About default hand status
5-485
5.13 About default hand status
(1) CR750/CR751 controller
The factory default setting is shown below.
The default parameters are set as shown below so that all hands start as "Open" immediately after power
up.
The above describes the situation for standard configuration (one unit is connected).
If for instance hand 1 alone needs to be closed when the power is turned ON, the following should be set.
[Caution] If you set the initial hand status to "Open," note that the workpiece may be dropped when the
power is turned ON.
[Caution] This parameter specifies the initial value when turning ON the power to the dedicated hand signals
(900’s) at the robot's tip.
To set the initial status at power ON when controlling the hand using general-purpose I/Os (other
than 900’s) (specifying a signal other than one in 900’s by the HANDTYPE parameter), do not use
this HANDINIT parameter, but use the ORS* parameter.
The value set by the ORS* parameter becomes the initial value of signals at power ON.
Hand type
Status
Status of output signal number
Double-solenoid is assumed
Hand 1 = Open
Hand 2 =Open
Hand 3 =Open
Hand 4 =Open
900=1
901=0
902=1
903=0
904=1
905=0
906=1
907=0
Parameter name
Value
900, 901, 902, 903, 904, 905, 906, 907
HANDINIT
1, 0, 1, 0, 1, 0, 1, 0
Parameter name
Value
900, 901, 902, 903, 904, 905, 906, 907
HANDINIT
0, 1, 1, 0, 1, 0, 1, 0
