ID : 584

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

Function

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

Syntax

Hand[n].Chuck point number

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

SelectHand[m,n].Chuck point number

Guaranteed Entry

Point number: Designate a point data number (0-31) by integer type data.

Description

A work gripping motion is activated in accordance with the designated point data settings.

Configure point data gripping motion settings in advance.

Attention

An error occurs when gripping fails.

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 without this command execution, the supervisory task will not stop.

Example

'!TITLE "Electric gripper chuck & unchuck motion"
' Electric gripper chuck & unchuck motion
' Need to teach point 0 to gripping motion
' and point 1 to moving motion
' with electric gripper beforehand.  

Sub Sample_HandChuck

' Chuck Electric gripper 0  at Point 0
Hand[0].Chuck 0

' Unchuck Electric gripper 0  at Point 1
Hand[0].Unchuck 1


End Sub