ID : 592

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

Function

To move to a relative position. Use "SelectHand[m,n].MoveR" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].MoveR travel distance, speed[, TimeOut=timeout period][, Next]

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

SelectHand[m,n].MoveR travel distance, speed[, TimeOut=timeout period][, Next]

Guaranteed Entry

Travel distance: Designate the relative travel distance from the current position 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 20-100(%).
Timeout period: Designate a timeout period by integer type data. This is an optional value. Input range is 0- 2147483647(ms). This should be 30000 (30 seconds) if this is omitted.
Next: Asynchronous execution is performed if Next is described.

Description

The electric gripper is moved to a designated point.

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 "Move the electric gripper to a relative position "

' Perform relative position movement of  the electric gripper by specified travel distance.  
Sub Sample_HandMoveR

' Perform relative position movement of the electric gripper
' to the designated relative position 5[mm] at speed 20[%]
Hand[0].MoveR 5, 20


End Sub