Mitsubishi MELFA CR1D User Manual

5-347 Movement parameter
5Functions set with parameters
Hand and work-
piece conditions
(Used in optimum
acceleration/decel-
eration and impact
detection)
Refer to
"5.16Hand
and Workpiece Con-
ditions (optimum
acceleration/deceler-
ation settings)"
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 command.
HNDDAT0 Real value 7 Set the initial condition of the hand. (Designate with the tool coordi-
nate 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 detec-
tion may occur.
(Weight, size X, size Y, Size Z, center of gravity X, center of gravity
Y, center of gravity Z) Unit: Kg, mm
RV-3SD/3SDJ/3SDB/
3SDJB
3.50, 284.00, 284.00,
286.00, 0.00, 0.00,
75.00
RV-6SD/6SDL
6.00, 213.00, 213.00,
17.00, 0.00, 0.00,
130.00
RV-12SD/12SDL
12.00, 265.00, 265.00,
22.00, 0.00, 0.00,
66.00
RH-6SDH
6.00, 99.00, 99.00,
76.00, 0.00, 0.00,
38.00
RH-12SDH
12.00, 225.00, 225.00,
30.00, 0.00, 0.00,
15.00
RH-18SDH
18.00, 258.00, 258.00,
34.00, 0.00, 0.00,
17.00
Other type are
secret.
HNDDAT*
* is 1 to 8
Real value 7 Set the initial condition of the hand. (Designate with the tool coordi-
nate 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
RV-SD/RH-SDH
series
0.0,0.0,0.0,0.0,0.0,0.0
,0.0
Other type are
secret.
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 Con-
ditions (optimum
acceleration/deceler-
ation settings)"
ACCMODE Integer 1 Sets the initial value and enables/disables the optimum accelera-
tion/deceleration mode. (Invalid/Valid=0/1)
RH-SDH/RV-SD
series ........1
Except the
above..............0
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation Factory setting

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English