ID : 7177

HandMoveZH

Function

To activate a gripping motion for traveling at constant speed with zoning.

Syntax

HandMoveZH ZON range 1, ZON range 2, gripping force, travel direction[, Next or DetectOn]

Guaranteed Entry

ZON range 1: Designate the ZON range 1 by single precision real number type data.
ZON range 2: Designate the ZON range 2 by single precision real number type data.
Gripping force: Designate the gripping force by integer type data. (N)
Travel direction: Specify the motion direction by an integer type data.
To move the gripper to the closing direction, enter True. To move to the opening direction, enter False.
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

When you specify "close (true)" for the motion direction, this command acts the same behavior as [Constant-Speed Movement and Grip with ZON Output (CLOSE) Mode] of HandChuck command.

When you specify "open (false)" for the motion direction, this command acts the same behavior as [Constant-Speed Movement and Grip with ZON Output (OPEN) Mode] of HandChuck command.

To change the gripping motion speed, set the value in the gripping speed adjustment function. For details, refer to "Gripping Speed Adjustment Function".

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.

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
HandMoveZH 4.5, 5.5, 20, True, Next     ' Execute an asynchronous gripping motion to the closing direction with 20N (with ZON range setting)
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
HandMoveZH 4.5, 5.5, 20, True, DetectOn   ' Go to the next line when the gripping is detected

' Open the finger
HandMoveA 30, 100