ID : 654

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

Function

To return the busy status. Use "SelectHand[m,n].BusyState" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].BusyState

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

SelectHand[m,n].BusyState

Return Value

Return the busy status of the electric gripper by integer type data.

Description

The busy status of the electric gripper is returned.

In case of the motion complete status, following motion commands can be received.

Return value	Hand status
-1（True）	In motion
0（False）	Not in motion

Attention

Example

'!TITLE "Acquire the busy status"
' Acquire the busy status and display it on the message output window
Sub Sample_HandBusyState

Dim aaa As Integer
Dim bbb As Integer

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

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

' Assign current electric gripper busy state to aaa
aaa = Hand[0].BusyState

Hand[0].MoveH 20, 30, True, Next

' Assign current electric gripper busy state to bbb
bbb = Hand[0].BusyState

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

' Display the value "0" which means that gripper is standstill on the message output window.
PrintDbg aaa

'  Display the value "-1" which means that gripper is busy on the output window
PrintDbg bbb

End Sub