Hand_On Statement

For grippers: Executes the gripping motion.
For electric screwdrivers: Executes the screw tightening motion.

Syntax
Hand_On { Hand Number | Hand Label }

Parameters
Hand Number Specify the number 1 to 15 of the hand to operate.
Hand Label Specify the label of the hand to operate.

Description
This sets the output bit specified in the [I/O Type] field to the state specified in the [I/O] State field for the hand specified based on the Hand_On definition. If the timeout setting has been enabled, the Hand_On command will continue to wait for the input bit to satisfy the specified condition until the timeout time [ms] passes. For example, if the Hand_On is defined as follows, the Hand_On command will act in the following way.
Refer to:Hand_On, Hand_Off definition area

Hand_On

Hand Signal	I/O Type	Controller I/O Bit	I/O State
Grip	Output	12: GripSignal	On
Release	Output	13: ReleaseSignal	Off
Input1	Input	18: GripDetection	On
Input2	Input	19: FullyOpened	Off

Executing the Hand_On command will:

Turn I/O output bit 12 on.
Turn I/O output bit 13 off.

How timeout and delays work

State	Description
When no timeout or delay setting is set	The controller will immediately proceed to the next command when the Hand_On command is executed.
When a timeout is set	The Hand_On command will continue to wait for the input bit to satisfy the specified condition until the timeout time [ms] passes. If the input bit value meets the specified condition before the specified timeout elapses, the next command will be executed.
When a delay is set	The Hand_On command will wait from the output bit operation until the delay set elapses before moving onto the next command.

State

Description

When no timeout or delay setting is set

The controller will immediately proceed to the next command when the Hand_On command is executed.

When a timeout is set

The Hand_On command will continue to wait for the input bit to satisfy the specified condition until the timeout time [ms] passes.

If the input bit value meets the specified condition before the specified timeout elapses, the next command will be executed.

When a delay is set

The Hand_On command will wait from the output bit operation until the delay set elapses before moving onto the next command.

For more information, refer to the following.
Configure Robot Hand Screen

Note
Emergency stop and reset output
Output from the output port selected by the hand function is maintained even when the Emergency Stop button is pressed, or the Reset command is executed.

See Also
Hand_Off, Hand_On Function, Hand_Off Function, Hand_TW Function, Hand_Def Function, Hand_Type Function, Hand_Label$ Function, Hand_Number Function

Hand_On Example

' Put Hand 1 registered to Robot 1 in a grip state  

Robot 1  
Tool 1  
  
Jump P1  
Hand_On 1

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