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9.14. Aligning the Hand
The posture of the hand attached to the robot can be aligned in units of 90 degrees.
This feature moves the robot to the position where the A, B and C components of the current position are set at the
closest values in units of 90 degrees.
If the tool coordinates are specified by the TOOL instruction or parameters, the hand is aligned at the specified tool
coordinates. If the tool coordinates are not specified, the hand is aligned at the center of the mechanical interface.
Push the [HAND] button (<a>) of T/B and display the hand operation screen.
* The Electric Hand operation screen is different with wit versions of this software. For details, refer to “9.15.1
Operation of the Electric Hand”.
Whe
n aligning the hand, the servo power supply is in ON state, and in the condition that the enable switch of T/B
continues being pushed. By pushing in the enable switch still more strongly during hand alignment, or detaching,
the servo power supply can be turned off and can stop the robot.
In the condition that the enable switch of T/B is pushed, if the [EXE] button (<b>) of T/B is pushed, only while
pushing, the robot will move toward the alignment position. During movement, LED (green) of the [START] switch
of the controller lights up, and if alignment is completed, the light will be put out.
If it finishes, tap the [Close] button (<c>) of the T/B screen and close the hand operation screen.
The “IN-900” and “OUT-900”, which show the state of hand I/O signals, are displayed from Ver.2.3 or later of this
software.
The operation of the Electric Hand and the switch button are available from this software version 2.5 or later.
<e> [Switch button]
<a>
<a>
<b><b>
<c> <c>
<d>
Electric Hand operation screen
Normal Hand operation screen
The enable switch is in two right and left on the back of T/B.
The servo-on state will be maintained if keeping pushing one of the enable switches.
Advice
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