<< Prev        Next >>

ID : 652

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

Function

To return the INPOS status (whether or not in the target position) by integer type data. Use "SelectHand[m,n].InposState" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].InposState

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

SelectHand[m,n].InposState

Return Value

Return the INPOS status (whether or not in the target position) by integer type data.

Description

The INPOS status (whether or not in the target position) is returned by integer type data.

The target reference position range is determined by the parameter "positioning complete distance."

Only Get is enabled. Put is not available.

Return value Hand status
-1（True） Within the target position range after origin return and positioning motion.
0（False） Out of range.

Related Terms

Electric Gripper Status, How to Use an Electric Gripper in Cooperative Control Function

Attention

-

Example

tmp = Hand0.InposState

Example

'!TITLE "Acquire the value of INPOS state" 
' Acquire INPOS state and display it on the message output display
Sub Sample_HandInposState

Dim aaa As Integer
Dim bbb As Integer

' Turn the motor power of an electric gripper ON 
Hand[0].Motor On

' Origin return of an electric gripper 0
Hand[0].Org

' Perform asynchronous motion of electric gripper 0 with speed 20[%], gripping force 30[%]
Hand[0].MoveH 20, 30, True, Next

' Stop the motion 0.1sec 
Delay 100

' Assign INPOS state to aaa
aaa = Hand[0].InposState

' Wait till an electric gripper 0 finish the motion 
Wait Hand[0].BusyState = 0

' Assign INPOS state to bbb
bbb = Hand[0].InposState

' Display the value "0" which means that gripper is out of INPOS range 
PrintDbg aaa

' Display the value "-1" which means that gripper is within INPOS range 
PrintDbg bbb

End Sub

ID : 652

<< Prev        Next >>