ID : 597

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

Function

To stop a motion. Use "SelectHand[m,n].Stop" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].Stop

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

SelectHand[m,n].Stop

Description

When this command is executed during an electric gripper motion, the motion is instantaneously stopped.

Attention

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 "Stop an electric gripper motion"
' Wait designated time during an electric gripper motion, then stop a motion.
Sub Sample_HandStop

' Perform asynchronous absolute motion of electric gripper 0 with speed20[%], target position3[mm] 
Hand[0].MoveA 3, 20, Next

' Wait till 0.2sec passes
Delay 200

' Stop electric gripper 0 motion
Hand[0].Stop

End Sub