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ID : 7184
HandInposState
Function
To return whether the gripper's finger is within the target position or not.
Syntax
HandInposState
Return Value
Return whether if the gripper's finger is within the target position by integer type data.
Description
This command returns whether if the gripper's finger is positioned within the target position as a result of the command execution just before.
| Return value | Hand status |
|---|---|
| -1 (True) | In range |
| 0 (False) | Out of range |
Related Terms
Attention
-
Example
'!TITLE "Acquire the value of INPOS state"
' Acquire INPOS state and display it on the message output display
Sub Sample_HandInposState
Dim aaa As Integer
Dim bbb As Integer
' Perform asynchronous motion of electric gripper with gripping force 20[N]
HandMoveH 20, True, Next
' Stop the motion 0.1sec
Delay 100
' Assign INPOS state to aaa
aaa = HandInposState
' Wait till an electric gripper finish the motion
Wait HandBusyState = 0
' Assign INPOS state to bbb
bbb = HandInposState
' Display the value "0" which means that gripper is out of INPOS range
PrintDbg aaa
' Display the value "-1" which means that gripper is within INPOS range
PrintDbg bbb
End SubID : 7184