in the user-desig-
nated area.
The output is made sequentially for areas 1, 2
and 3, as designed from the one closest to the
start number.
The area is set with parameters AREA1P1,
AREA1P2 to AREA8P1 and AREA8P2.
Setting example)
When USRAREA is used as an example:
If only area 1 is used, USRAREA: 8, 8 Setting
valid
If only area 1,2 is used, USRAREA: 8, 9 Set-
ting valid
USRAREA:-1,-1 to Setting invalid
USRAREA: 8,-1 to Setting invalid(No Error)
USRAREA:-1,8 to Setting invalid(No Error)
USRAREA:9,8 to Setting invalid(Error L6643)
MnPTEXC
(n=1 to 3)
Input - - -1(No meaning),
-1
-1, (No meaning)
-1
Output Warning for mainte-
nance parts replace-
ment time
This output notifies that the replacement time
of maintenance parts has been reached.
Level
Parameter
name
Class Name Function
Signal
level
Note1)
Factory shipment signal number.
Input, output
CR7xx-Q CR7xx-D