Mitsubishi R56TB, Инструкция по эксплуатации

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17.4.3.2. Multi-Hand Tool
Selects the Hand Base of the Multi-Hand, set the offset value, set the offset value of each hand to the selected
Hand Base. The Multi-Hand Tool can be connected to the robot with remote Input/Output signals or parallel
Input/Output signals.
When the robot and the controller connected to this software correspond to the function of the 'Multi-Hand' , the
item concerning the Multi-Hand are displayed in the parameter menu. The robot and the software version of the
controller which can use the ‘Multi-Hand Tool’ are as follows.
Table 17-1 Robot that can use the ‘Multi-Hand Tool’
Connection method
Robot
Remote
Input/Output
Parallel
Input/Output
Notes
RV-2SQ/2SD series ○ Not use
RV-3SQ/3SD series 5-axis robot cannot use this parameter.
RV-6SQ/6SD series
RV-12SQ/12SD series Not use
○
: By using the standard remote Input/Output,
: By using the special remote Input/Output
: By using the air hand interface
Table 17-2 Robot controller that can use the ‘Multi-Hand Tool’
Controller S/W Ver. of the controller
CR750-D/CRnD-700 Ver.S2a or later
CR750-Q/CRnQ-700 Ver.R2a or later
This function is available from this software Ver.2.5 or later.
Mounting center
of Hand 2
Mounting center
of Hand 3
Mounting center
of Hand 4
Mounting center
of Hand 1
Hand 2 Hand 3
Hand 4
Hand 1
This position (vector) is
set as the offset.
+Y axis
+Z axis
+Z axis
+X axis
Hand adaptor
Hand
Hand base
Reference
surface
Reference
surface
Setting of offset