Hand_Off Function

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

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.

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

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

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

a:Released 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 released state.
Find command, Sense command, Till command, Trap command, Wait command

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

Hand_Off Function Example

' When setting an electric screwdriver to hand 1, 
' and operating the hand in combination with a force sensor  
 
Robot 1  
Tool 1  
  
Hand_Off 1  
Bmove XY(-10, 0, 0, 0, 0, 0) FC1 Till Hand_Off(1) = True