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3.4.3.Servo Hand Opening Command (HANDOPEN)

3.4.3.Servo Hand Opening Command (HANDOPEN)​

 

With respect to opening servo hand, the following parameter is to be set.

 

HANDOPEN OL=0.0

 

(1)   Opening offset distance [0 - 2000]

This sets a position of opening the servo’s moving hand. The opening position is determined by adding the opening offset distance to the Teaching point.

 

 Note

 

l  The servo hand opening function can be located at any part of the step.

 

l  The target position of the step where the servo hand opening function (HANDOPEN) is located is the very point as recorded in the memory at Teaching. To ensure the safe handling of a workpiece, set the accuracy level of the step condition as 0 (zero).

 

l  If the opening point as calculated from the opening offset distance is higher than the maximum opening position of servo hand, 『E1327 Servo hand maximum opening position is exceeded』 error will appear.