Hand Statement

Sets the hand (arm) orientation of a point.

Syntax
(1) Hand point [, Lefty | Righty]

(2) Hand

Parameters

point

Specify Pnumber, P(expr), or point label.

Lefty | Righty

Specify the hand (arm) orientation.

Return Values
When both parameters are omitted, the hand (arm) orientation is displayed for the current robot position.

Lefty | If Righty parameter is omitted, the hand (arm) orientation for the specified point is displayed.

Note

Hand command is not a command to control hand (end-effecter).

• Hand (This command): Specify the arm of manipulator is righty or lefty.|
• 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: Control hand (end-effector) installed to the end of the manipulator.

Please be careful not to confuse it.

For details of Hand control commands, refer to the following manual:
"Hand Function"

See Also
Elbow Statement, Hand Function, J4Flag Statement, J6Flag Statement, Wrist Statement, J1Flag Statement, J2Flag Statement

Hand Statement Example

Hand P0, Lefty
Hand pick, Righty
Hand P(myPoint), myHand

P1 = -364.474, 120.952, 469.384, 72.414, 1.125, -79.991

Hand P1, Righty
Go P1

Hand P1, Lefty
Go P1