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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
Содержание SCARA YRCX Series
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