Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
15-166 MELFA-BASIC V or MELFA-BASIC VI instruction
M_Hnd
[Function]
Set and refer to the hand open/close states corresponding to the specified <Hand number>.
The contents of processing of this variable are same as HOpen and HClose, but it's used for a<processing>
part of Wth / WthIf join mainly.
[Format]
[Writing]
M_Hnd(<Hand number>) = <Value>
[Referencing]
<Numeric variable > = M_Hnd(<Hand number>)
[Terminology]
< Hand number [Integer] >
Specify the hand number: (cannot be omitted).
Setting area: 1 to 8
<Value [Integer] >
Describe the hand open/close states by numeric variable, constants, or numeric operation expression.
0
：
Hand close
1
：
Hand open
< Numeric Variable [Integer] >
Specify the numeric variable which stores the hand open/close states.
- 1
：
Undefined hand
0
：
Hand close
1
：
Hand open
[Reference program]
1 Mov P1, 50 ' Move 50mm to Z direction in the tool coordinates system of P1 by Joint interpolation
movement.
2 Mvs P1 WthIf M_Ratio > 50, M_Hnd(1) = 0 ' Close the hand of the hand number 1 if it comes to 50% of
distance of the purpose position during the movement to P1.
3 *Label : If M_Hnd(1) = 1 Then GoTo *Label ' Wait until the hand of the hand number 1 closes.
[Explanation]
(1) Change and refer to the hand open/close states.
(2) Writing to “M_Hnd” is treated as the processing equal to the HOpen instruction /HClose instruction.
(3) You can make a statement on <Addit ional condition>/<Processing> of accompanying instruction to the
operation instruction.
(4) Initial value just after the power supply obeys the setting value of the parameter “HANDTYPE” or
“HANDINIT” (Output signal number 900 to 907),or “ORS***”(General -purpose output signal).
(5) If you appoint the hand number which is not specified by the parameter “HANDTYPE”, it becomes no
processing at the time of writing, and - 1 (Undefined hand) returns at the time of reading.
(6) If the hand of specified < hand number> is Double solenoid (D) setting, and output signal state is neither
hand open(&B01) nor hand close($B10), return 1(hand open).
(7) You can omit the step to specify <Hand number>.When it is omitted, L3110 (Argument value range over)
error occurs.
(8) Number which you can ente r to specify <Hand number> is an integer in the range of "1" to "8." Entering
anything else causes L3110 (Argument value range over) error to occur.
(9) Number which you can enter to specify <Value> is an integer “0” or “1”. Entering anything else causes L3110
(Argument value range over) error to occur.
(10) If you write “M_Hnd” by using the task slot which does not acquire a machine control rights, error L3280
(Cannot execute without GETM) occurs.
(11) If you read “M_Hnd” by using the task slot which does not acquire a machine control rights, return the robot
hand open/close states of machine number 1.
(12) It is impossible to use for the electric hand with many functions made in TAIYO company.
Please refer to the explanation of “Usage of the electric hand with many functions”.
(13) “M_Hnd” does not correspond to the hand macro.