ID : 596

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

Function

Activate a gripping motion for traveling at constant speed with zoning. Use "SelectHand[m,n].MoveZH" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].MoveZH ZON range 1, ZON range 2, speed, gripping force, travel direction[, TimeOut=timeout period][, Next]

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

SelectHand[m,n].MoveZH ZON range 1, ZON range 2, speed, gripping force, travel direction[, TimeOut=timeout period][, Next]

Guaranteed Entry

ZON range 1: Designate the ZON range 1 by single precision real number type data. Input range is -999.9- 999.9 (mm).
ZON range 2: Designate the ZON range 2 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 20-50(%).
Gripping force: Designate the gripping force by integer type data. Input range is 30-100(%).
Travel direction: Specify the motion direction by an integer type data.
To move the electric gripper to the closing direction, enter True or an integer other than 0.
To move the electric gripper to the opening direction, enter False or 0.
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.
Next: Asynchronous execution is performed if Next is described.

Description

A gripping motion in a designated direction at specified speed is activated.

If the gripper enters ZON range1 or ZON range2, ZON state turns True(-1).

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 "Gripping motion for traveling at constant speed with zoning"
' Perform traveling and gripping motion
' in the direction designated by ZON range and with designated speed

Sub Sample_HandMoveZH
' Perform gripping of the electric gripper 0
' in ZON range1;2.0[mm], ZON range 2;4.0[mm], speed 20[%] and gripping force[30%] 
' to the closing direction

Hand[0].MoveZH 2.0, 4.0, 20, 30, True

End Sub