Hand_On Function

For grippers : Determines whether the hand is in the grip state.
For electric screwdrivers : Determines whether the hand has finished screw tightening.

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.

Return Values
For grippers : If the hand is in the gripped state, returns “True”. If not, returns “False”.
For electric screwdrivers : If screw tightening is complete, returns “True”. If not, returns “False”.

Description
This function acquires the following information.
For grippers : Whether the hand is in a grip state
For electric screwdrivers : Whether the hand has finished screw tightening.

Once the gripping operation has been performed with the Hand_On command, use the Hand_On() function to acquire operation results and determine whether the workpiece has been gripped properly, or whether screw tightening is complete.
The gripped state refers to a state in which the input bit specified in the Hand_On definition area is in the specified I/O state.

a:Gripped state/Conditions are met

Note
If one input bit has been set, combine this function with the following commands to change the robot motion based on whether the hand enters the gripped state.
Find command, Sense command, Till command, Trap command, Wait command

See Also
! ... \parallel processing, Hand_On, Hand_Off, Hand_Off Function, Hand_TW Function, Hand_Def Function, Hand_Type Function, Hand_Label$ Function, Hand_Number Function

Hand_On Function Example

' If the hand is in the grip state, “Gripping” will appear in the Run window  

If Hand_On(1) = True Then  
	Print "Gripping"  
Endif