Hand_Off Statement

For grippers : Executes the release motion.
For electric screwdrivers : Loosens the screw.

Syntax
Hand_Off { 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_Off definition (Hand_On, Hand_Off Definition Area). 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 Hand_Off is defined as follows, the Hand_Off command will act in the following way.

Hand_Off

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

Executing the Hand_Off command will:

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

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_Off command is executed. However, if a suction hand on output 2 is selected, the command will standby for 10 ms to ensure that the vacuum break pulse signal is output. Reference: Flowchart
When a timeout is set	The Hand_Off 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_Off 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_Off command is executed.

However, if a suction hand on output 2 is selected, the command will standby for 10 ms to ensure that the vacuum break pulse signal is output.

Reference: Flowchart

When a timeout is set

The Hand_Off 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_Off 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

(A) When using a chuck hand, or a suction hand (output 1)

(B) When using a suction hand (output 2...with vacuum break function)

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_On, Hand_On Function, Hand_Off Function, Hand_TW Function, Hand_Def Function, Hand_Type Function, Hand_Label$ Function, Hand_Number Function

Hand_Off Example

' Open and close Hand 1 registered to Robot 1.  
' When executing a Jump command to move Robot 1 from Home to P1,
' the Hand_Off command is executed when the robot has moved up 
' to half of the total travel distance.
' When P1 is reached, the workpiece is gripped with the Hand_On command.  
' (Use Hand_Off during motion to reduce takt times)  

Robot 1  
Tool 1  
  
Go Home  
Jump P1 ! D50; Hand_Off 1 !  
Hand_On 1

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