Confirming the operation
2-37
2.3.4 Setting the hand parameters
Set the parameters to set the hand I/O type and the hand condition according to the robot hand to be used.
Refer to the separate volume, "Instruction Manual/Detailed Explanations of Functions and Operations" for
how to set parameters.
Table 2-4:Hand parameter
Parameter
Parameter name
Details explanation
Factory setting
Hand I/O type
HIOTYPE
Set either the sink type or the source type for the sole-
noid valve and the logic of the hand input signal.
-1: Not set
0: Source type
1: Sink type
-1
Hand condition
HNDDAT*
* is 0 to 8
Set the initial condition of the hand. (Specify with the
tool coordinate system.)
(Weight, size X, size Y, size Z, center of gravity X, cen-
ter of gravity Y, center of gravity Z)
Unit: Kg, mm
The setting varies
depending on the model.
Tool length
The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual
"Detailed Explanation of Functions and Operations" for details.
