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ID : 7168
Programming
In a robot program, enter commands for electric gripper motion.
The following commands can be used:
Gripper Motion Commands
Use of Point Data
The following commands use the preset point data:
| Command | Description |
|---|---|
| HandChuck | Activates a chuck motion. |
| HandUnChuck | Activates an unchuck motion. |
Direct Specification
| Command | Description |
|---|---|
| HandMoveA | Moves the fingers to an absolute position. |
| HandMoveR | Moves the fingers to a relative position. |
| HandMoveH | Activates gripping motion with constant speed movement. |
| HandMoveAH | Activates absolute position gripping motion with acceleration/deceleration. |
| HandMoveRH | Activates gripping motion with accelerated/decelerated relative movement. |
| HandMoveZH | Activates gripping motion with constant-speed movement with ZON. |
Other Operation
| Command | Description |
|---|---|
| HandStop | Stops the gripper motion. |
Commands to Get Gripper State
The following commands can be used to get the gripper state:
| Command | Description |
|---|---|
| HandBusyState | Returns the gripper's busy status. |
| HandHoldState | Returns the gripper's gripping state. |
| HandInposState | Returns whether the fingers are at the target position. |
| HandZonState | Returns a state on whether the fingers are within the setting range. |
| HandCurpos | Returns the current position of the fingers. |
ID : 7168