ID : 595

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

Function

Activate a gripping motion by traveling at constant speed. Use "SelectHand[m,n].MoveH" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].MoveH speed, gripping force, travel direction[, TimeOut=timeout period][, Next]

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

SelectHand[m,n].MoveH speed, gripping force, travel direction[, TimeOut=timeout period][, Next]

Guaranteed Entry

Speed: Designate the traveling speed by integer type data. Input range is 20- 50(%).
Gripping force: Set the gripping force by integer type data. Input range is 30-100(%).
Travel direction: Specify the motion direction by an integer type data.
To move the electric gripper to the closing direction, enter True or an integer other than 0.
To move the electric gripper to the opening direction, enter False or 0.
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

A gripping motion is activated by traveling in a designated direction at specified speed.

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 "Gripping motion by traveling at constant speed"

' Gripping motion with designated travel direction and speed.
Sub Sample_HandMoveH


' Perform traveling and gripping of electric gripper 0 with speed 20[%] 
' and at gripping force 30[%] to the close direction. 
Hand[0].MoveH 20, 30, True

End Sub