Hand_Type Function
Acquires the type number for the hand.
Syntax
Hand_Type( 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
Hand type number (integer, decimal)
Please see the following.
Configure Robot Hand Screen
| Constant | Value | Description |
|---|---|---|
| HAND_TYPE_CHUCK_OUT1_IN0 | &H111101 | Chuck (Output:1 / Input:0) |
| HAND_TYPE_CHUCK_OUT1_IN1 | &H111111 | Chuck (Output:1 / Input:1) |
| HAND_TYPE_CHUCK_OUT1_IN2 | &H111121 | Chuck (Output:1 / Input:2) |
| HAND_TYPE_CHUCK_OUT2_IN0 | &H111102 | Chuck (Output:2 / Input:0) |
| HAND_TYPE_CHUCK_OUT2_IN1 | &H111112 | Chuck (Output:2 / Input:1) |
| HAND_TYPE_CHUCK_OUT2_IN2 | &H111122 | Chuck (Output:2 / Input:2) |
| HAND_TYPE_SUCTION_OUT1_IN0 | &H111201 | Suction (Output:1 / Input:0) |
| HAND_TYPE_SUCTION_OUT1_IN1 | &H111211 | Suction (Output:1 / Input:1) |
| HAND_TYPE_SUCTION_OUT1_IN2 | &H111221 | Suction (Output:1 / Input:2) |
| HAND_TYPE_SUCTION_OUT2_IN0 | &H111202 | Suction (Output:2 / Input:0) |
| HAND_TYPE_SUCTION_OUT2_IN1 | &H111212 | Suction (Output:2 / Input:1) |
| HAND_TYPE_SUCTION_OUT2_IN2 | &H111222 | Suction (Output:2 / Input:2) |
| HAND_TYPE_SCREWDRIVER_TYPE1 | &H211017 | Screwdriver |
KEY POINTS
Use the Hex$ function to convert the hand type number acquired with the Hand_Type function (decimal) to a hexadecimal number.
Example:
> print Hex$(Hand_Type(1))
111122
See Also
Hand_On, Hand_Off, Hand_On Function, Hand_Off Function, Hand_TW Function, Hand_Def Function, Hand_Type Function, Hand_Label$ Function, Hand_Number Function, Hex$ Function
Hand_Type Function Example
' Compare the type number for hand 1 with the Define string and confirm whether they match
If Hand_Type(1) <> HAND_TYPE_SUCTION_OUT2_IN1 Then
Print "Hand1 is not a suction out2 in1."
EndIf