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ID : 7181
HandBusyState
Function
To return the gripper's busy status.
Description
The busy status of the gripper is returned.
| Return value | Hand busy status |
|---|---|
| -1（True） | In motion |
| 0（False） | Not in motion. Command reception available. |
Related Terms
Attention
-
Example
'!TITLE "Acquire the busy status"
' Acquire the busy status and display it on the message output window
Sub Sample_HandBusyState
Dim aaa As Integer
Dim bbb As Integer
' Assign current electric gripper busy state to aaa
aaa = HandBusyState
HandMoveH 20, True, Next
' Assign current electric gripper busy state to bbb
bbb = HandBusyState
' Wait till an electric gripper finish the motion
Wait HandBusyState = 0
' Display the value "0" which means that gripper is standstill on the message output window.
PrintDbg aaa
' Display the value "-1" which means that gripper is busy on the output window
PrintDbg bbb
End SubID : 7181