Timeout and Delay
A: Hands with an input
If a hand with one or two input points from the hand is selected in the [Type] field on the [Configure Robot Hand *] screen, you can enable or disable the timeout function, and specify the timeout (Unit: [ms]).
[Timeout] check box
When this check box is selected, the timeout setting is enabled.
- When enabled:
The controller will wait until a motion successful input signal is received from the hand after the Hand_On or Hand_Off command is executed. However, if the time specified as the timeout duration elapses the command will time out, and the next command will be executed. You can acquire the timeout status with the Hand_TW function. - When disabled:
When the Hand_On command or the Hand_Off command is executed, the controller will proceed to the next command immediately.
Timeout
Specify the duration used to determine a timeout.
Specification range: 10 [ms] ~ 10000 [ms]
Specification value: Integer values only
If the input signal from the hand enters the motion success state within the timeout duration:
If the input signal from the hand does not enter the motion success state within the timeout duration:
B: Hands without an input
If a hand without an input point from the hand is selected in the [Type] field on the [Configure Robot Hand *] screen, you can set whether there is a delay (standby time) before the next command is issued, and the delay duration (Unit: [ms]).
[Delay] check box
When this check box is selected, the delay setting is enabled.
- When enabled:
When the Hand_On command or the Hand_Off command is executed, the controller will wait for the period specified in the [Delay] field before proceeding to the next command. - When disabled:
When the Hand_On command or the Hand_Off command is executed, the controller will proceed to the next command immediately.
Delay
Specify the standby duration before the controller proceeds to the next command.
Specification range: 10 [ms] ~ 10000 [ms]
Specification value: Integer values only
When a delay is set:
C: Electric screwdriver
The timeout and delay duration cannot be set when “Screwdrivers” (electric screwdriver) is selected in the [Series] field of the [Configure Robot Hand *] screen. When this is selected, the controller will immediately proceed to the next command after the Hand_On command or the Hand_Off command is executed.
The [Timeout] and [Delay] options will not be shown when electric screwdriver is selected.
Check Grip Status
A sensor mounted on the chuck hand, or a pressure sensor attached to the vacuum generator can be used to detect whether the workpiece is being gripped. You can specify the input bit indicating the grip state, and the release state on the Configure Robot Hand screen according to these sensor specifications.
If the sensor input detects the grip state, the Hand_On function will return a “True” value. Conversely, if the release state is detected, the Hand_Off function will return a “True” value. Otherwise these functions will return a “False” value.
For a hand without a sensor (chuck / suction)
Provided that Hand_On/Hand_Off commands are output as configured on the Configure Robot Hand screen, the workpiece grip and release function is working properly.
For a chuck hand with a single sensor
The following diagram depicts a schematic view of the movable range of the chuck hand fingers. Assume that the finger position when gripping the workpiece (workpiece grip position) is located between the fully open and fully closed positions.
In this case, set the Hand_On, Hand_Off definition area as follows to detect whether the workpiece is being gripped. (When the sensor is connected to I/O bit 18)
Hand_On
| Hand Signal | I/O Type | Controller I/O Bit | I/O State |
|---|---|---|---|
| (Omitted) | |||
| Input1 | Input | 18: (Grip detection) | On |
Hand_Off
| Hand Signal | I/O Type | Controller I/O Bit | I/O State |
|---|---|---|---|
| (Omitted) | |||
| Input1 | Input | 18: (Grip detection) | Off |
For a chuck hand with two sensors
The following diagram depicts a schematic view of the movable range of the chuck hand fingers. Assume that the finger position when gripping the workpiece (workpiece grip position) is located between the fully open and fully closed positions.
In this case, set the Hand_On, Hand_Off definition area as follows to detect whether the workpiece is being gripped (when the sensors are connected to I/O bits 18 and 19).
Example 1: When the sensors are attached near the workpiece grip position, and near the fully open position
Hand_On
| Hand Signal | I/O Type | Controller I/O Bit | I/O State |
|---|---|---|---|
| (Omitted) | |||
| Input1 | Input | 18: (Sensor 1: Grip detection) | On |
| Input2 | Input | 19: (Sensor 2: Full open detection) | Off |
Hand_Off
| Hand Signal | I/O Type | Controller I/O Bit | I/O State |
|---|---|---|---|
| (Omitted) | |||
| Input1 | Input | 18: (Sensor 1: Grip detection) | Off |
| Input2 | Input | 19: (Sensor 2: Full open detection) | On |
Example 2: When the sensors are attached near the fully open position, and near the fully closed position
Hand_On
| Hand Signal | I/O Type | Controller I/O Bit | I/O State |
|---|---|---|---|
| (Omitted) | |||
| Input1 | Input | 18: (Sensor 1: Full close detection) | Off |
| Input2 | Input | 19: (Sensor 2: Full open detection) | Off |
Hand_Off
| Hand Signal | I/O Type | Controller I/O Bit | I/O State |
|---|---|---|---|
| (Omitted) | |||
| Input1 | Input | 18: (Sensor 1: Full close detection) | Off |
| Input2 | Input | 19: (Sensor 2: Full open detection) | On |
For a suction hand
The following diagram depicts a schematic view of pneumatic pressure within the suction hand. Executing the Hand_On command gradually shifts the hand to a vacuum state, and executing the Hand_Off command returns it to atmospheric pressure. If one or two* sensors are built into the vacuum generator, set the Hand_On, Hand_Off definition area as follows to detect whether the workpiece is being gripped. (When the sensors are connected to I/O bits 18 and 19)
*For a vacuum generator capable of setting two air pressure values that act as sensor triggers taking into account hysteresis (displacement)
Hand_On
| Hand Signal | I/O Type | Controller I/O Bit | I/O State |
|---|---|---|---|
| (Omitted) | |||
| Input1 | Input | 18: (Sensor 1, hysteresis) | On |
| Input2 | Input | 19: (Sensor 2, setting) | On |
Hand_Off
| Hand Signal | I/O Type | Controller I/O Bit | I/O State |
|---|---|---|---|
| (Omitted) | |||
| Input1 | Input | 18: (Sensor 1, hysteresis) | Off |
| Input2 | Input | 19: (Sensor 2, setting) | Off |
Example of Hand Configuration
The following example describes settings when connecting a chuck hand with two output points and two input points.
| Symbol | Description | ||
|---|---|---|---|
| a | Select the [Defined] check box | ||
| b | Label | Enter a name | |
| c | Series | Select Grippers | |
| d | Type | Chuck (Select Output:2/Input: 2) | |
| e | Description | Enter a description (option) | |
| f | Hand_On (grip motion command) definition | ||
| g | Motion command: Turns output bit 12 (grip signal) on | ||
| h | Motion command: Turns output bit 13 (release signal) off | ||
| i | Motion complete condition: Standby until input bit 18 (grip detection signal) is on | ||
| j | Motion complete condition: Standby until input bit 19 (full open detection signal) is off | ||
| k | Timeout | Place a check in the [Timeout] check box The controller proceeds to the next command regardless of input signal once the timeout duration input here has elapsed | |
| m | Hand_Off (release motion command) definition | ||
| n | Motion command: Turns output bit 12 (grip signal) Off | ||
| o | Motion command: Turns output bit 13 (release signal) On | ||
| p | Motion complete condition: Standby until input bit 18 (grip detection signal) is Off | ||
| q | Motion complete condition: Standby until input bit 19 (full open detection signal) is On | ||
| r | Timeout | Place a check in the [Timeout] check box The controller proceeds to the next command regardless of input signal once the timeout duration input here has elapsed | |