10.4.6.6. HANDPRES

The HANDPRES is the function to pick up a workpiece during palletizing by servo hand or general handling.

Explanation	Servo hand pressure command during automatic operation
Grammar	HANDPRES OL=<Pressurization offset distance>, PR=<Pressurization force>
Parameter	Pressurization offset distance	Start point of servo hand moving Reference. Pressure start point is teaching point plus pressure offset distance. If pressure offset distance has a minus value, pressure start point will be before the teaching point.	-2000 ~2000
	Pressurization force	This factor determines the degree of grabbing power. When pressure is inputted, sufficient review is required in order to prevent actual workpieces damage.	50~999
Example	HANDPRES OL=100,PR=150