ID : 593

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

Function

To activate an absolute position gripping motion with acceleration/deceleration. Use "SelectHand[m,n].MoveAH" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].MoveAH position, speed, gripping force[, TimeOut=timeout period][, Next]

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

SelectHand[m,n].MoveAH position, speed, gripping force[, TimeOut=timeout period][, Next]

Guaranteed Entry

Position: Designate a target position by single precision real number type data. Input range is -999.9- 999.9 (mm).
Speed: Designate the traveling speed by integer type data. Input range is 20-100(%).
Gripping force: Set the gripping force by integer type data. Input range is 30-100(%).
Timeout period: Designate a timeout period by integer type data. This is an optional value. Input range is 0- 2147483647(ms). This should be 30000 (30 seconds) if this is omitted.
Next: Asynchronous execution is performed if Next is described.

Description

An absolute position gripping motion with acceleration/deceleration is activated

This is asynchronously executed when the Next option is added.

Attention

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

Example

'!TITLE "Absolute position gripping motion with acceleration/deceleration"

'Perform absolute position gripping motion with designated moving direction and speed
Sub Sample_HandMoveAH


' Perform absolute position gripping and travel motion of the electric gripper 0
' to the designated target position 5[mm] with gripping force 30[%] and at designated speed 20[%]
Hand[0].MoveAH 5, 20, 30


End Sub