Configure Robot Hand Screen
You can set the following properties on the [Configure Robot Hand: *] screen.
- The type of hand attached
- The number of output bits/input bits
- Operations of two hand motion commands (Hand_On statement, Hand_Off statement)
[Defined] check box
Select this check box to register the hand.
Deselect this check box and click the [Apply] button to display a confirmation window for deleting the hand.
Click the [Yes] button to delete the registered hand information.
If this check box is not selected: Only the following buttons will be available.
- [Close] button
- [I/O Monitor] button
Label (option)
This is the label given to the hand number.
Labels can be set using up to 31 one-byte characters, or 15 two-byte characters.
Accepted characters include alphanumeric characters, Japanese/Chinese characters, and underscores (_). Numbers and underscores cannot be used for the initial character.
An error will occur when attempting to specify a label that already exists (when the same label is being used for another hand).
Series
Select the hand series (type).
- Grippers
- Screwdrivers
Type
Select the hand type, and the number of input and output bits from the following.
If “Grippers” is selected in the [Series] field:
| Choices | Type | Number of bits as seen from the controller | |
|---|---|---|---|
| Output to the hand | Input from the hand | ||
| Chuck (Output:1 / Input:0) | Chuck | 1 | 0 |
| Chuck (Output:1 / Input:1) | Chuck | 1 | 1 |
| Chuck (Output:1 / Input:2) | Chuck | 1 | 2 |
| Chuck (Output:2 / Input:0) | Chuck | 2 | 0 |
| Chuck (Output:2 / Input:1) | Chuck | 2 | 1 |
| Chuck (Output:2 / Input:2) | Chuck | 2 | 2 |
| Suction (Output:1 / Input:0) | Vacuum | 1 | 0 |
| Suction (Output:1 / Input:1) | Vacuum | 1 | 1 |
| Suction (Output:1 / Input:2) | Vacuum | 1 | 2 |
| Suction (Output:2 / Input:0) | Vacuum | 2 * | 0 |
| Suction (Output:2 / Input:1) | Vacuum | 2 * | 1 |
| Suction (Output:2 / Input:2) | Vacuum | 2 * | 2 |
*If you select a suction hand with two outputs, the second output point to the hand will be set as the vacuum break bit.
If “Screwdrivers” is selected in the [Series] field:
Always select “Electric screwdriver”.
Description (option)
Leave a description of the hand in this field. Comments can be up to 255 one-byte, or 127 two-byte characters in length.
Hand_On definition area, Hand_Off definition area
Refer to Hand_On, Hand_Off Definition Area
[Close] button
This closes the [Configure Robot Hand*] screen.
[Apply] button
This saves the current settings.
This button will be unavailable until you make any changes after displaying the [Configure Robot Hand*] screen.
[Restore] button
This restores the previous settings.
This button will be unavailable until you make any changes after displaying the [Configure Robot Hand*] screen.
[Hand_On] button
Click this button to immediately execute the Hand_On command.
This will also acquire the return value for the Hand_On function. If “True”, the LED to the left of the button will light up.
| Button display | Meaning |
|---|---|
 | This button is unavailable when hand information has not been set, or until clicking the [Apply] button when making changes. |
 | The hand has been set properly, and the return value for the Hand_On function is “True” |
 | The hand has been set properly, and the return value for the Hand_On function is “False” |
[Hand_Off] button
Click this button to immediately execute the Hand_Off command.
This will also acquire the return value for the Hand_Off function. If “True”, the LED to the left of the button will light up.
| Button display | Meaning |
|---|---|
 | This button is unavailable when hand information has not been set, or until clicking the [Apply] button when making changes. |
 | The hand has been set properly, and the return value for the Hand_Off function is “True” |
 | The hand has been set properly, and the return value for the Hand_Off function is “False” |
[I/O Monitor] button
This displays the I/O Monitor screen.
For more information, refer to the following manual.
"Epson RC+ User's Guide - [I/O Monitor] Command (Tools Menu)"
KEY POINTS
Register the hand settings in the [Configure Robot Hand *] screen, and then click the [Hand_On] and [Hand_Off] button in the screen to immediately check the motion of the hand. Alternatively, you can also check hand motion by selecting a registered hand from the list of hands, and then clicking the [Configure...] button.