ID : 7173

HandMoveAH

Function

To activate an absolute position gripping motion with acceleration/deceleration.

Syntax

HandMoveAH position, speed, gripping force[, Next or DetectOn]

Guaranteed Entry

Position: Designate the width of workpiece by single precision real number type data. (mm)
Speed: Designate the traveling speed by integer type data. (%)
Gripping force: Set the gripping force by integer type data. (N)
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

This command acts the same behavior as [Accelerated/Decelerated Absolute Movement and Grip Mode] of HandChuck command.

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, 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.

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
HandMoveAH 5, 100, 20, Next        ' Grip a workpiece of 5 mm with 20N gripping force
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
HandMoveAH 5, 100, 20, DetectOn     ' Go to the next line when the gripping is detected

' Open the finger
HandMoveA 30, 100