4MELFA-BASIC V
Detailed explanation of command words 4-249
Loadset (Load Set)
[Function]
This instruction specifies the condition of the hand/workpiece at execution of the Oadl instruction.
And, when using the interference avoidance function, specify the hand number and the work number. (Spec-
ify the model which is the target of the interference check)
[Format]
[Terminology]
<Hand condition No.> 1 to 8.Designate the hand condition (HNDDAT 1 to 8) No. for which the weight and
size are designated.
<Workpiece condition No.>
1 to 8. Designate the hand condition (WRKDAT 1 to 8) No. for which the weight
and size are designated. .
[Reference Program]
1 Oadl On
2 LoadSet 1,1 ' Hand 1(HNDDAT1) and workpiece 1(WRKDAT1) conditions.
3 Mov P1
4 Mov P2
5 LoadSet 1,2 ' Hand 1(HNDDAT1) and workpiece 2(WRKDAT1) conditions.
6 Mov P1
7 Mov P2
8 Oadl Off
[Explanation]
(1) Set the hand conditions and workpiece conditions used for optimum acceleration/deceleration. This is
used when setting the optimum acceleration/deceleration for workpiece types having different weights.
(2) The maximum load is set for the hand when the program execution starts.
(3) Set the weight, size (X, Y, Z) and center of gravity position (X, Y, Z) as the hand conditions in parameter
(HNDDAT 1 to 8).
(4) Set the weight, size (X, Y, Z) and center of gravity position (X, Y, Z) as the workpiece conditions in
parameter (WRKDAT 1 to 8).
(5) The hand conditions and workpiece conditions changed when this command is executed are reset to the
system default value when the program is reset and when the End statement is executed.
As the system default values, the hand conditions are set to the rated load, and the workpiece condi-
tions are set to none (0kg).
(6) Refer to Page 496, "5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration settings)"
for details on the optimum acceleration/deceleration.
Refer to Page 523, "5.24 Interference avoidance function" for details of the interference avoidance
function.
[Related instructions]
Oadl (Optimal Acceleration), HOpen / HClose (Hand Open/Hand Close)
[Related parameter]
HNDDAT1 to 8, WRKDAT1 to 8, HNDHOLD1 to 8
Refer to Page 496, "5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration settings)".
Refer to Page 438, "Table 5-1: List Movement parameter" for the ACCMODE.
Refer to Page 523, "5.24 Interference avoidance function" for details of the parameter about interference
avoidance function.
LoadSet[]<Hand condition No.>, <Workpiece condition No.>
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