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ID : 7186
HandZonState
Function
To return the state of whether the gripper's finger is within the designated range or not.
Syntax
HandZonState
Return Value
Return whether if the gripper's finger is within the designated range by integer type data.
Description
This command returns whether the gripper's finger is positioned within the designated area after the execution of [Constant-Speed Movement and Grip with ZON Output (OPEN) Mode] of HandChuck command, [Constant-Speed Movement and Grip with ZON Output (CLOSE) Mode] of HandChuck command, or HandMoveZH command by integer type data.
| Return value | In-Range status |
|---|---|
| -1 (True) | In range |
| 0 (False) | Out of range |
Related Terms
Attention
-
Example
'!TITLE "Judge whether an electric gripper locates within the set range"
' Display whether an electric gripper locates within the set range on the message output window
Sub Sample_HandZonState
Dim aaa As Integer
Dim bbb As Integer
' Assign the value which describes out of range state to aaa
aaa = HandZonState
' Perform asynchronous traveling and gripping motion of electric gripper 0'
’ with ZON range 1;1.0[mm], ZON range2;5[mm],
' and gripping force 20[N] toward closing direction.
Hand.MoveZH 1.0, 5.0, 20, True, Next
' Wait till 0.1sec passes
Delay 100
' Assign the value which describes within the range state to bbb
bbb = HandZonState
' Wait till an electric gripper completes the motion
Wait HandBusyState = 0
' Display the value "0" which describes out of range state on the message output window
PrintDbg aaa
' Display the value "-1" which describes within the range state on the message output window
PrintDbg bbb
End Sub
ID : 7186