ID : 589

Hand[n].Org / SelectHand[m,n].Org

Function

To return to the origin. Use "SelectHand[m,n].Org" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].Org [TimeOut=timeout period]

For the combination use of an electric gripper and the cooperative control function

SelectHand[m,n].Org [TimeOut=timeout period]

Guaranteed Entry

Timeout period: Designate a timeout period by integer type data. This is an optional value. This should be 30000 (30 seconds) if this is omitted.

Description

The robot returns to the origin.

Attention

Origin return must be performed once after turning ON the electric gripper power. Even if an alarm occurs, origin return must be performed after clearing the alarm.

An error occurs when an electric gripper motion command is executed with origin return incomplete.

This cannot be executed before completion of a previous command.

Executing this command in the supervisory task is NOT highly recommended. However, if this command execution is inevitable, please pay extra attention to the following points.

If the electric gripper control board error occurs during execution of this command in the supervisory task, the supervisory task will stop.
If the electric gripper control board error occurs without this command execution, the supervisory task will not stop.

Example

'!TITLE "Return to origin of the electric gripper"
' Return to origin of the electric gripper
Sub Sample_HandOrg

' Electric gripper 0 returns to the origin 
Hand[0].Org

End Sub