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8
8-70 Chapter 8 Robot Language Lists
A
B
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D
E
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G
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I
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44
HAND
Defines the hand
Format
Definition statement:
HAND[
robot number] Hn = 1st parameter 2nd parameter 3rd parameter R
Selection statement:
CHANGE[robot number] Hn
Values
robot number
.........................1 to 4
n: hand number .....................0 to 31
R: Indicates whether a hand is attached to the R-axis.
Explanation
The HAND statement only defines the hand. To actually change hands, the CHANGE
statement must be used.
For CHANGE statement details, refer to section "12 CHANGE".
If "R" is specified, the hands that are offset from the R-axis rotating center are selected.
• If a power OFF occurs during execution of the hand definition statement, the "9.707 Hand data
destroyed" error may occur.
• If specifying the hand data that was defined by specifying other robots in the CHANGE
statement, “6.258: Illegal robot no” error may occur.
44.1
For SCARA Robots
1. When the <
4th parameter
> "R" is not specified
Hands installed on the second arm tip are selected (see below).
1st parameter
.................... Number of offset pulses between the standard second arm position
and the virtual second arm position of hand "n". "+" indicates the
counterclockwise direction [pulse].
2nd parameter
.................. Difference between the hand "n" virtual second arm length and the
standard second arm length. [mm]
3rd parameter
................... Z-axis offset value for hand "n". [mm]
Hand 1
Hand 2
20.00mm
150.00mm
Standard 2nd arm
-5000 pulses
33803-R9-00
MEMO
Содержание SCARA YRCX Series
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