ID : 649

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

Function

To present the status of whether or not the electric gripper is positioned within the set range. Use "SelectHand[m,n].ZonState" when an electric gripper and the cooperative control function are used together.

Syntax

Hand[n].ZonState

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

SelectHand[m,n].ZonState

Return Value

Return whether or not the electric gripper is positioned within the set range by integer type data.

Description

The status of whether or not the electric gripper is positioned within the set range is presented.

Return value	Hand status
-1（True）	In range
0（False）	Out of range

Attention

Example

'!TITLE "Judge whether an electric gripper locates within the set range"
' Display whether an electric gripper locates within the set range on the message output window
Sub Sample_HandZonState

Dim aaa As Integer
Dim bbb As Integer

' Assign the value which describes out of range state to aaa 
aaa = Hand[0].ZonState

' Perform asynchronous traveling and gripping motion of electric gripper 0' 
’ with ZON range 1;1.0[mm], ZON range2;5[mm], 
'  and speed 20[%] and gripping force 30[%] toward closing direction.
Hand[0].MoveZH 1.0, 5.0, 20, 30, True, Next

' Wait till 0.1sec passes
Delay 100

' Assign the value which describes within the range state to bbb
bbb = Hand[0].ZonState

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

' Display the value "0" which describes out of range state on the message output window
PrintDbg aaa

' Display the value "-1" which describes within the range state on the message output window
PrintDbg bbb

End Sub