ID : 682

Hand Object

Hand object refers to an object that handles the hand.

For actual descriptions, describe Hand[n].~ ([n] is a board number from 0 to 3 ).　For example, Hand[0].~.

Hand[0].~ corresponds to the first board.

Regarding to the target product, refer to "ELECTRIC GRIPPER GUIDE ".

Method

Command name	Function
Hand[n].Chuck	To activate a chuck motion. *
Hand[n].UnChuck	To activate an unchuck motion. *
Hand[n].Motor	To turn the motor power ON/OFF. *
Hand[n].Org	To return to the origin. *
Hand[n].MoveP	To activate a point motion. *
Hand[n].MoveA	To move to an absolute position. *
Hand[n].MoveR	To move to a relative position. *
Hand[n].MoveAH	To activate an absolute position gripping motion with acceleration/deceleration. *
Hand[n].MoveRH	To activate a gripping motion by traveling to an acceleration/deceleration relative position. *
Hand[n].MoveH	To activate a gripping motion by traveling at constant speed. *
Hand[n].MoveZH	To activate a gripping motion for traveling at constant speed with zoning. *
Hand[n].Stop	To stop a motion. *
Hand[n].CurPos	To return the current position.
Hand[n].GetPoint	To return point data elements.

* When executing Hand motion command, the error of the electric gripper control board is cleared.
If causes of the error remain unsolved, the error occurs again.

Property

Command name	Function
Hand[n].EmgState	To present the emergency stop input status.
Hand[n].ZonState	To present the status of whether or not the electric gripper is positioned within the set range.
Hand[n].OrgState	To present the origin return status.
Hand[n].HoldState	To return the hand gripping status.
Hand[n].InposState	To return the INPOS status (whether or not in the target position) by integer type data.
Hand[n].Error	To return the error status.
Hand[n].BusyState	To return the busy status.
Hand[n].MotorState	To return the motor power status.

ID : 682

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