ID : 7179

HandUnChuck

Function

To activate an unchuck motion. When an electric vacuum generator is used, this command starts blower operation or stops the operation of an electric vacuum generator.

Syntax

HandUnChuck point number[, Next]

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.

Description

An unchuck motion is activated.
Starting from the grip status, the gripper moves to a given position in accordance with the designated point data setting.
Two types modes are prepared: [Absolute Movement Mode] and [Relative Movement Mode].

For the electric vacuum generator operation, [Blower] mode and [Stop] mode are available.
If any mode other than [Blower] mode or [Stop] mode is specified, an error [0x83500310 : A mode that can not be specified in unchuck operation is specified as point data.] will occur.

Attention

If a workpiece is gripped by the absolute position move or the relative position move, overcurrent error, excessive position error, or motor overload error may occur. To grip a workpiece, use a command for gripping motion. Use the absolute position move and/or the relative position move only for releasing a workpiece or moving robot fingers.
For the electric vacuum generator operation, you do not need to write Next option because program automatically goes to the next line at the motion start timing.

Example

'!TITLE "Electric gripper chuck & unchuck motion"
' Electric gripper chuck & unchuck motion
' Need to teach point 0 to gripping motion
' and point 1 to moving motion
' with electric gripper beforehand.
Sub Sample_HandChuck

  ' Chuck Electric gripper at Point 0
  HandChuck 0

  ' Unchuck Electric gripper at Point 1
  HandUnChuck 1

End Sub