![background image](http://html.mh-extra.com/html/omron/scara-yrcx-series/scara-yrcx-series_programming-manual_1633413122.webp)
8
A
B
C
D
E
F
G
H
I
J
K
L
M
8-30 Chapter 8 Robot Language Lists
12
CHANGE
Switches the hand
Format
CHANGE [robot number]
Hn
OFF
Values
robot number
........................1 to 4 (If not input, robot 1 is specified.)
n: hand number ....................0 to 31
Explanation
CHANGE is used to switch the robot hand specified by the <
robot number
>. If OFF is
specified, the hand setting is not enabled.
Before hand switching can occur, the hands must be defined at the HAND statement,
the programming box, or the SCARA-YRCX Studio.
For details, refer to section "44 HAND". If the hand data with another robot setting is
specified, "6.258: Illegal robot no" error occurs.
SAMPLE
HAND H1=
0
150.000
0.000
HAND H2=
-5000
20.0000
0.000
P1=150.000 300.000 0.000 0.000 0.000 0.000
CHANGE H2 ····················· Changes the hand of the robot 1 to hand 2.
MOVE P,P1 ····················· Moves the hand 2 tip of the robot 1 to
P1 (1).
CHANGE H1 ····················· Changes to hand 1.
MOVE P,P1 ····················· Moves the hand 1 tip to P1 (2).
HALT
Summary of Contents for SCARA YRCX Series
Page 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
Page 2: ......
Page 20: ......
Page 26: ......
Page 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
Page 28: ......
Page 32: ......
Page 52: ......
Page 54: ......
Page 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
Page 62: ......
Page 66: ......
Page 76: ......
Page 78: ......
Page 92: ......
Page 328: ......
Page 408: ......
Page 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
Page 410: ......
Page 432: ......
Page 488: ......
Page 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
Page 490: ......
Page 496: ......
Page 497: ...Index ...
Page 498: ......
Page 504: ......
Page 505: ......
Page 506: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...