SPEL+ Command Reference
KEY POINTS
SPEL+ has the Hand commands and the Hand functions to set and retrieve the arm position of robots. Note that the use of that commands and functions are different from the SPEL+ commands and the SPEL+ functions of hands in this chapter.
| Command, Function | Description | |
|---|---|---|
| Hand_On Statement | Gripper | Executes grasping operation of a hand |
| Electric screwdriver | Executes screw tightening operation of a hand | |
| Hand_On Function | Gripper | When a hand is in the grasping status, returns “True” |
| Electric screwdriver | When a hand is in the completed screw tightening status, returns “True” | |
| Hand_Off Statement | Gripper | Executes releasing operation of a hand |
| Electric screwdriver | Executes screw loosening operation of a hand | |
| Hand_Off Function | Gripper | When a hand is in the releasing status, returns “True” |
| Electric screwdriver | When a hand is in the completed screw loosening status, returns “True” | |
| Hand_TW Function | If the Hand_On command and the Hand_Off command is timed out, returns “True” | |
| Hand_Def Function | If a hand is defined, returns “True” | |
| Hand_Type Function | Returns the type number of a hand | |
| Hand_Label$ Function | Returns the label of a hand | |
| Hand_Number Function | Returns the hand number | |