ID : 7171

HandChuck

Function

To activate a chuck motion. When an electric vacuum generator is used, this command starts vacuum operation.

Syntax

HandChuck point number[, Next or DetectOn]

Guaranteed Entry

Point number: Designate a point data number (0-32765) by integer type data.
Next: Go on to the next line when the motion starts.
DetectOn: If the robot grips a workpiece during gripping motion, the program automatically goes to the next line. If the robot fails to grip a workpiece during gripping motion, the program goes to the next line after the motion is finished.
You cannot specify this entry and Next option at the same time.
This function is available in Ver.2.8.* or higher.

Description

A work gripping motion is activated in accordance with the designated point data settings.
The behavior differs depending on the mode of the specified point number.

The following modes are available: [Constant-Speed Movement and Grip (OPEN) Mode], [Constant-Speed Movement and Grip (CLOSE) Mode], [Accelerated/Decelerated Absolute Movement and Grip Mode], [Accelerated/Decelerated Relative Movement and Grip Mode], [Constant-Speed Movement and Grip with ZON Output (OPEN) Mode], [Constant-Speed Movement and Grip with ZON Output (CLOSE) Mode].

When an electric vacuum generator is used, only [Vacuum] mode is available.
If any mode other than [vacuum] mode is specified, an error [0x8350030F : A mode that can not be specified in chuck operation is specified as point data. ] will occur.

Attention

While a workpiece has been gripped and the system detects the grip, if a command is executed with DetectOn option, the program immediately goes to the next line.
If a robot runs by point-designated motion or a robot runs in a manual motion, DetectOn option cannot be specified.
If DetectOn option is specified during accelerated/decelerated absolute movement and grip mode, or accelerated/decelerated relative movement and grip mode, the automatic detection works only in the gripping motion. Also, regardless of the value of low speed gripping end position, execute the gripping motion until the robot reaches the software limit.
For the electric vacuum generator operation, you do not need to write Next or DetectOn option because program automatically goes to the next line at the motion start timing.
During an electric vacuum generator operation, if HandMoveVH or HandChuck is executed, the electric vacuum generator will automatically stops its operation and resumes the motion. Please note that when a workpiece is gripped, the workpiece will fall.

Example

The gripping is detected by the following ways. If software version is 2.8.* or higher, DetectOn option, if software version is 2.7.* or lower, Next option is used for detection.

' Open the finger
HandMoveA 30, 100

' If version is 2.7.* or lower, Next option is used to detect gripping state
HandChuck 1, Next       ' Execute the motion with the point 1 data
Wait HandHoldState = True Or HandBusyState = False
Delay 200 

' Open the finger
HandMoveA 30, 100

' If version is 2.8.* or higier, DetectOn option is used to detect gripping state
HandChuck 1, DetectOn   ' Go to the next line when the gripping is detected

' Open the finger
HandMoveA 30, 100