5Functions set with parameters
Movement parameter 5-447
Hand type
Refer to
"5.12About the
hand type"
HANDTYPE Character
string 8
Set the single/double solenoid hand type and output signal No.
(D: double solenoid, S: single solenoid).
Set the signal No. after the hand type.
When D900 is set, the signal No. 900 and 901 will be output.
In the case of D (double solenoid), please configure the setting
so that the signals do not overlap
CR750/CR751:
D900,D902,D904,D
906,,,,
CR760:
D764,D766,D768,D
770,,,,
Hand and work-
piece conditions
(Used in optimum
acceleration/decel-
eration and impact
detection)
Refer to "5.16Hand
and Workpiece
Conditions (opti-
mum acceleration/
deceleration set-
tings)"
Set the hand conditions and work conditions for when Oadl ON is set with the program.
Up to eight conditions can be set. The condition combination is selected with the LoadSet com-
mand.
Note) You should set up the hand and work-piece conditions correctly. If a setting is performed
in such a way that it falls below the mounted load actually, the life span of the mechanism
elements used in the robot may be shortened.
HNDDAT0 Real value 7 Set the initial condition of the hand. (Designate with the tool
coordinate system.)
Immediately after power ON, this setting value is used.
To use the impact detection function during jog operation, set the
actual hand condition before using. If it is not set, erroneous
detection may occur.
(Weight, size X, size Y, Size Z, center of gravity X, center of
gravity Y, center of gravity Z) Unit: Kg, mm
Setting value for
each mechanism
HNDDAT*
* is 1 to 8
Real value 7 Set the initial condition of the hand. (Designate with the tool
coordinate system.)
(Weight, size X, size Y, Size Z, center of gravity X, center of
gravity Y, center of gravity Z) Unit: Kg, mm
Standard load
,0.0,0.0,0.0,0.0,0.0,
0.0
WRKDAT0 Real value 7 Set the work conditions. (Designate with the tool coordinate sys-
tem.)
Immediately after power ON, this setting value is used.
(Weight, size X, size Y, Size Z, center of gravity X, center of
gravity Y, center of gravity Z) Unit: Kg, mm
0.0,0.0,0.0,0.0,0.0,0.0
,0.0
WRKDAT*
* is 1 to 8
Real value 7 Set the work conditions. (Designate with the tool coordinate sys-
tem.)
(Weight, size X, size Y, Size Z, center of gravity X, center of
gravity Y, center of gravity Z) Unit: Kg, mm
0.0,0.0,0.0,0.0,0.0,0
.0,0.0
HNDHOLD*
* is 1 to 8
Integer 2 Set whether to grasp or not grasp the workpiece when HOpen
(or HClose) is executed.
(Setting for Open, setting for Close)
(No grasp/grasp = 0/1)
0,1
Maximum acceler-
ation/deceleration
setting
Refer to "5.16Hand
and Workpiece
Conditions (opti-
mum acceleration/
deceleration set-
tings)"
ACCMODE Integer 1 Sets the initial value and enables/disables the optimum acceler-
ation/deceleration mode. (Invalid/Valid=0/1)
1
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation Factory setting
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