Confirming the operation 2-58
2.3.2 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 2-9 ： 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
solenoid 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, center
of gravity Y, center of gravity Z)
Unit: Kg, mm
The setting varies
depending on the model.
◇◆◇ When the robot is in the transportation posture ◇◆◇
There are directions from which linear movement is not possible from the transportation posture. In this case, the
robot will not move. Refer to section
Page 42, "(3) JOINT jog operation"
", and move the robot to a position where
linear movement is possible, and then carry out XYZ jog.
◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇
If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not
move. In this case, please move to the counter direction.
◇◆◇ 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.
